How OSC_POS controller work？

[zlm200]

I am a robot novice, and there are some questions I don't quite understand. In an environment using the OSC_POS controller, I use reinforcement learning to predict the robot's actions. I have set the action space range to [-1,1]. The robot can complete the task, but I don't quite understand how the OSC_POS controller controls the robot's movement when the agent outputs actions to the environment, as the action values are still [-1,1]. I also don't get specific spatial positions and postures. This confuses me. Moreover, the action dimension of OSC_POS mentioned in the documentation is 6-dimensional, but my action dimension is 7-dimensional, does the last dimension represent the degree of opening and closing of the gripper?