Action Space Catalog
Each robot exposes one or more action modes, selected at launch via env.robot.action_mode=<mode> (the default mode is marked *). Dims is the action-vector length and Scale is the multiplier applied to the policy output before it reaches the controller; ? means the value is resolved from the loaded asset at runtime.
| Robot | Mode | Controller | Dims | Scale |
|---|---|---|---|---|
| Canadarm3 | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Canadarm3 | joint_pos_rel | Relative Joint Position | 7 | 1.0 |
| Franka | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Franka | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Franka | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Franka | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Franka | joint_pos_rel | Relative Joint Position | 7 | 1.0 |
| Kinova J2N6S | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Kinova J2N6S | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Kinova J2N7S | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Kinova J2N7S | joint_pos_rel | Relative Joint Position | 7 | 1.0 |
| Kinova Gen3N7 | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Kinova Gen3N7 | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Kinova Gen3N7 | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Kinova Gen3N7 | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Kinova Gen3N7 | smooth_osc | Smooth Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Kinova Gen3N7 | joint_pos_rel | Relative Joint Position | 7 | 1.0 |
| Levion Arms | dual_arm_joint_pos_abs * | Joint Position To Limits | 4 | 1.0 |
| So Arm100 D5 | diff_ik * | Differential Inverse Kinematics | 6 | 0.05 |
| So Arm100 D5 | osc_var_stiffness | Operational Space Controller | 12 | pos=0.05, ori=0.05, stiffness=120.0 |
| So Arm100 D5 | joint_pos_rel | Relative Joint Position | 5 | 1.0 |
| So Arm100 D7 | diff_ik * | Differential Inverse Kinematics | 6 | 0.05 |
| So Arm100 D7 | joint_pos_rel | Relative Joint Position | 7 | 1.0 |
| Unitree Z1 | diff_ik * | Differential Inverse Kinematics | 6 | 0.05 |
| Unitree Z1 | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Ur3 | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Ur3 | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Ur3 | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Ur3 | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Ur3 | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Ur3E | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Ur3E | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Ur3E | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Ur3E | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Ur3E | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Ur5 | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Ur5 | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Ur5 | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Ur5 | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Ur5 | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Ur5E | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Ur5E | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Ur5E | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Ur5E | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Ur5E | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Ur10 | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Ur10 | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Ur10 | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Ur10 | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Ur10 | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Ur10E | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Ur10E | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Ur10E | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Ur10E | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Ur10E | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Ur16E | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Ur16E | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Ur16E | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Ur16E | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Ur16E | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Ur20 | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Ur20 | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Ur20 | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Ur20 | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Ur20 | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Ur30 | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Ur30 | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Ur30 | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Ur30 | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Ur30 | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Random Ur Manipulator | diff_ik * | Differential Inverse Kinematics | 6 | 0.1 |
| Random Ur Manipulator | osc_fixed | Operational Space Controller | 6 | pos=0.1, ori=0.1 |
| Random Ur Manipulator | osc_var_stiffness | Operational Space Controller | 12 | pos=0.1, ori=0.1, stiffness=120.0 |
| Random Ur Manipulator | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Random Ur Manipulator | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Vispa | diff_ik * | Differential Inverse Kinematics | 6 | 0.05 |
| Vispa | osc_var_full | Operational Space Controller | 18 | pos=0.1, ori=0.1, stiffness=120.0, damping=1.0 |
| Vispa | joint_pos_rel | Relative Joint Position | 6 | 1.0 |
| Zeroglab Arms | dual_arm_osc * | Operational Space Controller | 24 | arm_ceiling: pos=0.1, ori=0.1, stiffness=120.0, arm_wall: pos=0.1, ori=0.1, stiffness=120.0 |
| Humanoid21 | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Humanoid28 | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Unitree H1 | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Unitree G1 | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Crazyflie | body_acc * | Multicopter Body Acceleration | runtime-resolved | 0.5 |
| Ingenuity | body_acc * | Multicopter Body Acceleration | 2 | 0.5 |
| Heron | thrust * | Thrust | 2 | 1.0 |
| Anymal C | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Anymal D | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Random Anymal Quadruped | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Cadre | drive * | Wheeled Drive | runtime-resolved | lin=0.4, ang=0.7853981633974483 |
| Cassie | joint_pos * | Joint Position To Limits | 12 | 1.0 |
| Husky | drive * | Wheeled Drive | runtime-resolved | lin=0.1, ang=0.7853981633974483 |
| Leo Rover | drive * | Wheeled Drive | runtime-resolved | lin=0.4, ang=1.0471975511965976 |
| Mars Rover | drive * | Wheeled Drive | runtime-resolved | lin=0.5, ang=0.7853981633974483 |
| Nifty | nifty * | Joint Velocity | 12 | joint_vel_wheel_drive=1.5707963267948966, joint_pos_steer=0.7853981633974483, joint_pos_suspension_yaw=0.5235987755982988, joint_pos_suspension_roll=0.2617993877991494 |
| Open Source Rover | drive * | Wheeled Drive | runtime-resolved | lin=0.2, ang=0.3490658503988659 |
| Perseverance | drive * | Wheeled Drive | runtime-resolved | lin=0.7, ang=1.3089969389957472 |
| Pragyan | drive * | Wheeled Drive | runtime-resolved | lin=0.35, ang=1.3962634015954636 |
| Raph Rover | drive * | Wheeled Drive | runtime-resolved | lin=0.4, ang=1.0471975511965976 |
| Raph Rover | drive_filtered | Filtered Wheeled Drive | runtime-resolved | lin=0.4, ang=1.0471975511965976 |
| Spot | joint_pos * | Joint Position | runtime-resolved | 0.2 |
| Unitree A1 | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Unitree Go1 | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Unitree Go2 | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Random Unitree Quadruped | joint_pos * | Joint Position To Limits | runtime-resolved | 1.0 |
| Floating Platform | thrust_only * | Thrust | 8 | 1.0 |
| Floating Platform | thrust_and_reaction | Thrust | 9 | thrust=1.0, reaction_wheel_torque=0.05 |
| Int Ball1 | thrust * | Thrust | 6 | 1.0 |
| Int Ball2 | thrust * | Thrust | 6 | 1.0 |
| Apollo Lander | thrust * | Thrust | 17 | 1.0 |
| Peregrine Lander | thrust * | Thrust | 17 | 1.0 |
| Vikram Lander | thrust * | Thrust | 13 | 1.0 |
| Resilience Lander | thrust * | Thrust | 9 | 1.0 |
| Random Lander | thrust * | Thrust | 3 | 1.0 |
| Iss | body_acc * | Body Acceleration | runtime-resolved | 0.05 |
| Gateway | body_acc * | Body Acceleration | runtime-resolved | 0.05 |
| Cubesat | thrust * | Thrust | 6 | 1.0 |
| Satellite Mockup | thrust * | Thrust | 12 | 1.0 |
| Venus Express | thrust * | Thrust | 19 | 1.0 |
| Starship | thrust * | Thrust | 18 | 1.0 |
| Super Heavy | thrust * | Thrust | 59 | 1.0 |