# RQM Trajectory Instability Diagnosis

> RQM Trajectory Instability Diagnosis is a paid API for AI agents from jobs.rqmtechnologies.com, paid per call via x402, $0.01/call, status unknown (last checked 2026-09-16).

Diagnoses a bounded timestamped trajectory for oscillation, divergence, and stability issues against caller-supplied kinematic thresholds

## Facts

- Endpoint: POST https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.diagnose-trajectory-instability.v1
- Price: $0.01/call
- Payment: x402
- Status: unknown
- Last checked: 2026-09-16
- Activations on Zero: 0
- Tags: x402
- Canonical page: https://www.zero.xyz/c/rqm-trajectory-instability-diagnosis-22a1f672
- Structured record (JSON): https://api.zero.xyz/v1/capabilities/cap_i823fF1zjFTSOJeDMzhHT

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-trajectory-instability-diagnosis-22a1f672 -d '<json body>'
```

Example prompt: Diagnose this robot arm trajectory for instability — I have 500 timestamped 3D position samples in the 'base_link' frame in meters, and my thresholds are max speed 1.5 m/s, max acceleration 2.0 m/s², max step distance 0.05 m, and no more than 3 direction reversals. Tell me if there are any oscillations or divergence issues.

## When to prefer this

Use this endpoint when you have a bounded, ordered, timestamped sequence of 3D positions and need to programmatically detect instability — oscillation, divergence, or kinematic limit violations — against your own defined thresholds. Prefer this over generic validation endpoints when you need trajectory-specific diagnostics (direction reversals, step distance, speed and acceleration analysis) rather than just schema or limit checking. Not suitable for physical safety certification, causal fault attribution, or unmodeled dynamics.

## Known failure modes

- Fewer than 3 samples provided — minimum sample count not met
- Timestamps out of order or non-monotonic — samples must be ordered by timestamp
- Unknown or unsupported length_unit value
- Threshold values at or below zero — all rule thresholds must be strictly positive
- maximum_direction_reversals exceeds 10000 — out of allowed range
- frame_id missing or exceeds 64 characters
- More than 10000 samples submitted — exceeds maximum payload size
- Malformed position array — each sample must have exactly 3 numeric coordinates

## How this service works

Problem: Diagnose this bounded trajectory for the supplied oscillation, divergence, and stability indicators. Input: JSON with frame id, length unit, samples, rules. Result: pass, fail, or unsupported verdict, indicator series, violation windows. Limits: Software/model evidence only; 65536 request bytes; 5 s execution.

## Output

A structured diagnosis of the supplied trajectory including whether it is stable or unstable, flagged threshold violations (speed, acceleration, step distance, direction reversals), detected oscillation patterns, and divergence indicators based on the caller-supplied rules.

## Request schema (JSON Schema)

```json
{
 "type": "object",
 "properties": {
  "request": {
   "type": "object",
   "title": "TrajectoryStabilityRequest",
   "required": [
    "frame_id",
    "length_unit",
    "samples",
    "rules"
   ],
   "properties": {
    "rules": {
     "type": "object",
     "title": "TrajectoryRules",
     "required": [
      "maximum_speed",
      "maximum_acceleration",
      "maximum_step_distance",
      "maximum_direction_reversals"
     ],
     "properties": {
      "maximum_speed": {
       "type": "number",
       "title": "Maximum Speed",
       "exclusiveMinimum": 0
      },
      "maximum_acceleration": {
       "type": "number",
       "title": "Maximum Acceleration",
       "exclusiveMinimum": 0
      },
      "maximum_step_distance": {
       "type": "number",
       "title": "Maximum Step Distance",
       "exclusiveMinimum": 0
      },
      "maximum_direction_reversals": {
       "type": "integer",
       "title": "Maximum Direction Reversals",
       "maximum": 10000,
       "minimum": 0
      }
     },
     "additionalProperties": false
    },
    "samples": {
     "type": "array",
     "items": {
      "type": "object",
      "title": "TrajectorySample",
      "required": [
       "timestamp_seconds",
       "position"
      ],
      "properties": {
       "position": {
        "type": "array",
        "title": "Position",
        "maxItems": 3,
        "minItems": 3,
        "prefixItems": [
         {
          "type": "number"
         },
         {
          "type": "number"
         },
         {
          "type": "number"
         }
        ]
       },
       "timestamp_seconds": {
        "type": "number",
        "title": "Timestamp Seconds",
        "minimum": 0
       }
      },
      "additionalProperties": false
     },
     "title": "Samples",
     "maxItems": 10000,
     "minItems": 3
    },
    "frame_id": {
     "type": "string",
     "title": "Frame Id",
     "maxLength": 64,
     "minLength": 1
    },
    "length_unit": {
     "enum": [
      "m",
      "cm",
      "mm"
     ],
     "type": "string",
     "title": "Length Unit"
    },
    "schema_version": {
     "type": "string",
     "const": "rqm.robotics.trajectory-instability-request.v1",
     "title": "Schema Version",
     "default": "rqm.robotics.trajectory-instability-request.v1"
    }
   },
   "additionalProperties": false
  },
  "schema_version": {
   "const": "rqm.jobs.bazaar-buyer-job-request.v1"
  },
  "idempotency_key": {
   "type": "string",
   "pattern": "^[A-Za-z
… (truncated)
```

## More

- Live health (JSON, refreshed every minute): https://www.zero.xyz/c/rqm-trajectory-instability-diagnosis-22a1f672/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)