Methods and systems for providing feedback during teach mode

A non-transitory computer readable medium having stored therein instructions executable by one or more processors to cause a robotic system to perform functions, the robotic system including a plurality of components and at least one actuator, the functions comprising:

• receiving information related to a path in an environment of the robotic system;
• initiating a recording process for storing data related to motion of the plurality of components in the environment;
• detecting, during the recording process, movement of at least one component, from the plurality of components, along the path in the environment of the robotic system, wherein the movement results from application of an external force to the robotic system;
• and
• determining, during the recording process, deviation of the movement away from the path by at least a threshold amount and responsively providing feedback comprising guiding the at least one component back towards the path by providing a force using the at least one actuator of the robotic system.

A robotic device comprising:

• at least one actuator;
• at least one component;
• and
• a controller configured to:
• receive information related to a path in an environment of the robotic device;
• initiate a recording process for storing data related to motion of the at least one component in the environment;
• detect, during the recording process, movement of the at least one component along the path in the environment of the robotic device, wherein the movement results from application of an external force to the at least one component;
• determine, during the recording process, deviation of the movement away from the path by an amount that exceeds a threshold amount;
• and
• in response to determining deviation of the movement away from the path by an amount that exceeds a threshold amount, providing feedback comprising resisting the deviation of the movement away from the path by providing a force using the at least one actuator.