Safety trajectories for robotic control systems

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:

• causing, by a robotic control system, execution of a robotic control plan by a plurality of robotic components in a robotic execution environment;
• generating a safety trajectory at each of a plurality of time points while executing an original trajectory of the robotic control plan, including:
• obtaining data identifying a current position of a particular robotic component of the plurality of robotic components,
• generating, using the obtained data, a safety trajectory for the particular robotic component, and
• providing the safety trajectory to an emergency control system;
• determining that an emergency condition has occurred;
• and
• in response, transferring control of the particular robotic component from the robotic control system to the emergency control system, comprising halting execution of the original trajectory and causing, by the emergency control system, execution of the safety trajectory generated before the emergency condition occurred by the particular robotic component.

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:

• causing, by a robotic control system, execution of a robotic control plan by a plurality of robotic components in a robotic execution environment;
• generating a safety trajectory at each of a plurality of time points while executing an original trajectory of the robotic control plan, including:
• obtaining data identifying a current position of a particular robotic component of the plurality of robotic components,
• generating, using the obtained data, a safety trajectory for the particular robotic component, and
• providing the safety trajectory to an emergency control system;
• determining that an emergency condition has occurred;
• and
• in response, transferring control of the particular robotic component from the robotic control system to the emergency control system, comprising halting execution of the original trajectory and causing, by the emergency control system, execution of the safety trajectory generated before the emergency condition occurred by the particular robotic component.