diff --git a/API/common/commonopenapi.yaml b/API/common/commonopenapi.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2b792eaeddb03756b53d22f235b7fcf691d9aacc
--- /dev/null
+++ b/API/common/commonopenapi.yaml
@@ -0,0 +1,318 @@
+
+
+
+
+  openapi: 3.0.0
+
+    
+# COMPONENTS ###############################################
+  components:
+
+    #-------------------------------
+    # Reusable schemas (data models)
+    #-------------------------------
+    schemas:
+
+        Mode_WorldAnalysis:
+          description: Mode representing the context of the relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
+          type: string
+          enum: [TRACKABLES_TO_DEVICE, DEVICE_TO_TRACKABLES]
+          example: TRACKABLES_TO_DEVICE
+        
+        Mode_WorldStorage:
+          description: Mode representing the context of the relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
+          type: string
+          enum: [TRACKABLES_TO_REQUEST, REQUEST_TO_TRACKABLES]
+          example: TRACKABLES_TO_REQUEST
+        
+        EncodingInformationStructure:
+          description: An object holding the info of a Trackable`'`s encoding information `:` the data format and the version.
+          required:
+            - dataFormat
+            - version
+          properties:
+            dataFormat:
+              description: Identifier of the target framework.
+              type: string
+              enum: [HOLOLENS, ARKIT, ARCORE, VUFORIA, ARUCO, OTHER]
+              example : "HOLOLENS"
+            version:
+              description: The version of the format
+              type: string
+              example : "1.01"
+
+        Transform3D:
+            description: Coordinate reference system of the world anchor, a 4*4 matrix (rowmajor) represented by a float vector.
+            type: array
+            minItems: 16
+            maxItems: 16
+            items:
+              type: number
+              format: float
+            example: [ 1, 0, 0, 3,
+                      0, 1, 0, 3,
+                      0, 0, 1, 3,
+                      0, 0, 0, 1]
+
+        UnitSystem:
+            description: Unit of length.
+            type: string
+            enum: [MM,  CM,  DM,  M,  DAM,  HM,  KM,  INCH, FOOT, YARD, MILE]
+            example: M
+
+        Size:
+            description: Size object in format {width, length, depth}.
+            type: array
+            items:
+                type: number
+                format: double
+            minItems: 3
+            maxItems: 3
+            example: [1.0,1.0,1.5]   
+
+        Token:
+          type: string
+          example: eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJodHRwczovL2V4YW1wbGUuYXV0aDAuY29tLyIsImF1ZCI6Imh0dHBzOi8vYXBpLmV4YW1wbGUuY29tL2NhbGFuZGFyL3YxLyIsInN1YiI6InVzcl8xMjMiLCJpYXQiOjE0NTg3ODU3OTYsImV4cCI6MTQ1ODg3MjE5Nn0.CA7eaHjIHz5NxeIJoFK9krqaeZrPLwmMmgI_XiQiIkQ
+          description: A string representing the token of the User.
+
+        Error:
+          required:
+            - code
+            - message
+          properties:
+            code:
+              type: integer
+              format: int32
+              example: 406
+            message:
+              type: string
+              example: "Error 406"
+            
+        SessionID:
+          type: string
+          example: 4JA1xVJSYKE47UM7RKDrfUcTXlJ0wxSQ
+          description: A string representing the session ID associated with the AR session.
+
+        Pose:
+          description: An element representing the result of the pose estimation of an AR device, a Trackable or a WorldAnchor by the World Analysis
+          type: object
+          properties:
+            uuid:
+              description: UUID of the associated Anchor or Trackable
+              type: string
+              format: uuid
+              example: "fa8bbe40-8052-11ec-a8a3-0242ac120002"
+            estimationState:
+              description: Extensible List of possible states of the pose estimation
+              type: string
+              enum: [OK, FAILURE]
+              example: OK
+            instructionInfo:
+              description: A message detailing the context of the pose estimation
+              type: string
+              example: Lighting is toom dim
+            timestamp:
+              description: Capture time of the pose as number of milliseconds since unix epoch
+              type: integer
+              example : 1704812114841
+            confidence: 
+              description: A score representing the confidence concerning the accuracy of the pose estimated
+              type: number
+              example : 50.00
+            mode:
+              description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
+              $ref: '#/components/schemas/Mode'
+            value:
+              description: The pose value
+              oneOf:
+                - $ref: '#/components/schemas/MatrixPoseValue'
+                - $ref: '#/components/schemas/VectorQuaternionPoseValue'
+                - $ref: '#/components/schemas/GeodeticPoseValue'
+              example:
+                type: "MATRIX"
+                transform: [ 1, 0, 0, 3,
+                  0, 1, 0, 3,
+                  0, 0, 1, 3,
+                  0, 0, 0, 1 ]
+            subscriptionUrl:
+              description: The URL to use for subscription (if available), see [/pose/subscriptions]
+              type: string
+              example: "http://mywordanalysisserver.com/pose/subscriptions?target=fa8bbe40-8052-11ec-a8a3-0242ac120002"
+            
+        PoseValue:
+          description: Base type to define the pose value
+          type: object
+          properties:
+            type:
+              description: Encoding type of the Pose
+              type: string
+              enum: [MATRIX, VECTOR_QUATERNION, GEODETIC]
+        
+        MatrixPoseValue:
+          description: A pose value that is described with a 4*4 matrix
+          allOf:     #inheritance
+            - $ref: '#/components/schemas/PoseValue'
+          properties:    
+            transform: 
+              description : Pose data
+              $ref: '#/components/schemas/Transform3D'
+            unit:
+              description: Unit system of the pose
+              $ref: '#/components/schemas/UnitSystem'
+
+        VectorQuaternionPoseValue:
+          description: A pose value that is described with a position and a rotation
+          allOf:     #inheritance
+              - $ref: '#/components/schemas/PoseValue'
+          properties:
+            position: 
+              description : Pose Position
+              $ref: '#/components/schemas/Vector3'
+            rotation: 
+              description : Pose Rotation
+              $ref: '#/components/schemas/Quaternion'  
+            unit:
+              description: Unit system of the pose
+              $ref: '#/components/schemas/UnitSystem'      
+
+        Vector3:
+          description: A 3 coordinates vector
+          type: array
+          minItems: 3
+          maxItems: 3
+          items:
+            type: number
+            format: float
+          example: [ 1, 0, 0 ]
+
+        Quaternion:
+          description: A quaternion
+          type: array
+          minItems: 4
+          maxItems: 4
+          items:
+            type: number
+            format: float
+          example: [ 0, 0, 0, 1 ]
+
+        TypeWorldStorage:
+          description: Trackable or Anchor
+          type: string
+          enum: [TRACKABLE, ANCHOR]
+          example: ANCHOR
+
+        Capability:
+          description: An object representing a supported capability of the World Analysis and its associated metadata
+          type: object
+          uniqueItems: true
+          properties:
+            trackableType:
+              type: string
+              enum: [FIDUCIAL_MARKER, IMAGE_MARKER, MAP, GEOPOSE, OTHER]
+              example: "FIDUCIAL_MARKER"
+            encodingInformation:
+              $ref: '#/components/schemas/EncodingInformationStructure' 
+            framerate: 
+              description: Number of frames per second the tracking of this type of trackable is performed by the World Analysis
+              type: number
+              example : 30.0
+            latency:
+              description: Mean tracking latency in milliseconds for this type of trackable 
+              type: number 
+              example: 10.0
+            accuracy:
+              description: Accuracy score for the detection of this type of Trackable by the World Analysis
+              type: number 
+              example: 50.0
+    
+      #-------------------------------
+      # Reusable responses
+      #-------------------------------
+    responses:
+        #######################
+        # 1xx : Informational #
+        #######################
+
+        #################
+        # 2xx : Success #
+        #################
+
+        #####################
+        # 3xx : Redirection #
+        #####################
+
+        #######################
+        # 4xx : Client Errors #
+        #######################
+        400_BadRequest:
+          description: Bad request.
+          content:
+            text/plain:
+              schema:
+                type: string
+                example: "Bad request"
+
+        400_InvalidUUID:
+          description: Invalid UUID supplied.
+          content:
+            text/plain:
+              schema:
+                example: "The format of the UUID is incorrect"
+                type: string
+
+        403_Forbidden:
+          description: Not allowed.
+          content:
+            text/plain:
+              schema:
+                type: string
+                example: "Not allowed"
+                
+        404_NotFound:
+          description: Not found.
+          content:
+            text/plain:
+              schema:
+                type: string
+                example: "Not found"
+
+        404_NotFoundUUID:
+          description: Not found, could not find UUID in database.
+          content:
+            text/plain:
+              schema:
+                type: string
+                example: "Element not found"
+                  
+        405_NotSupported:
+          description: Not supported.
+          content:
+            text/plain:
+              schema:
+                type: string
+                example: "Not supported"        
+
+        4xx_UnexpectedError:      # Can be referenced as '#/components/responses/GenericError'
+          description: Unexpected error.
+          content:
+            application/json:
+              schema:
+                $ref: '#/components/schemas/Error'
+
+        409_NotEmptyUUID:
+          description: Invalid UUID, id must be a Nil value.
+          content:
+            text/plain:
+              schema:
+                type: string
+                example: "The element you sent has already a value and can't be sent to the world storage"
+
+        ########################
+        # 5xx : Server Errors  #
+        ########################
+        5xx_UnexpectedError:
+          description: Unexpected server error.
+          content:
+            application/json:
+              schema:
+                $ref: '#/components/schemas/Error'
diff --git a/API/worldanalysis/worldanalysisopenapi.yaml b/API/worldanalysis/worldanalysisopenapi.yaml
index e7038181445d15d459b4eb9a848092973dfe2d23..955a426c900a0e1e8d5ff645b10c83ffb5f06085 100644
--- a/API/worldanalysis/worldanalysisopenapi.yaml
+++ b/API/worldanalysis/worldanalysisopenapi.yaml
@@ -68,11 +68,11 @@ paths:
       - in: header
         name: token
         schema:
-          $ref: '#/components/schemas/Token'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       - in: header
         name: sessionID
         schema:
-          $ref: '#/components/schemas/SessionID'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/SessionID'
       requestBody:
           required: true
           content:
@@ -83,9 +83,9 @@ paths:
         '200':
           description: Successful operation.
         '405':
-          $ref: '#/components/responses/405_NotSupported'       
+          $ref: '../common/commonopenapi.yaml#/components/responses/405_NotSupported'       
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
           
   /pose/{trackableOrAnchorUUID}:
     get:
@@ -98,11 +98,11 @@ paths:
       - in: header
         name: token
         schema:
-          $ref: '#/components/schemas/Token'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       - in: header
         name: sessionID
         schema:
-          $ref: '#/components/schemas/SessionID'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/SessionID'
       - name: trackableOrAnchorUUID
         in: path
         description: UUID of the Trackable or Anchor to request
@@ -116,7 +116,7 @@ paths:
         description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
         required: true
         schema:
-          $ref: '#/components/schemas/Mode'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/Mode_WorldAnalysis'
       responses: 
         '200':
           description: Successful operation.
@@ -125,15 +125,15 @@ paths:
               schema:
                 $ref: '#/components/schemas/Pose'
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '403':
-          $ref: '#/components/responses/403_Forbidden'
+          $ref: '../common/commonopenapi.yaml#/components/responses/403_Forbidden'
         '404':
-          $ref: '#/components/responses/404_NotFound'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFound'
         '405':
-          $ref: '#/components/responses/405_NotSupported'    
+          $ref: '../common/commonopenapi.yaml#/components/responses/405_NotSupported'    
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
 
   /poses:
     get:
@@ -146,32 +146,28 @@ paths:
       - in: header
         name: token
         schema:
-          $ref: '#/components/schemas/Token'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       - in: header
         name: sessionID
         schema:
-          $ref: '#/components/schemas/SessionID'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/SessionID'
       - name: uuid
-        in: query
-        description: UUID of the Trackable or Anchor to request with the mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
+        in: header
+        description: UUID of the Trackable or Anchor to request
         required: true
         schema:
           type: array
           uniqueItems: true
           items:
-            type: object
-            properties:
-              uuid:
-                type: string
-                format: uuid
-                example: "fa8bbe40-8052-11ec-a8a3-0242ac120002"
-              mode:
-                description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
-                $ref: '#/components/schemas/Mode'
-            required:
-              - uuid
-              - mode
-
+            type: string
+            format: uuid
+            example: "fa8bbe40-8052-11ec-a8a3-0242ac120002"
+      - name: mode
+        in: query
+        description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
+        required: true
+        schema:
+          $ref: '../common/commonopenapi.yaml#/components/schemas/Mode_WorldAnalysis'
       responses: 
         '200':
           description: Successful operation.
@@ -185,15 +181,15 @@ paths:
                     items:
                       $ref: '#/components/schemas/Pose'
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '403':
-          $ref: '#/components/responses/403_Forbidden'
+          $ref: '../common/commonopenapi.yaml#/components/responses/403_Forbidden'
         '404':
-          $ref: '#/components/responses/404_NotFound'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFound'
         '405':
-          $ref: '#/components/responses/405_NotSupported'    
+          $ref: '../common/commonopenapi.yaml#/components/responses/405_NotSupported'    
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
 
   /pose/subscriptions:
     post:
@@ -206,11 +202,11 @@ paths:
       - in: header
         name: token
         schema:
-          $ref: '#/components/schemas/Token'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       - in: header
         name: sessionID
         schema:
-          $ref: '#/components/schemas/SessionID'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/SessionID'
       - name: target
         in: query
         description: UUID of the Trackable or Anchor to subscribe
@@ -239,15 +235,15 @@ paths:
                 - $ref: '#/components/schemas/SubscriptionSingle'
                 - $ref: '#/components/schemas/SubscriptionMultiple'
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '403':
-          $ref: '#/components/responses/403_Forbidden'
+          $ref: '../common/commonopenapi.yaml#/components/responses/403_Forbidden'
         '404':
-          $ref: '#/components/responses/404_NotFound'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFound'
         '405':
-          $ref: '#/components/responses/405_NotSupported'
+          $ref: '../common/commonopenapi.yaml#/components/responses/405_NotSupported'
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
 
 
   /pose/subscriptions/{subscriptionUUID}:
@@ -261,11 +257,11 @@ paths:
       - in: header
         name: token
         schema:
-          $ref: '#/components/schemas/Token'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       - in: header
         name: sessionID
         schema:
-          $ref: '#/components/schemas/SessionID'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/SessionID'
       - name: subscriptionUUID
         in: path
         description: Subscription UUID to retrieve.
@@ -282,9 +278,9 @@ paths:
               schema:
                 $ref: '#/components/schemas/SubscriptionSingle'
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '404':
-          $ref: '#/components/responses/404_NotFound'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFound'
     put:
       summary: Update a subscription
       operationId: updateSubscription
@@ -295,11 +291,11 @@ paths:
       - in: header
         name: token
         schema:
-          $ref: '#/components/schemas/Token'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       - in: header
         name: sessionID
         schema:
-          $ref: '#/components/schemas/SessionID'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/SessionID'
       - name: subscriptionUUID
         in: path
         description: Subscription UUID to delete.
@@ -317,7 +313,7 @@ paths:
                 properties:
                   mode:
                     description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
-                    $ref: '#/components/schemas/Mode'
+                    $ref: '../common/commonopenapi.yaml#/components/schemas/Mode_WorldAnalysis'
                   validity: 
                     description: Subscription validity delay in millisecond 
                     type: integer
@@ -335,9 +331,9 @@ paths:
               schema:
                 $ref: '#/components/schemas/SubscriptionSingle'
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '404':
-          $ref: '#/components/responses/404_NotFound'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFound'
     delete:
         summary: Remove a subscription to a given pose
         operationId: unsubscribeFromPose
@@ -348,11 +344,11 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
         - in: header
           name: sessionID
           schema:
-            $ref: '#/components/schemas/SessionID'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/SessionID'
         - name: subscriptionUUID
           in: path
           description: Subscription UUID to delete.
@@ -370,9 +366,9 @@ paths:
                   type: string
                   example: "Subscription succesfuly deleted"
           '400':
-            $ref: '#/components/responses/400_BadRequest'
+            $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
           '404':
-            $ref: '#/components/responses/404_NotFound'
+            $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFound'
 
   /capabilities:
     get:
@@ -385,11 +381,11 @@ paths:
       - in: header
         name: token
         schema:
-          $ref: '#/components/schemas/Token'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       - in: header
         name: sessionID
         schema:
-          $ref: '#/components/schemas/SessionID'
+          $ref: '../common/commonopenapi.yaml#/components/schemas/SessionID'
       responses:
         '200':
           description: Successful operation.
@@ -401,9 +397,9 @@ paths:
                   capabilities:
                     type: array
                     items: 
-                      $ref: '#/components/schemas/Capability'
+                      $ref: '../common/commonopenapi.yaml#/components/schemas/Capability'
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
 
 
   /capabilities/{trackableOrAnchorUUID}:
@@ -417,11 +413,11 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
         - in: header
           name: sessionID
           schema:
-            $ref: '#/components/schemas/SessionID'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/SessionID'
         - name: trackableOrAnchorUUID
           in: path
           description: UUID of the Trackable or Anchor to check support
@@ -438,19 +434,19 @@ paths:
                   type: object
                   properties:
                     type:
-                      $ref: '#/components/schemas/TypeWorldStorage'
+                      $ref: '../common/commonopenapi.yaml#/components/schemas/TypeWorldStorage'
                     capability:
-                      $ref: '#/components/schemas/Capability'
+                      $ref: '../common/commonopenapi.yaml#/components/schemas/Capability'
           '400':
-            $ref: '#/components/responses/400_BadRequest'
+            $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
           '403':
-            $ref: '#/components/responses/403_Forbidden'
+            $ref: '../common/commonopenapi.yaml#/components/responses/403_Forbidden'
           '404':
-            $ref: '#/components/responses/404_NotFound'
+            $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFound'
           '405':
-            $ref: '#/components/responses/405_NotSupported'
+            $ref: '../common/commonopenapi.yaml#/components/responses/405_NotSupported'
           'default':
-            $ref: '#/components/responses/4xx_UnexpectedError'
+            $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
 
 # COMPONENTS ###############################################
 components:
@@ -459,16 +455,7 @@ components:
   # Reusable schemas (data models)
   #-------------------------------
   schemas:
-
-      Token:
-        type: string
-        example: eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJodHRwczovL2V4YW1wbGUuYXV0aDAuY29tLyIsImF1ZCI6Imh0dHBzOi8vYXBpLmV4YW1wbGUuY29tL2NhbGFuZGFyL3YxLyIsInN1YiI6InVzcl8xMjMiLCJpYXQiOjE0NTg3ODU3OTYsImV4cCI6MTQ1ODg3MjE5Nn0.CA7eaHjIHz5NxeIJoFK9krqaeZrPLwmMmgI_XiQiIkQ
-        description: A string representing the token of the User.
           
-      SessionID:
-        type: string
-        example: 4JA1xVJSYKE47UM7RKDrfUcTXlJ0wxSQ
-        description: A string representing the session ID associated with the AR session.
 
       Pose:
         description: An element representing the result of the pose estimation of an AR device, a Trackable or a WorldAnchor by the World Analysis
@@ -498,12 +485,12 @@ components:
             example : 50.00
           mode:
             description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
-            $ref: '#/components/schemas/Mode'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Mode_WorldAnalysis'
           value:
             description: The pose value
             oneOf:
               - $ref: '#/components/schemas/MatrixPoseValue'
-              - $ref: '#/components/schemas/VectorQuaternionPoseValue'
+              - $ref: '../common/commonopenapi.yaml#/components/schemas/VectorQuaternionPoseValue'
               - $ref: '#/components/schemas/GeodeticPoseValue'
             example:
               type: "MATRIX"
@@ -532,25 +519,10 @@ components:
         properties:    
           transform: 
             description : Pose data
-            $ref: '#/components/schemas/Transform3D'
-          unit:
-            description: Unit system of the pose
-            $ref: '#/components/schemas/UnitSystem'
-
-      VectorQuaternionPoseValue:
-        description: A pose value that is described with a position and a rotation
-        allOf:     #inheritance
-            - $ref: '#/components/schemas/PoseValue'
-        properties:
-          position: 
-            description : Pose Position
-            $ref: '#/components/schemas/Vector3'
-          rotation: 
-            description : Pose Rotation
-            $ref: '#/components/schemas/Quaternion'  
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Transform3D'
           unit:
             description: Unit system of the pose
-            $ref: '#/components/schemas/UnitSystem'      
+            $ref: '../common/commonopenapi.yaml#/components/schemas/UnitSystem'
 
       GeodeticPoseValue:
         description : A pose value in a geodetic coordinate system
@@ -568,7 +540,7 @@ components:
             example: 43.57351
           rotation:  
             description: Pose Rotation
-            $ref: '#/components/schemas/Quaternion'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Quaternion'
           geodeticsystem:
             description: Associated geodetic system of the pose
             type: string
@@ -579,81 +551,6 @@ components:
               enum: [EASTUPSOUTH, WESTUPNORTH]
               example: EASTUPSOUTH
 
-      UnitSystem:
-        description: Unit of length.
-        type: string
-        enum: [MM,  CM,  DM,  M,  DAM,  HM,  KM,  INCH, FOOT, YARD, MILE]
-        example: M      
-
-      Transform3D:
-        description: Coordinate reference system of the world anchor, a 4*4 matrix (rowmajor) represented by a float vector.
-        type: array
-        minItems: 16
-        maxItems: 16
-        items:
-          type: number
-          format: float
-        example: [ 1, 0, 0, 3,
-                   0, 1, 0, 3,
-                   0, 0, 1, 3,
-                   0, 0, 0, 1 ]
-
-      Vector3:
-        description: A 3 coordinates vector
-        type: array
-        minItems: 3
-        maxItems: 3
-        items:
-          type: number
-          format: float
-        example: [ 1, 0, 0 ]
-
-      Quaternion:
-        description: A quaternion
-        type: array
-        minItems: 4
-        maxItems: 4
-        items:
-          type: number
-          format: float
-        example: [ 0, 0, 0, 1 ]
-
-      TypeWorldStorage:
-        description: Trackable or Anchor
-        type: string
-        enum: [TRACKABLE, ANCHOR]
-        example: ANCHOR
-
-      Mode:
-        description: Mode representing the context of the relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
-        type: string
-        enum: [DEVICE_TO_TRACKABLE_OR_ANCHOR, TRACKABLE_OR_ANCHOR_TO_DEVICE]
-        example: DEVICE_TO_TRACKABLE_OR_ANCHOR
-
-      Capability:
-        description: An object representing a supported capability of the World Analysis and its associated metadata
-        type: object
-        uniqueItems: true
-        properties:
-          trackableType:
-            type: string
-            enum: [FIDUCIAL_MARKER, IMAGE_MARKER, MAP, GEOPOSE, OTHER]
-            example: "FIDUCIAL_MARKER"
-          encodingInformation:
-            $ref: '#/components/schemas/EncodingInformationStructure' 
-          framerate: 
-            description: Number of frames per second the tracking of this type of trackable is performed by the World Analysis
-            type: number
-            example : 30.0
-          latency:
-            description: Mean tracking latency in milliseconds for this type of trackable 
-            type: number 
-            example: 10.0
-          accuracy:
-            description: Accuracy score for the detection of this type of Trackable by the World Analysis
-            type: number 
-            example: 50.0
-
       PoseConfiguration:
         description: An object representing the framerate that the World Analysis needs to reach for a given Trackable Type
         type: object
@@ -664,7 +561,7 @@ components:
             enum: [FIDUCIAL_MARKER, IMAGE_MARKER, MAP, GEOPOSE, OTHER]
             example: "FIDUCIAL_MARKER"
           encodingInformation:
-            $ref: '#/components/schemas/EncodingInformationStructure'   
+            $ref: '../common/commonopenapi.yaml#/components/schemas/EncodingInformationStructure'   
           framerate: 
             description: Number of frames per second the tracking expected for this type of trackable is performed by the World Analysis
             type: number
@@ -681,7 +578,7 @@ components:
             example: "fa8bbe40-8052-11ec-a8a3-0242ac120002"
           mode:
             description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
-            $ref: '#/components/schemas/Mode'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Mode_WorldAnalysis'
           validity: 
             description: Subscription validity delay in millisecond 
             type: integer
@@ -703,7 +600,22 @@ components:
             description: List of UUID of the Trackable or Anchor to subscribe
             type: array
             items:
-              $ref: '#/components/schemas/SubscriptionSingleRequest'
+              format: uuid
+            example: [ "fa8bbe40-8052-11ec-a8a3-0242ac120002", "fa8bbe40-8052-11ec-a8a3-0242ac120003"]
+          mode:
+            description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Mode_WorldAnalysis'
+          validity: 
+            description: Subscription validity delay in millisecond 
+            type: integer
+            example: 20000
+          webhookUrl:
+            description: Optional URL of your listening webhook for collecting the poses
+            type: string
+            default: null
+            example: "http://myscenemanagementserver.com/poses"
+        required:
+          - mode
 
       SubscriptionSingle:
         description: Response when subscribing for pose update of a Trackable or a WorldAnchor
@@ -721,7 +633,7 @@ components:
             example: "fa8bbe40-8052-11ec-a8a3-0242ac120002"
           mode:
             description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
-            $ref: '#/components/schemas/Mode'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Mode_WorldAnalysis'
           validity:
             type: integer
             example: 20000
@@ -743,99 +655,3 @@ components:
             items:
               $ref: '#/components/schemas/SubscriptionSingle'
 
-      Error:
-        required:
-          - code
-          - message
-        properties:
-          code:
-            type: integer
-            format: int32
-            example: 406
-          message:
-            type: string
-            example: "Error 406"
-
-      # From World Storage
-      EncodingInformationStructure:
-        description: An object holding the info of a Trackable`'`s encoding information `:` the data format and the version.
-        required:
-          - dataFormat
-          - version
-        properties:
-          dataFormat:
-            description: Identifier of the target framework.
-            type: string
-            enum: [HOLOLENS, ARKIT, ARCORE, VUFORIA, ARUCO, OTHER]
-            example : "HOLOLENS"
-          version:
-            description: The version of the format
-            type: string
-            example : "1.01"
-
-  #-------------------------------
-  # Reusable responses
-  #-------------------------------
-  responses:
-    #######################
-    # 1xx : Informational #
-    #######################
-    #################
-    # 2xx : Success #
-    #################
-
-    #####################
-    # 3xx : Redirection #
-    #####################
-
-    #######################
-    # 4xx : Client Errors #
-    #######################
-    400_BadRequest:
-      description: Bad/Invalid request.
-      content:
-        text/plain:
-          schema:
-            type: string
-            example: "Bad request"
-
-    403_Forbidden:
-      description: Not allowed.
-      content:
-        text/plain:
-          schema:
-            type: string
-            example: "Not allowed"
-
-    404_NotFound:
-      description: Not found.
-      content:
-        text/plain:
-          schema:
-            type: string
-            example: "Not found"
-
-    405_NotSupported:
-      description: Not supported.
-      content:
-        text/plain:
-          schema:
-            type: string
-            example: "Not supported"        
-
-    4xx_UnexpectedError:      # Can be referenced as '#/components/responses/GenericError'
-      description: Unexpected error.
-      content:
-        application/json:
-          schema:
-            $ref: '#/components/schemas/Error'
-
-    ########################
-    # 5xx : Server Errors  #
-    ########################
-    5xx_UnexpectedError:
-      description: Unexpected server error.
-      content:
-        application/json:
-          schema:
-            $ref: '#/components/schemas/Error'
diff --git a/API/worldstorage/worldstorageopenapi.yaml b/API/worldstorage/worldstorageopenapi.yaml
index 7d27526b8037ead6a630ef94a2d59ccd8a08c0c9..a8c974acd85c08bf502077bf7160906f10421147 100644
--- a/API/worldstorage/worldstorageopenapi.yaml
+++ b/API/worldstorage/worldstorageopenapi.yaml
@@ -93,7 +93,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
         - in: query
           name: uuids
           description: List of pairs consisting of UUIDs of requested World Anchors  or Trackables and a mode representing the context of the requested information
@@ -109,8 +109,7 @@ paths:
                     format: uuid
                     example: "fa8bbe40-8052-11ec-a8a3-0242ac120002"
                   mode:
-                    description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
-                    $ref: '#/components/schemas/Mode'
+                    $ref: '../common/commonopenapi.yaml#/components/schemas/Mode_WorldStorage'
 
         - in: query
           name: capabilities
@@ -119,7 +118,7 @@ paths:
           schema:
             type: array
             items:
-              $ref: '#/components/schemas/Capability'
+              $ref: '../common/commonopenapi.yaml#/components/schemas/Capability'
       responses: 
         '200':
           description: Successful operation.
@@ -133,11 +132,11 @@ paths:
                     items: 
                       $ref: '#/components/schemas/RelocalizationInformation'
         '400':
-          $ref: '#/components/responses/400_InvalidUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_InvalidUUID'
         '404':
-          $ref: '#/components/responses/404_NotFoundUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFoundUUID'
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
 
 
 
@@ -159,7 +158,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       requestBody:
           description: The Trackable to be added to the world storage.
           required: true
@@ -183,11 +182,11 @@ paths:
                 type: string
                 example: ""
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '409': 
-          $ref: '#/components/responses/409_NotEmptyUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/409_NotEmptyUUID'
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
     put:
       summary: Modify a Trackable.
       operationId: modifyTrackable
@@ -198,7 +197,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       requestBody:
           description: The Trackable to be modified in the world storage.
           required: true
@@ -215,11 +214,11 @@ paths:
                 type: string
                 example: "777266da-e286-11ec-8fea-0242ac120002"
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '404': 
-          $ref: '#/components/responses/404_NotFoundUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFoundUUID'
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
     get:
       summary: Return all the Trackables.
       operationId: getTrackables
@@ -230,7 +229,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       responses:
         '200':
           description: OK, return all the Trackables defined by the world storage.
@@ -248,7 +247,7 @@ paths:
                 type: string
                 example: ""
         default:
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
 
   /trackables/{trackableUUID}:
     get:
@@ -261,7 +260,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
         - name: trackableUUID
           in: path
           description: UUID of the Trackable to retrieve.
@@ -277,9 +276,9 @@ paths:
               schema:
                 $ref: '#/components/schemas/Trackable' 
         '400':
-          $ref: '#/components/responses/400_InvalidUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_InvalidUUID'
         '404':
-          $ref: '#/components/responses/404_NotFoundUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFoundUUID'
     delete:
       summary: Delete a Trackable.
       operationId: deleteTrackable
@@ -290,7 +289,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
         - name: trackableUUID
           in: path
           description: Trackable UUID to delete.
@@ -307,9 +306,9 @@ paths:
                 type: string
                 example: "Element succesfully deleted"
         '400':
-          $ref: '#/components/responses/400_InvalidUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_InvalidUUID'
         '404':
-          $ref: '#/components/responses/404_NotFoundUUID'   
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFoundUUID'   
 
 #################
 # WORLD ANCHORS #
@@ -325,7 +324,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       requestBody:
           description: The World Anchor to be added to the world storage.
           required: true
@@ -349,11 +348,11 @@ paths:
                 type: string
                 example: ""
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '409': 
-          $ref: '#/components/responses/409_NotEmptyUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/409_NotEmptyUUID'
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
     put:
       summary: Modify a World Anchor.
       operationId: modifyWorldAnchor
@@ -364,7 +363,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       requestBody:
           description: The World Anchor to be modified in the world storage.
           required: true
@@ -381,11 +380,11 @@ paths:
                 type: string
                 example: "777266da-e286-11ec-8fea-0242ac120002"
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '404': 
-          $ref: '#/components/responses/404_NotFoundUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFoundUUID'
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
     get:
       summary: Return all the World Anchors.
       operationId: getWorldAnchors
@@ -396,7 +395,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       responses:
         '200':
           description: OK, return all the World Anchors defined by the world storage.
@@ -414,7 +413,7 @@ paths:
                 type: string
                 example: ""
         default:
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
 
   /worldAnchors/{worldAnchorUUID}:
     get:
@@ -427,7 +426,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
         - name: worldAnchorUUID
           in: path
           description: UUID of the World Anchor to retrieve.
@@ -443,9 +442,9 @@ paths:
               schema:
                 $ref: '#/components/schemas/WorldAnchor' 
         '400':
-          $ref: '#/components/responses/400_InvalidUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_InvalidUUID'
         '404':
-          $ref: '#/components/responses/404_NotFoundUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFoundUUID'
     delete:
       summary: Delete a World Anchor.
       operationId: deleteWorldAnchor
@@ -456,7 +455,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
         - name: worldAnchorUUID
           in: path
           description: World Anchor UUID to delete.
@@ -473,9 +472,9 @@ paths:
                 type: string
                 example: "Element succesfuly deleted"
         '400':
-          $ref: '#/components/responses/400_InvalidUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_InvalidUUID'
         '404':
-          $ref: '#/components/responses/404_NotFoundUUID'   
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFoundUUID'   
 
 ###############
 # WORLD LINKS #
@@ -491,7 +490,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       requestBody:
           description: The link to be added to the world storage.
           required: true
@@ -515,11 +514,11 @@ paths:
                 type: string
                 example: ""
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '409': 
-          $ref: '#/components/responses/409_NotEmptyUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/409_NotEmptyUUID'
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
     put:
       summary: Modify a World Link.
       operationId: modifyWorldLink
@@ -530,7 +529,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       requestBody:
           description: The World Link to be modified in the world storage.
           required: true
@@ -547,11 +546,11 @@ paths:
                 type: string
                 example: "777266da-e286-11ec-8fea-0242ac120002"
         '400':
-          $ref: '#/components/responses/400_BadRequest'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_BadRequest'
         '404': 
-          $ref: '#/components/responses/404_NotFoundUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFoundUUID'
         'default':
-          $ref: '#/components/responses/4xx_UnexpectedError'
+          $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
     get:
       summary: Return all World Links.
       description: Get all the World Links currently being stored in the world storage.
@@ -562,7 +561,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
       responses:
         '200':
           description: OK return all the World Links defined by the world storage.
@@ -580,7 +579,7 @@ paths:
                 type: string
                 example: ""
         default:
-         $ref: '#/components/responses/4xx_UnexpectedError'
+         $ref: '../common/commonopenapi.yaml#/components/responses/4xx_UnexpectedError'
 
   /worldLinks/{worldLinkUUID}:
     get:
@@ -593,7 +592,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
         - name: worldLinkUUID
           in: path
           description: UUID of the World Link to retrieve.
@@ -609,9 +608,9 @@ paths:
               schema:
                 $ref: '#/components/schemas/WorldLink' 
         '400':
-          $ref: '#/components/responses/400_InvalidUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_InvalidUUID'
         '404':
-          $ref: '#/components/responses/404_NotFoundUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFoundUUID'
     delete:
       summary: Delete a World Link.
       operationId: deleteWorldLink
@@ -622,7 +621,7 @@ paths:
         - in: header
           name: token
           schema:
-            $ref: '#/components/schemas/Token'
+            $ref: '../common/commonopenapi.yaml#/components/schemas/Token'
         - name: worldLinkUUID
           in: path
           description: World Link id to delete.
@@ -639,338 +638,176 @@ paths:
                 type: string
                 example: "Element succesfully deleted"
         '400':
-          $ref: '#/components/responses/400_InvalidUUID'
+          $ref: '../common/commonopenapi.yaml#/components/responses/400_InvalidUUID'
         '404':
-         $ref: '#/components/responses/404_NotFoundUUID'
+         $ref: '../common/commonopenapi.yaml#/components/responses/404_NotFoundUUID'
  
 
-
 # COMPONENTS ###############################################
 components:
 
-  #-------------------------------
-  # Reusable schemas (data models)
-  #-------------------------------
-  schemas:
-
-
-    RelocalizationInformation:
-      description: An element representing all information needed in relation with a Trackable or a WorldAnchor.
-      type: object
-      properties:
-        rootUUID:
-          description: The UUID of the original WorldAnchor or the Trackable asked.
-          type: string
-          format: uuid
-          example: 89b7e1f5-dd41-4746-9279-e1ef9284fe4d
-        relocObjects:
-          description: an array with trackables and their transforms linking them to the rootUUID element.
-          type: array
-          items:
+    #-------------------------------
+    # Reusable schemas (data models)
+    #-------------------------------
+      schemas:
+        RelocalizationInformation:
+            description: An element representing all information needed in relation with a Trackable or a WorldAnchor.
             type: object
             properties:
-              trackable:
-                $ref : '#/components/schemas/Trackable'
-              Transform3D:
-                $ref : '#/components/schemas/Transform3D'
-              mode:
-                description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
-                $ref: '#/components/schemas/Mode'
-        
-    Mode:
-      description: Mode representing the context of the relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
-      type: string
-      enum: [DEVICE_TO_TRACKABLE_OR_ANCHOR, TRACKABLE_OR_ANCHOR_TO_DEVICE]
-      example: DEVICE_TO_TRACKABLE_OR_ANCHOR    
-      
-    Trackable:
-      description: An element representing a Trackable object in the real world.
-      type: object
-      required:
-        - name
-        - creatorUUID
-        - trackableType
-        - trackableEncodingInformation
-        - trackablePayload
-        - localCRS
-        - unit
-        - trackableSize
-        - keyvalueTags
-      properties:
-        UUID:
-          description: An Universally Unique IDentifier identifying the Trackable (RFC 4122).
-          type: string
-          format: uuid
-          example: fa8bbe40-8052-11ec-a8a3-0242ac120002
-        name:
-          description: A human readable name for the Trackable.
-          type: string
-          example: myTrackableXYZ
-        creatorUUID:        
-          description: An Universally Unique IDentifier identifying the creator of the Trackable (a person, a team or a company).
-          type: string
-          format: uuid
-          example: bd6ce7ce-7fe8-487d-a179-fddfe914f293
-        trackableType:
-          description: Extensible list of Trackable types, possibly handled by complient world storage implementation.
-          type: string
-          enum: [FIDUCIAL_MARKER, IMAGE_MARKER, MAP, GEOPOSE, OTHER]
-          example: FIDUCIAL_MARKER
-        trackableEncodingInformation:         
-          $ref: '#/components/schemas/EncodingInformationStructure'
-        trackablePayload:
-          description: The data provided to create the Trackable in a specific format handled by the world storage service.
-          type: string
-          format: byte
-          example: "10110101"
-        localCRS:
-          $ref: '#/components/schemas/Transform3D'
-        unit:
-          $ref: '#/components/schemas/UnitSystem'
-        trackableSize:
-          $ref: '#/components/schemas/Size'
-        keyvalueTags:
-          $ref: '#/components/schemas/KeyvalueTagList'
-        confidence: 
-          type: number
-          example : 50.00
-
-
-    WorldAnchor:
-      description: An element describing a pose in the world graph.
-      type: object
-      required:
-        - name
-        - creatorUUID        
-        - localCRS
-        - unit
-        - worldAnchorSize
-        - keyvalueTags
-      properties:
-        UUID:
-          description: An Universally Unique IDentifier identifying the World Anchor (RFC 4122).
-          type: string
-          format: uuid
-          example: 49d18ab3-1bf8-481d-919b-cd062a2fd428
-        name:
-          description: A human readable name for the World Anchor.
-          type: string
-          example: myWorldAnchorXYZ
-        creatorUUID:
-          description: An Universally Unique IDentifier identifying the creator of the World Anchor.
-          type: string
-          format: uuid
-          example: 6ddeb59e-7740-42f7-b329-1374b92e7fc2
-        localCRS:
-          $ref: '#/components/schemas/Transform3D'
-        unit:
-          $ref: '#/components/schemas/UnitSystem'
-        worldAnchorSize:
-          $ref: '#/components/schemas/Size'
-        keyvalueTags:
-          $ref: '#/components/schemas/KeyvalueTagList'
-
-    WorldLink:
-      description: An object holding the info of a transform between two elements.
-      type: object
-      required:
-        - creatorUUID
-        - UUIDFrom
-        - UUIDTo
-        - typeFrom
-        - typeTo
-        - transform
-        - unit
-        - keyvalueTags
-      properties:
-        UUID:
-          description: An Universally Unique IDentifier identifying the World Link (RFC 4122).
-          type: string
-          format: uuid
-          example: c6998f4f-1b8d-460b-9de8-4793b92fae2a
-        creatorUUID:
-          description: An Universally Unique IDentifier identifying the creator of the World Link.
-          type: string
-          format: uuid
-          example: 7506001c-9c00-4f84-ae2e-e4dfcb77d36a
-        UUIDFrom:
-          description: An Universally Unique IDentifier identifying a World Anchor or Trackable.
-          type: string
-          format: uuid
-          example: 60e11d81-1230-4588-be4c-93520a275012
-        UUIDTo:
-          description: An Universally Unique IDentifier identifying a World Anchor or Trackable.
-          type: string
-          format: uuid
-          example: 85eed503-875c-4d3d-9569-06c4859bd4cd
-        typeFrom:
-          $ref: '#/components/schemas/ObjectType'
-        typeTo:
-          $ref: '#/components/schemas/ObjectType'
-        transform:
-          $ref: '#/components/schemas/Transform3D'
-        unit:
-          $ref: '#/components/schemas/UnitSystem'
-        keyvalueTags:
-          $ref: '#/components/schemas/KeyvalueTagList'
-
-    Capability:
-      description: An object representing an instance of the possible supported data
-      type: object
-      uniqueItems: true
-      properties:
-        trackableType:
-          type: string
-          enum: [FIDUCIAL_MARKER, IMAGE_MARKER, MAP, GEOPOSE, OTHER]
-          example: "FIDUCIAL_MARKER"
-        encodingInformation:
-          $ref: '#/components/schemas/EncodingInformationStructure'
-          
-            
-
-    EncodingInformationStructure:
-      description: An object holding the info of a Trackable`'`s encoding information `:` the data format and the version.
-      required:
-        - dataFormat
-        - version
-      properties:
-        dataFormat:
-          description: Identifier of the target framework.
-          type: string
-          enum: [HOLOLENS, ARKIT, ARCORE, VUFORIA, ARUCO, OTHER]
-          example : "HOLOLENS"
-        version:
-          description: The version of the format
-          type: string
-          example : "1.01"
-
-    Transform3D:
-        description: Coordinate reference system of the world anchor, a 4*4 matrix (rowmajor) represented by a float vector.
-        type: array
-        minItems: 16
-        maxItems: 16
-        items:
-          type: number
-          format: float
-        example: [ 1, 0, 0, 3,
-                   0, 1, 0, 3,
-                   0, 0, 1, 3,
-                   0, 0, 0, 1]
-
-    ObjectType:
-        description: Type of a world representaion object.
-        type: string
-        enum: [Trackable, WorldAnchor, NotIdentified]
-        example: Trackable
-
-    UnitSystem:
-        description: Unit of length.
-        type: string
-        enum: [MM,  CM,  DM,  M,  DAM,  HM,  KM,  INCH, FOOT, YARD, MILE]
-        example: M
-
-    Size:
-        description: Size object in format {width, length, depth}.
-        type: array
-        items:
-            type: number
-            format: double
-        minItems: 3
-        maxItems: 3
-        example: [1.0,1.0,1.5]   
-
-    KeyvalueTagList:   
-        description: List of additional parameters to be stored with the object.
-        type: object
-        additionalProperties:
-            type: array
-            items:
+              requestUUID:
+                description: The UUID of the original WorldAnchor or the Trackable requested.
                 type: string
-            minItems: 1
-        example: { "Place" : ["Building 123"], "Room" : ["007"]} 
-
-    Token:
-      type: string
-      example: eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJodHRwczovL2V4YW1wbGUuYXV0aDAuY29tLyIsImF1ZCI6Imh0dHBzOi8vYXBpLmV4YW1wbGUuY29tL2NhbGFuZGFyL3YxLyIsInN1YiI6InVzcl8xMjMiLCJpYXQiOjE0NTg3ODU3OTYsImV4cCI6MTQ1ODg3MjE5Nn0.CA7eaHjIHz5NxeIJoFK9krqaeZrPLwmMmgI_XiQiIkQ
-      description: A string representing the token of the User.
-
-    Error:
-      required:
-        - code
-        - message
-      properties:
-        code:
-          type: integer
-          format: int32
-          example: 406
-        message:
-          type: string
-          example: "Error 406"
-          
-  #-------------------------------
-  # Reusable responses
-  #-------------------------------
-  responses:
-    #######################
-    # 1xx : Informational #
-    #######################
-
-    #################
-    # 2xx : Success #
-    #################
-
-    #####################
-    # 3xx : Redirection #
-    #####################
-
-    #######################
-    # 4xx : Client Errors #
-    #######################
-    400_BadRequest:
-      description: Bad request.
-      content:
-        text/plain:
-          schema:
-            type: string
-            example: "Bad request"
-
-    400_InvalidUUID:
-      description: Invalid UUID supplied.
-      content:
-        text/plain:
-          schema:
-            example: "The format of the UUID is incorrect"
-            type: string
-
-    404_NotFoundUUID:
-      description: Not found, could not find UUID in database.
-      content:
-        text/plain:
-          schema:
-            type: string
-            example: "Element not found"
-
-    409_NotEmptyUUID:
-      description: Invalid UUID, id must be a Nil value.
-      content:
-        text/plain:
-          schema:
-            type: string
-            example: "The element you sent has already a value and can't be sent to the world storage"
-
-    4xx_UnexpectedError:      # Can be referenced as '#/components/responses/GenericError'
-      description: Unexpected error.
-      content:
-        application/json:
-          schema:
-            $ref: '#/components/schemas/Error'
-
-    ########################
-    # 5xx : Server Errors  #
-    ########################
-    5xx_UnexpectedError:
-      description: Unexpected server error.
-      content:
-        application/json:
-          schema:
-            $ref: '#/components/schemas/Error'
+                format: uuid
+                example: 89b7e1f5-dd41-4746-9279-e1ef9284fe4d
+              relocObjects:
+                description: an array with trackables and their transforms linking them to the requestUUID element.
+                type: array
+                items:
+                  type: object
+                  properties:
+                    trackable:
+                      $ref : '#/components/schemas/Trackable'
+                    Transform3D:
+                      $ref : '../common/commonopenapi.yaml#/components/schemas/Transform3D'
+                    mode:
+                      $ref: '#/components/schemas/Mode_WorldStorage'
+
+        Trackable:
+          description: An element representing a Trackable object in the real world.
+          type: object
+          required:
+            - name
+            - creatorUUID
+            - trackableType
+            - trackableEncodingInformation
+            - trackablePayload
+            - localCRS
+            - unit
+            - trackableSize
+            - keyvalueTags
+          properties:
+            UUID:
+              description: An Universally Unique IDentifier identifying the Trackable (RFC 4122).
+              type: string
+              format: uuid
+              example: fa8bbe40-8052-11ec-a8a3-0242ac120002
+            name:
+              description: A human readable name for the Trackable.
+              type: string
+              example: myTrackableXYZ
+            creatorUUID:        
+              description: An Universally Unique IDentifier identifying the creator of the Trackable (a person, a team or a company).
+              type: string
+              format: uuid
+              example: bd6ce7ce-7fe8-487d-a179-fddfe914f293
+            trackableType:
+              description: Extensible list of Trackable types, possibly handled by complient world storage implementation.
+              type: string
+              enum: [FIDUCIAL_MARKER, IMAGE_MARKER, MAP, GEOPOSE, OTHER]
+              example: FIDUCIAL_MARKER
+            trackableEncodingInformation:         
+              $ref: '#/components/schemas/EncodingInformationStructure'
+            trackablePayload:
+              description: The data provided to create the Trackable in a specific format handled by the world storage service.
+              type: string
+              format: byte
+              example: "10110101"
+            localCRS:
+              $ref: '../common/commonopenapi.yaml#/components/schemas/Transform3D'
+            unit:
+              $ref: '#/components/schemas/UnitSystem'
+            trackableSize:
+              $ref: '../common/commonopenapi.yaml#/components/schemas/Size'
+            keyvalueTags:
+              $ref: '#/components/schemas/KeyvalueTagList'
+            confidence: 
+              type: number
+              example : 50.00
+
+        WorldAnchor:
+          description: An element describing a pose in the world graph.
+          type: object
+          required:
+            - name
+            - creatorUUID        
+            - localCRS
+            - unit
+            - worldAnchorSize
+            - keyvalueTags
+          properties:
+            UUID:
+              description: An Universally Unique IDentifier identifying the World Anchor (RFC 4122).
+              type: string
+              format: uuid
+              example: 49d18ab3-1bf8-481d-919b-cd062a2fd428
+            name:
+              description: A human readable name for the World Anchor.
+              type: string
+              example: myWorldAnchorXYZ
+            creatorUUID:
+              description: An Universally Unique IDentifier identifying the creator of the World Anchor.
+              type: string
+              format: uuid
+              example: 6ddeb59e-7740-42f7-b329-1374b92e7fc2
+            localCRS:
+              $ref: '#/components/schemas/Transform3D'
+            unit:
+              $ref: '#/components/schemas/UnitSystem'
+            worldAnchorSize:
+              $ref: '../common/commonopenapi.yaml#/components/schemas/Size'
+            keyvalueTags:
+              $ref: '#/components/schemas/KeyvalueTagList'
+
+        WorldLink:
+          description: An object holding the info of a transform between two elements.
+          type: object
+          required:
+            - creatorUUID
+            - UUIDFrom
+            - UUIDTo
+            - typeFrom
+            - typeTo
+            - transform
+            - unit
+            - keyvalueTags
+          properties:
+            UUID:
+              description: An Universally Unique IDentifier identifying the World Link (RFC 4122).
+              type: string
+              format: uuid
+              example: c6998f4f-1b8d-460b-9de8-4793b92fae2a
+            creatorUUID:
+              description: An Universally Unique IDentifier identifying the creator of the World Link.
+              type: string
+              format: uuid
+              example: 7506001c-9c00-4f84-ae2e-e4dfcb77d36a
+            UUIDFrom:
+              description: An Universally Unique IDentifier identifying a World Anchor or Trackable.
+              type: string
+              format: uuid
+              example: 60e11d81-1230-4588-be4c-93520a275012
+            UUIDTo:
+              description: An Universally Unique IDentifier identifying a World Anchor or Trackable.
+              type: string
+              format: uuid
+              example: 85eed503-875c-4d3d-9569-06c4859bd4cd
+            typeFrom:
+              $ref: '../common/commonopenapi.yaml#/components/schemas/TypeWorldStorage'
+            typeTo:
+              $ref: '../common/commonopenapi.yaml#/components/schemas/TypeWorldStorage'
+            transform:
+              $ref: '../common/commonopenapi.yaml#/components/schemas/Transform3D'
+            unit:
+              $ref: '#/components/schemas/UnitSystem'
+            keyvalueTags:
+              $ref: '#/components/schemas/KeyvalueTagList'
+        
+        KeyvalueTagList:   
+            description: List of additional parameters to be stored with the object.
+            type: object
+            additionalProperties:
+                type: array
+                items:
+                    type: string
+                minItems: 1
+            example: { "Place" : ["Building 123"], "Room" : ["007"]} 
\ No newline at end of file