> ## Documentation Index > Fetch the complete documentation index at: https://abstract-pbc.mintlify.site/llms.txt > Use this file to discover all available pages before exploring further. # Get action > One observation in, one action chunk in the selected model's contract out. `POST https://api.abstract.inc/v1/get_action` calls a [robot model](https://abstract-pbc.mintlify.site/robots/models.md). Choose an available model from `GET /v1/environments/models` and use its own state, camera and action contract. The following request calls MolmoAct2's bimanual YAM interface: a task, both grasp-site poses, and JPEGs from three cameras. ## Request ```json theme={"theme":"css-variables"} { "model": "allenai/molmoact2", "session_id": null, "observation": { "prompt": "put the red cup in the bin", "state": { "left_eef_xyz": [0.3, 0.0, 0.2], "left_eef_rot6": [-0.5, 0.0, -0.866, 0.0, 1.0, 0.0], "left_grip": [1.0], "right_eef_xyz": [0.3, 0.0, 0.2], "right_eef_rot6": [-0.5, 0.0, -0.866, 0.0, 1.0, 0.0], "right_grip": [1.0] }, "video": { "overhead": [""], "wrist_l": [""], "wrist_r": [""] } } } ``` * For this YAM interface, `eef_xyz` is in metres, `eef_rot6` is the rotation matrix's first two columns, and `grip` is one value, 0 closed to 1 open. Do not send joint angles to these models; see each model's [coordinate frame](https://abstract-pbc.mintlify.site/robots/models.md#poses). * Each camera sends one JPEG on the first call, then `next_frames_per_camera` JPEGs, oldest first: at most 9 (21 for `runway/praxis-1`), and the same count for every camera. `overhead`, `wrist_l`, `wrist_r` map to the model's three cameras in order. * Each JPEG is at most 256 KiB before base64 (larger is refused with 413 `image_too_large`); the whole body is at most 8 MiB. * `prompt` is at most 512 characters. Keep the same instruction for the whole episode; a changed one returns `instruction_changed`. * `session_id: null` starts an episode. Send the returned id to continue it. `reset: true` starts a new one. ### Xiaomi ARX X5 For `xiaomi/xiaomi-robotics-1`, keep the six pose and gripper fields in the example and add `left_joint_position` and `right_joint_position`, each six measured joint angles in radians. Every field must come from the same observation. Poses and returned targets use the **RoboDojo/world frame**; grippers are normalized **0 closed, 1 open**. Do not send YAM base-frame poses or placeholder joint readings. Send exactly one JPEG in each of `overhead`, `wrist_l` and `wrist_r` on every call. The answer has `action_space: "ee_6d_position"`, up to 30 rows in each arm's end-effector chunk, and `dt: 0.04`. See the full [checkpoint contract](https://abstract-pbc.mintlify.site/robots/models.md#xiaomi/xiaomi-robotics-1). ### FLUX DROID `black-forest-labs/flux-3-action` takes seven measured Franka joint angles in radians and one gripper closed fraction (**0 open, 1 closed**). Send exactly one 640×360 JPEG for each of DROID's two exterior cameras and its wrist camera. These are the only state and camera fields for this model; do not send the YAM end-effector fields. ```json theme={"theme":"css-variables"} { "model": "black-forest-labs/flux-3-action", "session_id": null, "observation": { "prompt": "put the cube in the bowl", "state": { "joint_position": [0.0, -0.628, 0.0, -2.513, 0.0, 1.885, 0.0], "gripper_position": [0.0] }, "video": { "exterior_image_0_left": [""], "exterior_image_1_left": [""], "wrist_image_left": [""] } } } ``` The numbers illustrate the format; use measured state from the same observation as your images. The answer has `action_space: "joint_position"`, `dt: 0.06666666666666667` and `actions.joint_chunk`: 32 rows of eight values, seven absolute joint targets in radians then one gripper closed fraction. `next_frames_per_camera` is 1. A smaller `action_horizon` returns fewer rows while billing all 32 computed rows. Finite gripper predictions can fall outside \[0, 1]; they are not clamped. Validate targets in your controller before execution. ### FLUX content filters FLUX instructions pass through maintained prohibited-use prompt filters before billing or inference. A matching instruction returns HTTP 403 `flux_content_blocked`; no action chunk is generated or billed. Before sending an answer, the API permits only the declared numeric joint actions and supported metadata. Generated text, images and video are not returned. If any of the seven joint targets in any row falls outside the published [Franka Panda/FER position bounds](https://frankarobotics.github.io/docs/robot_specifications.html#limits-for-franka-emika-robot-fer), the whole chunk is refused. Targets and finite gripper predictions are never clamped. A backend reply that fails this output filter returns HTTP 502 `flux_output_blocked`, with no action rows, and is not billed. There is no request option to disable these filters. Successful FLUX answers include `provenance`: ```json theme={"theme":"css-variables"} { "ai_generated": true, "model": "black-forest-labs/flux-3-action", "filter_version": "flux-action-v1" } ``` These are automated content filters, not human review or a guarantee that a task is lawful or safe. Explicit prompt rules can miss paraphrases, other languages and intent hidden in the scene; the output checks do not understand scene hazards or determine copyright status. Position bounds alone do not establish collision safety, velocity or acceleration limits. Your controller must check targets and enforce physical limits before moving the robot. ## Response The JSON answer contains: | Field | Meaning | | - | - | | `status.code` | `ok` on success | | `status.trace_id` | 32 hex characters, also in `X-Trace-Id`; a replayed answer keeps its trace | | `session_id`, `step` | Episode id and zero-based chunk index | | `action_space` | `ee_6d_position` for YAM and Xiaomi; `joint_position` for FLUX | | `actions.left_eef_chunk`, `actions.right_eef_chunk` | For the end-effector interface, rows of ten numbers: xyz, rotation6d, gripper | | `actions.joint_chunk` | For FLUX, rows of eight numbers: seven native joint radians, then gripper | | `dt` | Seconds between action rows | | `next_frames_per_camera` | Frames each camera must send next | | `usage` | The chunk's [billing units](https://abstract-pbc.mintlify.site/robots/usage.md) | | `provenance` | FLUX only: AI-generated indicator, model id and applied filter version | | `id`, `timing` | Generation id and server timings in milliseconds | For end-effector actions, your robot checks the poses and solves its own inverse kinematics. Always check the selected model's action space before interpreting its rows. Errors keep their HTTP status and carry `status.code`, `status.reason`, retry advice, and an `error` object, with `session_id: ""`, `actions: null` and `timing: null`. See [Errors](https://abstract-pbc.mintlify.site/errors.md). A malformed chunk from the engine is refused with 502 `engine_protocol_error` and is not billed. Every answer has a `request-id` header, new for each attempt, which a refusal repeats as `status.request_id`. Quote it or the trace when you report a problem. ## Options `observation_id` and `expected_step` make retries safe; see [Robot episodes](https://abstract-pbc.mintlify.site/robots/chat-completions.md). `action_horizon` limits returned rows, not the whole chunk's cost. `scaling: {"seed": 42}` fixes the noise seed on MolmoAct2 and π0.5; its report comes back as `scaling`. `handoff: true` is not available. ## End session `POST https://api.abstract.inc/v1/end_session` with `model` and `session_id` releases the episode. The answer's `ended` is `true` if it was open, `false` if already gone. This call is free. While a chunk of the episode is in flight it returns 409 `session_busy`. An episode also ends after 60 seconds without a call. This documentation is built and hosted on [Mintlify](https://mintlify.com), a developer documentation platform.