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

1. A method, comprising:

receiving, by a robot programming application executing on at least one computing device, an indication of an end effector of a robot for which the robot is to be programmed by a user via the programming application,

the end effector being one of multiple end effectors that can be attached to and detached from an end effector attachment area of the robot;

identifying, by the programming application and based on the indication, one or more parameters defined for the end effector;

preventing, by the programming application, particular object programming input from being defined, by the user for the robot, via the programming application,

wherein the particular object programming input causes robot control output to be generated by the programming application that results in interaction of the end effector with a particular object graphically represented by the programming application, and

wherein preventing the particular object programming input from being defined is based on comparing at least one object parameter of the particular object to at least one of the parameters defined for the end effector.

2. The method of claim 1 , wherein the at least one object parameter compared to the at least one of the parameters defined for the end effector comprises dimensions of the object.

3. The method of claim 1 , wherein the at least one object parameter compared to the at least one of the parameters defined for the end effector comprises a weight of the object.

4. The method of claim 1 , wherein the at least one object parameter compared to the at least one of the parameters defined for the end effector comprises a type of material of the object.

5. The method of claim 1 , wherein the indication of the end effector comprises a unique identifier of the end effector and wherein identifying the parameters comprises:

selecting the parameters based on a mapping between the parameters and the unique identifier.

6. The method of claim 5 , wherein receiving the indication of the end effector comprises receiving input provided by the user via the programming application.

7. The method of claim 1 , wherein identifying the parameters defined for the end effector comprises:

receiving the parameters from the robot following receipt by the robot of the parameters from the end effector.

8. The method of claim 6 , wherein receiving the indication comprises receiving, from the robot, a data packet that comprises the parameters.

9. A method implemented by one or more processors, comprising:

determining that an end effector is attached to a robot in a first hardware configuration of a plurality of hardware configurations of the end effector,

wherein the end effector is one of multiple end effectors that can be attached to and detached from an end effector attachment area of the robot, and

wherein the plurality of hardware configurations of the end effector include:

the first configuration where a given appendage is attached to the end effector, and

a second configuration where the given appendage is not attached to the end effector;

identifying a first parameter that is particularized to the first hardware configuration;

generating, based on the first parameter, one or more control commands to provide to one or more actuators of the robot,

wherein the control commands are generated based on the first parameter based on the first parameter being particularized to the first hardware configuration and based on determining that the end effector is attached to the robot in the first hardware configuration.

10. The method of claim 9 , wherein the first parameter is one of: a mass parameter, a center of mass parameter, and an inertia parameter.

11. The method of claim 9 , wherein the end effector is a gripper and the given appendage is a claw.

12. The method of claim 9 , wherein determining that the end effector is attached to the robot in the first hardware configuration comprises determining that the end effector is in the first hardware configuration based on input received by the robot from the end effector.

13. The method of claim 12 ,

wherein in the first hardware configuration the given appendage is attached to the end effector and an additional appendage is attached to the end effector,

wherein the input comprises a first identifier corresponding to the given appendage and a second identifier corresponding to the additional appendage, and

wherein determining that the end effector is in the first hardware configuration is based on the first identifier and the second identifier.

14. The method of claim 9 , wherein determining that the end effector is attached to the robot in the first hardware configuration comprises:

capturing an image of the end effector with a camera of the robot; and

determining that the end effector is attached to the robot in the first hardware configuration based on the image.

15. The method of claim 9 , wherein generating a given control command of the control commands comprises applying the first parameter as a value for a variable utilized in generating the given control command.