1. A method comprising: determining, by a control system, a candidate trajectory for a robotic system to move an object in an environment from a first location to a second location; for at least a first point along the candidate trajectory, the control system determining a predicted cost of dropping the object at the first point; based at least on the determined predicted cost for the first point along the candidate trajectory, the control system making a determination of whether or not to move the object along the candidate trajectory; if the determination is to not move the object along the candidate trajectory, then, responsive to making the determination, the control system determining a different candidate trajectory for the robotic system to move the object from the first location to the second location; and if the determination is to move the object along the candidate trajectory, then, responsive to making the determination, the control system causing the robotic system to move the object from the first location to the second location along the candidate trajectory.