{ "x402Version": 2, "id": 7634, "slug": "7634", "resource": "https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.normalize-sensor-frames.v1", "description": "Problem: Convert these bounded sensor observations into the supplied target frame and unit convention. Input: JSON with frame graph, target frame id, observations. Result: normalized or unsupported verdict, normalized observations, transform paths. Limits: Software/model evidence only; 65536 request bytes; 5 s execution.", "type": "http", "accepts": [ { "scheme": "exact", "network": "eip155:8453", "payTo": "0x8F43274b121663b18a0246E9908bac8eAC866C12", "asset": "0x833589fCD6eDb6E08f4c7C32D4f71b54bdA02913", "amount": "10000", "maxTimeoutSeconds": 300 } ], "outputSchema": { "bazaar": { "info": { "input": { "body": { "idempotency_key": "example-robotics.normalize-sensor-frames.v1", "max_total_price": "0.010000", "request": { "frame_graph": { "declared_axis_convention": "FLU", "declared_handedness": "right", "declared_length_unit": "m", "declared_rotation_semantics": "active", "declared_transform_direction": "parent_to_child", "frames": [ { "axis_convention": "FLU", "frame_id": "base", "handedness": "right", "parent_frame_id": null, "rotation": { "kind": "quaternion", "order": "wxyz", "values": [ 1, 0, 0, 0 ] }, "rotation_semantics": "active", "transform_direction": "parent_to_child", "translation": { "unit": "m", "values": [ 0, 0, 0 ] } }, { "axis_convention": "FLU", "frame_id": "tool", "handedness": "right", "parent_frame_id": "base", "rotation": { "kind": "matrix", "values": [ [ 1, 0, 0 ], [ 0, 1, 0 ], [ 0, 0, 1 ] ] }, "rotation_semantics": "active", "transform_direction": "parent_to_child", "translation": { "unit": "m", "values": [ 0.4, 0, 0.7 ] } } ], "schema_version": "rqm.robotics.frame-convention-validation-request.v1", "tolerances": { "matrix_determinant": 1e-8, "matrix_orthogonality": 1e-8, "quaternion_norm": 0.000001 } }, "observations": [ { "frame_id": "tool", "observation_id": "point-1", "point": [ 0, 0, 0 ], "unit": "m" } ], "schema_version": "rqm.robotics.sensor-frame-normalization-request.v1", "target_frame_id": "base" }, "schema_version": "rqm.jobs.bazaar-buyer-job-request.v1" }, "bodyType": "json", "method": "POST", "type": "http" }, "output": { "example": { "artifact_names": [ "normalized or unsupported verdict", "normalized observations", "transform paths" ], "caller_next_step": "Fuse, compare, or archive normalized observations; repair the frame graph on unsupported.", "capability_id": "robotics.normalize-sensor-frames.v1", "duplicate": false, "job_id": "job-robotics.normalize-sensor-frames.v1", "product": "robotics", "quote_id": "00000000-0000-4000-8000-000000000001", "reservation_id": "00000000-0000-4000-8000-000000000002", "result_schema_digest": "dbfa519d81d3b97f3c5421a90fe98eac6b01114faf295b86bd6346de6514350b", "result_schema_id": "rqm.robotics.sensor-frame-normalization-result.v1", "retrieval_token": "rqm_retrieval_", "retrieval_token_expires_in": 86400, "retrieval_url": "https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.normalize-sensor-frames.v1/jobs/job-robotics.normalize-sensor-frames.v1", "schema_version": "rqm.jobs.bazaar-buyer-job-accepted.v1", "status": "queued", "x402_settlement_id": "00000000-0000-4000-8000-000000000003", "x402_transaction_id": "0x" }, "type": "json" } }, "schema": { "$schema": "https://json-schema.org/draft/2020-12/schema", "properties": { "input": { "additionalProperties": false, "properties": { "body": { "additionalProperties": false, "properties": { "idempotency_key": { "maxLength": 128, "minLength": 1, "pattern": "^[A-Za-z0-9][A-Za-z0-9._:-]*$", "type": "string" }, "max_total_price": { "pattern": "^(?:0|[1-9]\\d{0,13})(?:\\.\\d{1,6})?$", "type": "string" }, "request": { "additionalProperties": false, "properties": { "frame_graph": { "additionalProperties": false, "properties": { "declared_axis_convention": { "enum": [ "ENU", "NED", "NWU", "FLU", "FRD" ], "title": "Declared Axis Convention", "type": "string" }, "declared_handedness": { "enum": [ "right", "left" ], "title": "Declared Handedness", "type": "string" }, "declared_length_unit": { "enum": [ "m", "cm", "mm" ], "title": "Declared Length Unit", "type": "string" }, "declared_rotation_semantics": { "enum": [ "active", "passive" ], "title": "Declared Rotation Semantics", "type": "string" }, "declared_transform_direction": { "enum": [ "parent_to_child", "child_to_parent" ], "title": "Declared Transform Direction", "type": "string" }, "frames": { "items": { "additionalProperties": false, "properties": { "axis_convention": { "enum": [ "ENU", "NED", "NWU", "FLU", "FRD" ], "title": "Axis Convention", "type": "string" }, "frame_id": { "pattern": "^[A-Za-z][A-Za-z0-9_.:-]{0,63}$", "title": "Frame Id", "type": "string" }, "handedness": { "enum": [ "right", "left" ], "title": "Handedness", "type": "string" }, "parent_frame_id": { "anyOf": [ { "pattern": "^[A-Za-z][A-Za-z0-9_.:-]{0,63}$", "type": "string" }, { "type": "null" } ], "default": null, "title": "Parent Frame Id" }, "rotation": { "discriminator": { "mapping": { "matrix": "#/$defs/MatrixRotation", "quaternion": "#/$defs/QuaternionRotation" }, "propertyName": "kind" }, "oneOf": [ { "additionalProperties": false, "properties": { "kind": { "const": "quaternion", "default": "quaternion", "title": "Kind", "type": "string" }, "order": { "enum": [ "wxyz", "xyzw" ], "title": "Order", "type": "string" }, "values": { "maxItems": 4, "minItems": 4, "prefixItems": [ { "type": "number" }, { "type": "number" }, { "type": "number" }, { "type": "number" } ], "title": "Values", "type": "array" } }, "required": [ "values", "order" ], "title": "QuaternionRotation", "type": "object" }, { "additionalProperties": false, "properties": { "kind": { "const": "matrix", "default": "matrix", "title": "Kind", "type": "string" }, "values": { "maxItems": 3, "minItems": 3, "prefixItems": [ { "maxItems": 3, "minItems": 3, "prefixItems": [ { "type": "number" }, { "type": "number" }, { "type": "number" } ], "type": "array" }, { "maxItems": 3, "minItems": 3, "prefixItems": [ { "type": "number" }, { "type": "number" }, { "type": "number" } ], "type": "array" }, { "maxItems": 3, "minItems": 3, "prefixItems": [ { "type": "number" }, { "type": "number" }, { "type": "number" } ], "type": "array" } ], "title": "Values", "type": "array" } }, "required": [ "values" ], "title": "MatrixRotation", "type": "object" } ], "title": "Rotation" }, "rotation_semantics": { "enum": [ "active", "passive" ], "title": "Rotation Semantics", "type": "string" }, "transform_direction": { "enum": [ "parent_to_child", "child_to_parent" ], "title": "Transform Direction", "type": "string" }, "translation": { "additionalProperties": false, "properties": { "unit": { "enum": [ "m", "cm", "mm" ], "title": "Unit", "type": "string" }, "values": { "maxItems": 3, "minItems": 3, "prefixItems": [ { "type": "number" }, { "type": "number" }, { "type": "number" } ], "title": "Values", "type": "array" } }, "required": [ "values", "unit" ], "title": "Translation", "type": "object" } }, "required": [ "frame_id", "translation", "rotation", "transform_direction", "rotation_semantics", "handedness", "axis_convention" ], "title": "CoordinateFrame", "type": "object" }, "maxItems": 64, "minItems": 1, "title": "Frames", "type": "array" }, "schema_version": { "const": "rqm.robotics.frame-convention-validation-request.v1", "default": "rqm.robotics.frame-convention-validation-request.v1", "title": "Schema Version", "type": "string" }, "tolerances": { "additionalProperties": false, "properties": { "matrix_determinant": { "default": 1e-8, "maximum": 0.01, "minimum": 1e-12, "title": "Matrix Determinant", "type": "number" }, "matrix_orthogonality": { "default": 1e-8, "maximum": 0.01, "minimum": 1e-12, "title": "Matrix Orthogonality", "type": "number" }, "quaternion_norm": { "default": 0.000001, "maximum": 0.01, "minimum": 1e-12, "title": "Quaternion Norm", "type": "number" } }, "title": "Tolerances", "type": "object" } }, "required": [ "frames", "declared_length_unit", "declared_transform_direction", "declared_rotation_semantics", "declared_handedness", "declared_axis_convention" ], "title": "FrameConventionValidationRequest", "type": "object" }, "observations": { "items": { "additionalProperties": false, "properties": { "frame_id": { "maxLength": 64, "minLength": 1, "title": "Frame Id", "type": "string" }, "observation_id": { "maxLength": 64, "minLength": 1, "title": "Observation Id", "type": "string" }, "orientation_xyzw": { "anyOf": [ { "maxItems": 4, "minItems": 4, "prefixItems": [ { "type": "number" }, { "type": "number" }, { "type": "number" }, { "type": "number" } ], "type": "array" }, { "type": "null" } ], "default": null, "title": "Orientation Xyzw" }, "point": { "maxItems": 3, "minItems": 3, "prefixItems": [ { "type": "number" }, { "type": "number" }, { "type": "number" } ], "title": "Point", "type": "array" }, "position_covariance": { "anyOf": [ { "items": { "items": { "type": "number" }, "type": "array" }, "maxItems": 3, "type": "array" }, { "type": "null" } ], "default": null, "title": "Position Covariance" }, "unit": { "enum": [ "m", "cm", "mm" ], "title": "Unit", "type": "string" } }, "required": [ "observation_id", "frame_id", "point", "unit" ], "title": "SensorObservation", "type": "object" }, "maxItems": 10000, "minItems": 1, "title": "Observations", "type": "array" }, "schema_version": { "const": "rqm.robotics.sensor-frame-normalization-request.v1", "default": "rqm.robotics.sensor-frame-normalization-request.v1", "title": "Schema Version", "type": "string" }, "target_frame_id": { "maxLength": 64, "minLength": 1, "title": "Target Frame Id", "type": "string" } }, "required": [ "frame_graph", "target_frame_id", "observations" ], "title": "SensorFrameNormalizationRequest", "type": "object" }, "schema_version": { "const": "rqm.jobs.bazaar-buyer-job-request.v1" } }, "required": [ "schema_version", "idempotency_key", "max_total_price", "request" ], "type": "object" }, "bodyType": { "enum": [ "json" ], "type": "string" }, "method": { "enum": [ "POST" ], "type": "string" }, "type": { "const": "http", "type": "string" } }, "required": [ "type", "method", "bodyType", "body" ], "type": "object" }, "output": { "properties": { "example": { "additionalProperties": false, "properties": { "artifact_names": { "items": { "type": "string" }, "type": "array" }, "caller_next_step": { "type": "string" }, "capability_id": { "type": "string" }, "duplicate": { "type": "boolean" }, "job_id": { "type": "string" }, "product": { "enum": [ "wave", "quantum", "robotics" ] }, "quote_id": { "format": "uuid", "type": "string" }, "reservation_id": { "format": "uuid", "type": "string" }, "result_schema_digest": { "pattern": "^[a-f0-9]{64}$", "type": "string" }, "result_schema_id": { "type": "string" }, "retrieval_token": { "pattern": "^rqm_retrieval_", "type": "string" }, "retrieval_token_expires_in": { "minimum": 1, "type": "integer" }, "retrieval_url": { "format": "uri", "type": "string" }, "schema_version": { "const": "rqm.jobs.bazaar-buyer-job-accepted.v1" }, "status": { "enum": [ "queued", "running", "completed" ] }, "x402_settlement_id": { "format": "uuid", "type": "string" }, "x402_transaction_id": { "type": "string" } }, "required": [ "schema_version", "product", "capability_id", "job_id", "status", "quote_id", "reservation_id", "x402_settlement_id", "x402_transaction_id", "retrieval_url", "retrieval_token", "retrieval_token_expires_in", "result_schema_id", "result_schema_digest", "caller_next_step", "duplicate" ], "type": "object" }, "type": { "type": "string" } }, "required": [ "type" ], "type": "object" } }, "required": [ "input" ], "type": "object" } } }, "tags": [ "bazaar" ], "sourceHost": "jobs.rqmtechnologies.com", "lastUpdated": "2026-09-10T00:49:23.102Z", "quality": { "calls30d": 2, "uniquePayers30d": 1, "lastCalledAt": "2026-09-10T00:49:22.309Z" }, "liveness": {}, "verified": false, "featured": false, "provider": { "host": "jobs.rqmtechnologies.com", "manifest_name": "jobs.rqmtechnologies.com", "source": "cdp-mirror", "source_manifest_url": "https://api.cdp.coinbase.com/platform/v2/x402/discovery/resources", "submitted_at": "2026-09-18T22:00:31.484Z" } }