# RQM Compare Planned Observed Trajectories

> RQM Compare Planned Observed Trajectories is a paid API for AI agents from jobs.rqmtechnologies.com, paid per call via x402, $0.01/call, status unknown (last checked 2026-09-15).

Compares planned and observed robot trajectories against caller-supplied RMSE and absolute error tolerances, returning pass/fail metrics.

## Facts

- Endpoint: POST https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.compare-planned-observed-trajectories.v1
- Price: $0.01/call
- Payment: x402
- Status: unknown
- Last checked: 2026-09-15
- Activations on Zero: 0
- Tags: x402
- Canonical page: https://www.zero.xyz/c/rqm-compare-planned-observed-trajectories-96885375
- Structured record (JSON): https://api.zero.xyz/v1/capabilities/cap_zjHEWvyMFv7qhee4evx_J

Status and success rate cover calls made through Zero and Zero's own probes. Third-party monitors may report differently.

## How to call it through Zero

Zero handles the 402 payment challenge and records the run. With the Zero CLI installed (`npm i -g @zeroxyz/cli`):

```sh
zero fetch --capability rqm-compare-planned-observed-trajectories-96885375 -d '<json body>'
```

Example prompt: Compare the planned trajectory (sampled at timestamps 0.0, 0.5, 1.0 s with joint values) against what the robot actually executed, and tell me whether it passes with a maximum RMSE of 0.05 and maximum absolute error of 0.1.

## When to prefer this

Use this endpoint when you need a deterministic, rules-based comparison of planned vs. observed robot trajectories using caller-supplied RMSE and absolute-error thresholds. Prefer it over general statistics APIs when the domain is robotics motion data and you need a bounded, typed result scoped to trajectory tracking. Do not use for physical safety certification, live hardware control, or when you need smoothing or optimization — sibling endpoints cover those.

## Known failure modes

- Planned and observed arrays have fewer than 2 points — rejected with validation error
- Values arrays contain more than 12 dimensions — schema violation
- Timestamps fall outside 0–86400 s range — rejected
- RMSE or absolute error tolerance set to invalid (negative) value — rejected
- Mismatch in dimensionality between planned and observed points — likely computation error or rejection
- Request exceeds 4096 points per trajectory — rejected at schema level

## How this service works

Problem: Compare planned and observed trajectories against caller tolerances. Input: JSON with planned, observed, rules. Result: typed verdict, measured metrics, candidate only when verified. Limits: Software/model evidence only; 65536 request bytes; 5 s execution.

## Output

Returns computed trajectory comparison metrics including RMSE and maximum absolute error across all dimensions and timesteps, along with a pass/fail result based on the caller-supplied tolerance rules.

## Request schema (JSON Schema)

```json
{
 "type": "object",
 "properties": {
  "request": {
   "type": "object",
   "title": "TrajectoryCompareRequest",
   "required": [
    "planned",
    "observed",
    "rules"
   ],
   "properties": {
    "rules": {
     "type": "object",
     "title": "Rules",
     "required": [
      "maximum_rmse",
      "maximum_absolute_error"
     ],
     "properties": {
      "maximum_rmse": {
       "type": "number",
       "title": "Maximum Rmse",
       "maximum": 1000000000,
       "minimum": 0
      },
      "maximum_absolute_error": {
       "type": "number",
       "title": "Maximum Absolute Error",
       "maximum": 1000000000,
       "minimum": 0
      }
     },
     "additionalProperties": false
    },
    "planned": {
     "type": "array",
     "items": {
      "type": "object",
      "title": "Point",
      "required": [
       "timestamp_s",
       "values"
      ],
      "properties": {
       "values": {
        "type": "array",
        "items": {
         "type": "number"
        },
        "title": "Values",
        "maxItems": 12,
        "minItems": 1
       },
       "timestamp_s": {
        "type": "number",
        "title": "Timestamp S",
        "maximum": 86400,
        "minimum": 0
       }
      },
      "additionalProperties": false
     },
     "title": "Planned",
     "maxItems": 4096,
     "minItems": 2
    },
    "observed": {
     "type": "array",
     "items": {
      "type": "object",
      "title": "Point",
      "required": [
       "timestamp_s",
       "values"
      ],
      "properties": {
       "values": {
        "type": "array",
        "items": {
         "type": "number"
        },
        "title": "Values",
        "maxItems": 12,
        "minItems": 1
       },
       "timestamp_s": {
        "type": "number",
        "title": "Timestamp S",
        "maximum": 86400,
        "minimum": 0
       }
      },
      "additionalProperties": false
     },
     "title": "Observed",
     "maxItems": 4096,
     "minItems": 2
    },
    "observed_delay_seconds": {
     "type": "number",
     "title": "Observed Delay Seconds",
     "default": 0,
     "maximum": 3600,
     "minimum": -3600
    }
   },
   "additionalProperties": false
  },
  "schema_version": {
   "const": "rqm.jobs.bazaar-buyer-job-request.v1"
  },
  "idempotency_key": {
   "type": "string",
   "pattern": "^[A-Za-z0-9][A-Za-z0-9._:-]*$",
   "maxLength": 128,
   "minLength": 1
  },
  "max_total_price": {
   "type": "string",
   "pattern": "^(?:0|[1-9]\\d{0,13})(?:\\.\
… (truncated)
```

## More

- Live health (JSON, refreshed every minute): https://www.zero.xyz/c/rqm-compare-planned-observed-trajectories-96885375/health.json
- [Zero catalog index](https://www.zero.xyz/llms.txt)
- [Other services from jobs.rqmtechnologies.com](https://www.zero.xyz/host/jobs.rqmtechnologies.com/llms.txt)