# RQM Optimize Trajectory To Constraints

> RQM Optimize Trajectory To Constraints is a paid API for AI agents from jobs.rqmtechnologies.com, paid per call via x402, $0.01/call, status unknown (last checked 2026-09-14).

Optimizes a bounded multi-dimensional trajectory only when its speed and duration satisfy caller-supplied constraints, returning a constraint-validated optimized trajectory.

## Facts

- Endpoint: POST https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.optimize-trajectory-to-constraints.v1
- Price: $0.01/call
- Payment: x402
- Status: unknown
- Last checked: 2026-09-14
- Activations on Zero: 0
- Tags: x402
- Canonical page: https://www.zero.xyz/c/rqm-optimize-trajectory-to-constraints-57f3f0ee
- Structured record (JSON): https://api.zero.xyz/v1/capabilities/cap_A0EN1h5AQ3cMJVO4D3YPy

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-optimize-trajectory-to-constraints-57f3f0ee -d '<json body>'
```

Example prompt: Optimize this robot arm trajectory — it has 50 waypoints sampled over 30 seconds — and make sure the maximum speed never exceeds 2.5 units per second and the total duration stays under 45 seconds.

## When to prefer this

Choose this endpoint when you have a typed bounded trajectory and need it optimized only if it already satisfies hard speed and duration constraints — i.e., you want constraint-gated optimization, not unconditional smoothing. Prefer this over RQM Reconstruct Smoothed Trajectory when you need constraint enforcement rather than pure smoothing, and over RQM Validate Kinematic Dynamic Limits when you want an optimized output trajectory rather than a pass/fail verdict.

## Known failure modes

- Trajectory fails speed constraint — optimization cannot produce a path below maximum_speed
- Trajectory fails duration constraint — cannot fit within maximum_duration_s
- Input trajectory has fewer than 2 points or more than 4096 points
- timestamp_s values outside [0, 86400] range
- values arrays outside 1–12 element bounds
- maximum_speed or maximum_duration_s set to zero or negative
- Payment failure or insufficient max_total_price
- Malformed idempotency_key format

## How this service works

Problem: Optimize a bounded trajectory only when speed and duration constraints pass. Input: JSON with trajectory, maximum speed, maximum duration s. Result: typed verdict, measured metrics, candidate only when verified. Limits: Software/model evidence only; 65536 request bytes; 5 s execution.

## Output

Returns an optimized trajectory as an array of timestamped waypoint objects, each containing a timestamp_s and a values array of up to 12 floating-point dimensions, guaranteed to satisfy the supplied maximum_speed and maximum_duration_s constraints.

## Request schema (JSON Schema)

```json
{
 "type": "object",
 "properties": {
  "request": {
   "type": "object",
   "title": "TrajectoryOptimizeRequest",
   "required": [
    "trajectory",
    "maximum_speed",
    "maximum_duration_s"
   ],
   "properties": {
    "trajectory": {
     "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": "Trajectory",
     "maxItems": 4096,
     "minItems": 2
    },
    "maximum_jerk": {
     "anyOf": [
      {
       "type": "number",
       "maximum": 1000000,
       "exclusiveMinimum": 0
      },
      {
       "type": "null"
      }
     ],
     "title": "Maximum Jerk",
     "default": null
    },
    "maximum_speed": {
     "type": "number",
     "title": "Maximum Speed",
     "maximum": 1000000,
     "exclusiveMinimum": 0
    },
    "maximum_duration_s": {
     "type": "number",
     "title": "Maximum Duration S",
     "maximum": 86400,
     "exclusiveMinimum": 0
    },
    "smoothing_strength": {
     "type": "number",
     "title": "Smoothing Strength",
     "default": 0.25,
     "maximum": 1,
     "minimum": 0
    },
    "maximum_acceleration": {
     "anyOf": [
      {
       "type": "number",
       "maximum": 1000000,
       "exclusiveMinimum": 0
      },
      {
       "type": "null"
      }
     ],
     "title": "Maximum Acceleration",
     "default": null
    },
    "maximum_waypoint_adjustment": {
     "anyOf": [
      {
       "type": "number",
       "maximum": 1000000000,
       "minimum": 0
      },
      {
       "type": "null"
      }
     ],
     "title": "Maximum Waypoint Adjustment",
     "default": null
    },
    "minimum_improvement_fraction": {
     "type": "number",
     "title": "Minimum Improvement Fraction",
     "default": 0,
     "maximum": 1,
     "minimum": 0
    }
   },
   "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_p
… (truncated)
```

## More

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