1. A computer-implemented method, comprising: receiving, by one or more processors, an input velocity to be attained by an end effector of a robot in configuration space of the end effector; identifying as unattainable by the end effector, by one or more of the processors and based on one or more physical attributes of the robot, at least a first translational or rotational velocity component of the input velocity; identifying as attainable by the end effector, by one or more of the processors and based on one or more physical attributes of the robot, at least a second translational or rotational velocity component of the input velocity; determining, by one or more of the processors, an attainable velocity of the end effector that excludes the at least first translational or rotational velocity and includes the at least second translational or rotational velocity; calculating, by one or more of the processors, one or more joint velocities that will be attained by one or more joints of the robot in joint space to move the end effector pursuant to the attainable velocity in configuration space; scaling, by one or more of the processors, the one or more joint velocities to account for a joint velocity limit associated with at least one of the one or more joints; calculating, by one or more of the processors, one or more actuator trajectories for the one or more joints of the robot based at least in part on the scaled one or more joint velocities; and operating, by one or more of the processors, the one or more joints of the robot in accordance with the calculated actuator trajectories.