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Robotic systems are of a growing size and complexity, hence their programming and execution architectures require more abstraction and tool support. Especially in safety-critical robotic systems (e.g., space robotics, robotic surgery) formal methods can be useful, when made useable by domain-specialists. We are particularly interested in discrete control synthesis. We propose a framework for integrating it in a robot programming environment, and consider its application to safe discrete teleoperation.