Dynamic programming aids for programming workcell elements

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

• issuing, by an interactive robotic development system, respective commands to activate one or more workcell elements in a robot workcell, wherein each workcell element has one or more preconfigured capabilities;
• executing an interactive programming environment for controlling the one or more workcell elements in the robot workcell;
• querying a workcell element of the one or more workcell elements and obtaining at least one preconfigured capability, wherein the at least one preconfigured capability represents an action that can be performed by the workcell element;
• receiving a first user input in the interactive programming environment creating a program element representing a workcell entity;
• determining, for the program element, one or more corresponding program components, wherein the program element and each program component represent a capability pair comprising the workcell element and a preconfigured capability of the workcell element;
• receiving user input acting on the program element, wherein the user input indicates a selected program component;
• and
• generating, within the interactive programming environment, an interactive user interface element that displays a capability pair comprising the program element and the corresponding program component.

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

• issuing, by an interactive robotic development system, respective commands to activate one or more workcell elements in a robot workcell, wherein each workcell element has one or more preconfigured capabilities;
• executing an interactive programming environment for controlling the one or more workcell elements in the robot workcell;
• querying a workcell element of the one or more workcell elements and obtaining at least one preconfigured capability, wherein the at least one preconfigured capability represents an action that can be performed by the workcell element;
• receiving a first user input in the interactive programming environment creating a program element representing a workcell entity;
• determining, for the program element, one or more corresponding program components, wherein the program element and each program component represent a capability pair comprising the workcell element and a preconfigured capability of the workcell element;
• receiving user input acting on the program element, wherein the user input indicates a selected program component;
• and
• generating, within the interactive programming environment, an interactive user interface element that displays a capability pair comprising the program element and the corresponding program component.