Task planning for measurement variances

A system comprising one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:

• receiving an initial process definition for a process to be performed by a robot, wherein the initial process definition defines a sequence of actions to be performed in a workcell, and wherein a first action in the sequence of actions has an associated measurement tolerance;
• computing a predicted accumulated measurement variance for each of one or more actions that occur before the first action in the sequence;
• determining that the predicted accumulated measurement variance for the one or more actions that occur before the first action in the sequence exceeds a threshold;
• and
• in response, generating, before the robot executes any operations of the initial process definition, a modified process definition that inserts a measurement action at a location in the sequence before the first action.

One or more non-transitory computer storage media encoded with computer program instructions that when executed by a plurality of computers cause the plurality of computers to perform operations comprising:

• receiving an initial process definition for a process to be performed by a robot, wherein the initial process definition defines a sequence of actions to be performed in a workcell, and wherein a first action in the sequence of actions has an associated measurement tolerance;
• computing a predicted accumulated measurement variance for each of one or more actions that occur before the first action in the sequence;
• determining that the predicted accumulated measurement variance for the one or more actions that occur before the first action in the sequence exceeds a threshold;
• and
• in response, generating, before the robot executes any operations of the initial process definition, a modified process definition that inserts a measurement action at a location in the sequence before the first action.