Clarification on Action Space: Does the model output motor torque or position/velocity commands?

[lnzeeyuan-lab]

Hi there!

I’m currently exploring the ASAP project and trying to understand the action space used in the model. Specifically, I would like to know:

• Does the model output motor torque commands (e.g., joint torques) or does it output position/velocity targets for the motors?
• If it outputs position/velocity targets, could you provide more details on the format of these outputs (e.g., joint angles or velocities)?
• Are there any specific configurations or files that define the action space (e.g., torque control vs. position control)?

I appreciate your help in clarifying this!
Thank you!