Robot control parameter interpolation

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, by a robot interface subsystem, a command for a robot to perform a transition from performing a first task to performing a second task different than the first task;
• computing, by the robot interface subsystem, trajectory information for controlling the robot to execute the transition from performing the first task to performing the second task;
• computing, by the robot interface subsystem, interpolated control parameter information for the transition based on a first value of a control parameter assigned to the first task and a second value of a control parameter assigned to the second task,
• wherein the interpolated control parameter information is separate from the trajectory information and controls how the robot will react to external stimuli encountered by the robot when the robot performs the transition between the first task and the second task;
• and
• providing, by the robot interface subsystem, the trajectory information and the interpolated control parameter information to a real-time controller to effectuate the robot performing the transition according to the interpolated control parameter information.

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

• receiving, by a robot interface subsystem, a command for a robot to perform a transition from performing a first task to performing a second task different than the first task;
• computing, by the robot interface subsystem, trajectory information for controlling the robot to execute the transition from performing the first task to performing the second task;
• computing, by the robot interface subsystem, interpolated control parameter information for the transition based on a first value of a control parameter assigned to the first task and a second value of a control parameter assigned to the second task,
• wherein the interpolated control parameter information is separate from the trajectory information and controls how the robot will react to external stimuli encountered by the robot when the robot performs the transition between the first task and the second task;
• and
• providing, by the robot interface subsystem, the trajectory information and the interpolated control parameter information to a real-time controller to effectuate the robot performing the transition according to the interpolated control parameter information.