Check Collision Constraints

Check this bounded geometry and trajectory against the supplied collision and clearance constraints.

RQM-operated service.

Version: 1.0.0 · Registry observed: 2026-08-23T20:01:22.843Z · current

Supported Relay purchase route; check current admission before paying
RQM-operated service

Price and connection

0.010000 USD per request, provider price. Supported Relay purchases add max(0.002 USDC, 5% of provider price). Your fresh quote supplies the exact total.

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Inputs and outputs

Input contract

{
  "$defs": {
    "CircleObstacle": {
      "additionalProperties": false,
      "properties": {
        "obstacle_id": {
          "maxLength": 128,
          "minLength": 1,
          "title": "Obstacle Id",
          "type": "string"
        },
        "x": {
          "maximum": 1000000000,
          "minimum": -1000000000,
          "title": "X",
          "type": "number"
        },
        "y": {
          "maximum": 1000000000,
          "minimum": -1000000000,
          "title": "Y",
          "type": "number"
        },
        "radius": {
          "maximum": 1000000000,
          "minimum": 0,
          "title": "Radius",
          "type": "number"
        }
      },
      "required": [
        "obstacle_id",
        "x",
        "y",
        "radius"
      ],
      "title": "CircleObstacle",
      "type": "object"
    },
    "Point2D": {
      "additionalProperties": false,
      "properties": {
        "timestamp_s": {
          "maximum": 86400,
          "minimum": 0,
          "title": "Timestamp S",
          "type": "number"
        },
        "x": {
          "maximum": 1000000000,
          "minimum": -1000000000,
          "title": "X",
          "type": "number"
        },
        "y": {
          "maximum": 1000000000,
          "minimum": -1000000000,
          "title": "Y",
          "type": "number"
        }
      },
      "required": [
        "timestamp_s",
        "x",
        "y"
      ],
      "title": "Point2D",
      "type": "object"
    }
  },
  "additionalProperties": false,
  "properties": {
    "trajectory": {
      "items": {
        "$ref": "#/$defs/Point2D"
      },
      "maxItems": 4096,
      "minItems": 2,
      "title": "Trajectory",
      "type": "array"
    },
    "obstacles": {
      "items": {
        "$ref": "#/$defs/CircleObstacle"
      },
      "maxItems": 1024,
      "minItems": 1,
      "title": "Obstacles",
      "type": "array"
    },
    "robot_radius": {
      "maximum": 1000000000,
      "minimum": 0,
      "title": "Robot Radius",
      "type": "number"
    },
    "minimum_clearance": {
      "maximum": 1000000000,
      "minimum": 0,
      "title": "Minimum Clearance",
      "type": "number"
    }
  },
  "required": [
    "trajectory",
    "obstacles",
    "robot_radius",
    "minimum_clearance"
  ],
  "title": "CollisionRequest",
  "type": "object"
}

Output contract

{
  "additionalProperties": false,
  "properties": {
    "accepted": {
      "title": "Accepted",
      "type": "boolean"
    },
    "minimum_clearance": {
      "title": "Minimum Clearance",
      "type": "number"
    },
    "closest_obstacle_id": {
      "title": "Closest Obstacle Id",
      "type": "string"
    },
    "collision_candidates": {
      "items": {
        "additionalProperties": true,
        "type": "object"
      },
      "title": "Collision Candidates",
      "type": "array"
    },
    "constraint_results": {
      "additionalProperties": {
        "type": "boolean"
      },
      "title": "Constraint Results",
      "type": "object"
    },
    "result_digest": {
      "pattern": "^[a-f0-9]{64}$",
      "title": "Result Digest",
      "type": "string"
    }
  },
  "required": [
    "accepted",
    "minimum_clearance",
    "closest_obstacle_id",
    "collision_candidates",
    "constraint_results",
    "result_digest"
  ],
  "title": "CollisionResult",
  "type": "object"
}

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