Adapting programming of a robot and/or control of the robot based on one or more parameters of an end effector of the robot

A method, comprising:

• identifying, by a robot, a gripper attached to the robot, the gripper being one of multiple end effectors that can be attached to and detached from an end effector attachment area of the robot;
• receiving, by the robot, one or more physical property parameters defined for the gripper, the physical property parameters comprising an action location parameter that defines at least one reference point for positioning the gripper relative to an object to be acted upon by the gripper;
• generating, by the robot, one or more control commands to provide to one or more actuators of the robot,
• wherein the control commands are generated based on at least one of the physical property parameters received by the robot, and
• wherein generating the one or more control commands to provide to one or more actuators of the robot comprises determining at least one of the control commands to position the gripper based on the action location parameter.

A robot, comprising:

• one or more actuators;
• an end effector attachment area;
• one or more processors and memory storing instructions that, when executed by one or more of the processors, cause one or more of the processors to:
• identify a gripper attached to the robot, the gripper being one of multiple end effectors that can be attached to and detached from the end effector attachment area;
• identify one or more physical property parameters defined for the gripper, the physical property parameters comprising an action location parameter that defines at least one reference point for positioning the gripper relative to an object to be acted upon by the gripper;
• generate one or more control commands to provide to one or more of the actuators,
• wherein the control commands are generated based on at least one of the physical property parameters defined for the gripper, and
• wherein in generating the one or more control commands to provide to one or more of the actuators one or more of the processors are to determine at least one of the control commands to position the gripper based on the action location parameter.