Update README.md

Author: jeking04

src/prpy/tsr/README.md

@@ -4,7 +4,7 @@ This directory contains the python interfaces necessary to specify Task Space Re
 Manipulation Planning" by Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner.  A copy of this publication can be downloaded [here](https://www.ri.cmu.edu/pub_files/2011/10/dmitry_ijrr10-1.pdf).
 
 ## TSR Overview
-A TSR is typically used to defined a constraint on the pose of the end-effector of a manipulator. For example consider a manipulator tasked with grabbing a bottle. The end-effector (hand) must be near the bottle, and oriented in a way that allows the fingers to grab around the bottle when closed. This set of workspace constraints on valid poses of the end-effector can be expressed as a TSR.
+A TSR is typically used to defined a constraint on the pose of the end-effector of a manipulator. For example consider a manipulator tasked with grabbing a glass. The end-effector (hand) must be near the glass, and oriented in a way that allows the fingers to grab around the glass when closed. This set of workspace constraints on valid poses of the end-effector can be expressed as a TSR.
 
 A TSR is defined by three components:
 * T0_w - A transform from the world origin to the TSR frame w
@@ -13,7 +13,20 @@ A TSR is defined by three components:
 
 The first three rows of Bw bound the allowable translation along the x,y and z axes (in meters).  The last three rows bound the allowable rotation about those axes (in radians), all in w frame.  Note that this asumed Roll-Pitch-Yaw (RPY) Euler angle convention.
 
-## Example Usage
+### Example definition
 Lets return to our previous example of selecting a pose for the end-effector to allow a manipulator to grasp a bottle. The following code shows the python commands that allow the TSR to be defined:
+```python
+ipython> bottle = env.GetKinBody('fuze')
+ipython> T0_w = bottle.GetTransform()  # We use the bottle's coordinate frame as the w frame
+ipython> Tw_e =  numpy.array([[ 0., 0., 1., -total_offset], 
+                              [1., 0., 0., 0.], 
+                              [0., 1., 0., 0.08], # glass height
+                              [0., 0., 0., 1.]])  # This represents the pose of the end-effector relative to the glass
+ipython> Bw = numpy.zeros((6,2))
+ipython> Bw[2,:] = [0.0, 0.02]  # Allow a little vertical movement
+ipython> Bw[5,:] = [-numpy.pi, numpy.pi]  # Allow any orientation about the z-axis of the bottle
+ipython> robot.right_arm.SetActive()  # We want to grasp with the right arm
+ipython> manip_idx = robot.GetActiveManipulatorIndex()
+ipython> grasp_tsr = prpy.tsr.TSR(T0_w = T0_w, Tw_e = Tw_e, Bw = Bw, manip = manip_idx)
 ```
-```
+