2. The method of claim 1 , wherein the type of task action includes a motion constraint, the method further comprising: encapsulating a tool behavior constraint in the information kernel, the tool behavior constraint providing a motion constraint associated with the tool type; and receiving user input via the one or more UIs to perform the task action, wherein controlling the at least one functionality of the robot includes enforcing the motion constraint to constrain one or more motions of the robot in performing the task action.
2. The method of claim 1 , wherein the type of task action includes a motion constraint, the method further comprising: encapsulating a tool behavior constraint in the information kernel, the tool behavior constraint providing a motion constraint associated with the tool type; and receiving user input via the one or more UIs to perform the task action, wherein controlling the at least one functionality of the robot includes enforcing the motion constraint to constrain one or more motions of the robot in performing the task action. 3. The method of claim 2 , wherein receiving user input further comprises: receiving user manipulation of the robot via an admittance control UI of the one or more UIs.