1. A method, comprising: identifying, by a robot, an end effector attached to the robot, the end effector being one of multiple end effectors that can be attached to and detached from an end effector attachment area of the robot; receiving, by the robot from the end effector, one or more physical property parameters defined for the end effector, the physical property parameters comprising an action location parameter defining at least one reference point for positioning the end effector relative to an object to be acted upon by the end effector; generating, by the robot, one or more control commands to provide to one or more actuators of the robot, wherein the control commands are generated based on at least one of the physical property parameters received from the end effector, and wherein generating the one or more control commands comprises: determining a path of the end effector based on the action location parameter, the path determined to position the reference point of the end effector at a particular location at the end of the path; and generating the one or more control commands to move the end effector along the path.