Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the methods comprises receiving, by a real-time robotics control framework, a definition of a custom real-time control function, wherein the definition specifies a plurality of actions and one or more custom reactions; repeatedly executing, by the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the one or more custom reactions specified by the custom real-time control function according to the current values of the one or more state variables, and whenever a custom reaction is satisfied, updating a current action in real time according to the custom reaction that is satisfied, and executing a next tick of the current action.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing custom real-time control using a digital twin model. One of the methods include receiving a definition of a custom real-time action to be performed in real time by the real-time robotic control system to control a robot; and executing the custom real-time action according to the definition at each tick of a real-time control cycle to effectuate real-time operation of the robot, including: obtaining, by a real-time control process, values of one or more digital twin variables injected from the digital twin model into memory accessible by the real-time control process, computing updated real-time command information according to the definition of the custom real-time action and the values of the one or more digital twin variables injected from the digital twin model, and controlling the robot using the computed real-time command information.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for executing one or more actions based on a safety skill. One of the methods comprises receiving, by a robotics control system, a skill that defines actions to be performed by a robot controlled by the robotics control system, where the skill specifies one or more safety constraints that represent safety conditions that must be satisfied before the robotics control system can execute the actions on the robot; populating, by the robotics control system, a safety database with the safety constraints specified by the skill; initiating execution of the skill by the robot; determining, by a safety control subsystem of the robotics control system, that the safety conditions specified by the skill have not been satisfied; and in response, modifying, by the robotics control system, execution of the actions defined by the skill.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing interpolated robot control parameters. One of the methods includes receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot, wherein the non-real-time command specifies a trajectory to be attained by a component of the robot and a target value for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller. The real-time bridge provides the one or more real-time commands translated from the non-real-time command and interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the trajectory of the non-real-time command according to the interpolated control parameter information.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action. One of the methods comprises receiving, by a real-time robotics control framework, a definition of a custom real-time control function, wherein the definition specifies a plurality of actions and one or more custom reactions; repeatedly executing, by the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the one or more custom reactions specified by the custom real-time control function according to the current values of the one or more state variables, and whenever a custom reaction is satisfied, updating a current action in real time according to the custom reaction that is satisfied, and executing a next tick of the current action.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for a real-time robotics control framework that implements a real-time clock with transferable ownership. One of the systems being configured to operate a real-time control loop for a robot in multiple modes include a base mode and an augmented mode, wherein when operating the robot in the base mode, the system is configured to operate a base real-time control loop in which a start of each tick of the base real-time control loop is initiated by a real-time software control module, and wherein when operating the robot in the augmented mode, the system is configured to operate multiple real-time control loops comprising the base real-time control loop and a robot real-time control loop in which a start of each tick of the real-time control loop is initiated by the real-time software drive module.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that distributes skill bundles that can guide robot execution. One of the methods includes receiving data for a skill bundle from a skill developer. The data can include a definition of one or more preconditions for a robotic system to execute a skill; one or more effects to an operating environment after the robotic system has executed the skill; and a software module implementing the skill. The software module can define a state machine of subtasks. A skill bundle can be generated from the data received from the skill developer. Data identifying the generated skill bundle can be added to a skill registry. The skill bundle can be provided to the execution robot system for installation on the robot execution system.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning and executing robotic processes. One of the methods includes receiving a definition of a robotic behavior tree, receiving a definition of a data flow graph, and executing a robotic process using the definition of the robotic behavior tree and the data flow graph.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using equipment-specific sample generators to automatically adapt a skill for execution in an operating environment. One of the methods includes obtaining a skill to be executed in an operating environment having one or more robots, wherein the skill defines a sequence of subtasks to be performed by the one or more robots in the working environment. A planning process is performed to generate a motion plan for the one or more robots, including obtaining, from an equipment-specific sample generator, a plurality of equipment-specific samples for a subtask of the skill, generating, from the plurality of equipment-specific samples, a plurality of candidate motion plans, and selecting, from the plurality of candidate motion plans, a motion plan for the one or more robots to perform the skill in the operating environment.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing custom real-time control using a digital twin model. One of the methods include receiving a definition of a custom real-time action to be performed in real time by the real-time robotic control system to control a robot; and executing the custom real-time action according to the definition at each tick of a real-time control cycle to effectuate real-time operation of the robot, including: obtaining, by a real-time control process, values of one or more digital twin variables injected from the digital twin model into memory accessible by the real-time control process, computing updated real-time command information according to the definition of the custom real-time action and the values of the one or more digital twin variables injected from the digital twin model, and controlling the robot using the computed real-time command information.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses a callback function. One of the methods comprises receiving a definition of a custom real-time control function that specifies a custom callback function, an action, and a custom reaction that references the custom callback function; providing a command to initiate the action; repeatedly executing, by the control layer of the real-time robotics control framework, the custom real-time control function at each tick of a real-time robotics system driving one or more physical robots, including: obtaining current values of one or more state variables, evaluating the custom reaction specified by the custom real-time control function according to the current values of the one or more state variables, and whenever the one or more conditions of the custom reaction are satisfied, invoking the custom callback function.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot to perform a custom real-time action that uses streaming inputs. One of the methods comprises receiving a definition of a custom real-time streaming control function that defines a custom streaming action, wherein the custom streaming action specifies a goal state for a robot in an operating environment; providing a command to initiate the custom streaming action; and repeatedly providing updated goal states for the custom streaming action, wherein the control layer of the framework is configured to execute the custom streaming action including driving the robot toward a most recent goal state at each tick of a real-time robotics control cycle.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing transformation mode switching in a robotics control system.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for a real-time robotics control framework that implements a real-time clock with transferable ownership. One of the systems being configured to operate a real-time control loop for a robot in multiple modes include a base mode and an augmented mode, wherein when operating the robot in the base mode, the system is configured to operate a base real-time control loop in which a start of each tick of the base real-time control loop is initiated by a real-time software control module, and wherein when operating the robot in the augmented mode, the system is configured to operate multiple real-time control loops comprising the base real-time control loop and a robot real-time control loop in which a start of each tick of the real-time control loop is initiated by the real-time software drive module.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling robots. One of the methods includes receiving custom hardware configuration data for a robot, wherein the custom hardware configuration data specifies a mapping between parts and interfaces belonging to software modules that each correspond to a respective robotic hardware element of the robot, wherein each software module has one or more interfaces that represent capabilities of a robot, and wherein each part, in real-time control code defining actions of a real-time control layer, can reference interfaces of multiple software modules; allocating shared memory resources according to the mapping between parts and interfaces defined in the custom hardware configuration data; executing each software module in a separate process of a real-time control system; and executing the real-time control code that references the interfaces using parts as defined in the custom hardware configuration data.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing interpolated robot control parameters. One of the methods includes receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot, wherein the non-real-time command specifies a trajectory to be attained by a component of the robot and a target value for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller. The real-time bridge provides the one or more real-time commands translated from the non-real-time command and interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the trajectory of the non-real-time command according to the interpolated control parameter information.

Abstract: This specification describes systems, methods, devices, and other techniques for planning workspaces for automated fabrication processes. A computing system facilitates planning by receiving a set of parameters for planning a layout of a workspace for an automated fabrication process, and generating a plurality of candidate workspace layouts, including selecting, for each candidate workspace layout, (i) one or more robots for performing tasks in the automated fabrication process and (ii) corresponding locations for the one or more robots within the workspace. The system determines an optimal workspace layout based on the plurality of candidate workspace layouts, generates a workspace layout specification for the optimal workspace layout, and provides the workspace layout specification to one or more second computing systems.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing interpolated robot control parameters. One of the methods includes receiving, by a real-time bridge from a control agent for a robot, a non-real-time command for the robot, wherein the non-real-time command specifies a trajectory to be attained by a component of the robot and a target value for a control parameter, wherein the control parameter controls how a real-time controller will cause the robot to react to one or more external stimuli encountered during a control cycle of the real-time controller. The real-time bridge provides the one or more real-time commands translated from the non-real-time command and interpolated control parameter information to the real-time controller, thereby causing the robot to effectuate the trajectory of the non-real-time command according to the interpolated control parameter information.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using equipment-specific sample generators to automatically adapt a skill for execution in an operating environment. One of the methods includes obtaining a skill to be executed in an operating environment having one or more robots, wherein the skill defines a sequence of subtasks to be performed by the one or more robots in the working environment. A planning process is performed to generate a motion plan for the one or more robots, including obtaining, from an equipment-specific sample generator, a plurality of equipment-specific samples for a subtask of the skill, generating, from the plurality of equipment-specific samples, a plurality of candidate motion plans, and selecting, from the plurality of candidate motion plans, a motion plan for the one or more robots to perform the skill in the operating environment.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing real-time code analysis. One of the methods includes receiving a request to perform real-time code analysis on source code, wherein the request identifies one or more target source code elements. A plurality of real-time annotation values occurring in the source code for the target source code elements are identified. A call graph is generated for the one or more target source code elements. The call graph is traversed to identify one or more real-time violations, wherein each real-time violation is an instance in the source code that violates one or more real-time safe criteria. An output is provided that identifies one or more of the real-time violations occurring in the source code.