{"uid":"cap_aebd697pTC12po7x6DJDy","slug":"rqm-check-collision-constraints-f8940cd7","name":"RQM Check Collision Constraints","description":"Problem: Check this bounded geometry and trajectory against the supplied collision and clearance constraints. Input: JSON with trajectory, obstacles, robot radius, minimum clearance. Result: clearance, collision candidates and constraint results. Limits: Software/model evidence only; 65536 request bytes; 5 s execution.","url":"https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.check-collision-constraints.v1","method":"POST","headers":{},"bodySchema":{"type":"object","properties":{"request":{"type":"object","title":"CollisionRequest","required":["trajectory","obstacles","robot_radius","minimum_clearance"],"properties":{"obstacles":{"type":"array","items":{"type":"object","title":"CircleObstacle","required":["obstacle_id","x","y","radius"],"properties":{"x":{"type":"number","title":"X","maximum":1000000000,"minimum":-1000000000},"y":{"type":"number","title":"Y","maximum":1000000000,"minimum":-1000000000},"radius":{"type":"number","title":"Radius","maximum":1000000000,"minimum":0},"obstacle_id":{"type":"string","title":"Obstacle Id","maxLength":128,"minLength":1}},"additionalProperties":false},"title":"Obstacles","maxItems":1024,"minItems":1},"trajectory":{"type":"array","items":{"type":"object","title":"Point2D","required":["timestamp_s","x","y"],"properties":{"x":{"type":"number","title":"X","maximum":1000000000,"minimum":-1000000000},"y":{"type":"number","title":"Y","maximum":1000000000,"minimum":-1000000000},"timestamp_s":{"type":"number","title":"Timestamp S","maximum":86400,"minimum":0}},"additionalProperties":false},"title":"Trajectory","maxItems":4096,"minItems":2},"robot_radius":{"type":"number","title":"Robot Radius","maximum":1000000000,"minimum":0},"minimum_clearance":{"type":"number","title":"Minimum Clearance","maximum":1000000000,"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._:-]*$","maxLength":128,"minLength":1},"max_total_price":{"type":"string","pattern":"^(?:0|[1-9]\\d{0,13})(?:\\.\\d{1,6})?$"}}},"responseSchema":null,"example":null,"exampleRequest":null,"tags":["x402"],"displayCostAmount":"0.01","displayCostAsset":"USDC","priceDynamic":false,"priceHint":null,"priceStatus":"priced","priceSource":"probe","requiresHandshake":false,"reviewCount":0,"rating":{"score":"0.00","successRate":"0.00","reviews":0,"stars":null,"state":"unrated"},"availabilityStatus":"unknown","priceObserved":null,"sessionDeposit":null,"pricing":{"kind":"static","summary":"$0.01/call","primary":{"kind":"static","protocol":"x402","network":"base","amountUsd":"0.01","per":"call","confidence":"exact"},"accepted":[{"kind":"static","protocol":"x402","network":"base","amountUsd":"0.01","per":"call","confidence":"exact"}]},"paymentMethods":[{"uid":"pm_x5uWROigaw2JbFUYLztA5","protocol":"x402","methodType":"crypto","chain":"base","mode":"charge","costAmount":"0.01","costPer":"request","priority":0,"asset":"0x833589fCD6eDb6E08f4c7C32D4f71b54bdA02913","unit":"request","depositMicros":null,"planRef":null}],"brandName":null,"brandSlug":null,"brandBaseUrl":null,"brandDocsUrl":null,"whatItDoes":"Checks a robot's bounded 2D trajectory against circular obstacles, robot radius, and minimum clearance constraints to detect collisions.","exampleAgentPrompt":"Check whether this robot trajectory — moving through waypoints at t=0s (0,0), t=2s (5,3), t=4s (10,6) — with a robot radius of 0.5m and minimum clearance of 0.3m, is collision-free given circular obstacles: obstacle-1 at (4,2) radius 1.0m and obstacle-2 at (8,5) radius 0.8m.","exampleUseCases":[{"title":"Pre-execution path safety check","prompt":"Before the robot starts moving, check if its planned trajectory through waypoints (0,0) at t=0, (3,4) at t=1.5, (7,8) at t=3 collides with any of these obstacles: wall-post at (2,3) radius 0.5m and pillar at (6,7) radius 0.6m, given the robot radius is 0.4m and we need at least 0.25m of clearance at all times."},{"title":"Warehouse robot navigation validation","prompt":"I have a warehouse robot with a 0.6m body radius that needs to navigate from start to end. Check its trajectory: t=0 (0,0), t=5 (10,0), t=10 (10,15), t=15 (20,15) against these shelf obstacles: shelf-A at (5,2) radius 1.2m, shelf-B at (10,8) radius 1.0m, shelf-C at (15,13) radius 0.9m — minimum clearance required is 0.5m."},{"title":"Drone flight corridor collision check","prompt":"Can you verify that this drone flight path — waypoints at t=0 (0,0), t=3 (15,10), t=6 (30,5), t=9 (45,15) — stays clear of these no-fly zone circles: zone-1 at (14,9) radius 2.0m, zone-2 at (29,6) radius 1.5m? The drone has a radius of 0.3m and we need 1.0m minimum clearance."}],"resultDescription":"Returns a structured result indicating whether the trajectory is collision-free, which obstacles (by obstacle_id) are violated, at which trajectory points violations occur, and whether minimum clearance constraints are breached. May include per-point clearance distances and summary pass/fail status.","failureModes":["Fewer than 2 trajectory waypoints provided — request rejected","No obstacles supplied (minItems:1 violated) — validation error","robot_radius or minimum_clearance is negative — schema validation error","Trajectory timestamps out of range (0–86400s) — validation error","More than 4096 trajectory points or 1024 obstacles — payload too large","Coordinates exceed ±1,000,000,000 bounds — schema rejection","Missing required fields (trajectory, obstacles, robot_radius, minimum_clearance) — 400 error","Payment not provided or insufficient — 402 payment required"],"whenToPreferThis":"Use this endpoint when you need to validate a pre-planned 2D robot trajectory against known circular obstacle geometry before execution. It is ideal for motion planning pipelines where you have a fully defined path and a static obstacle map and need a fast, cheap ($0.01) collision check. Prefer this over full trajectory optimization when you only need a pass/fail or violation report, not a corrected path. Do not use for live actuation, real-time sensor-based environments, 3D obstacle geometries, or physical safety certification.","instructions":null,"reviewSummary":null,"reviewSummaryHighlights":null,"reviewSummaryConcerns":null,"reviewSummaryGeneratedAt":null,"activationCount":0,"lastUsedAt":null,"lastSuccessfullyRanAt":null,"lastHealthCheckAt":"2026-09-15T00:48:57.742Z","isFirstParty":false}