Documentation of all `controller.step` operations and inverse of `raycast`

Hi,

Is there documentation somewhere of all the supported actions that can be performed with `controller.step`. For example I know that `raycast` and `PutNearXY` are options (I use `ai2thor 3.1.0`) but I don't see them [here](https://ai2thor.allenai.org/ithor/documentation/object-state-changes). Alternately, I would appreciate a pointer to identify all the actions from the code.

Specifically I am wondering if there is an action that can perform the inverse of `raycast`, i.e. given an `(x, y, z)` in the scene, is it possible to obtain the corresponding `(x, y)` on the agent's egocentric frame.

Thanks,
Aishwarya