typo

Author: aaronjoh

src/prpy/tsr/README.md

@@ -49,7 +49,7 @@ ipython> meets_constraint = (dist_to_tsr == 0.0)
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 ## TSR Chains
-A single TSR, or finite set of TSRs, is sometimes insufficient to capture pose ocnstraints of a given task. To describe more complex constraints, such as closed-chain kinematics, we can use a TSR Chain.  Consider the example of opening a refrigerator door while allowing the manipulator to rotate around the handle. Here, the constraint on the motion of the hand is defined by the product of two constraints.  The first constraint describes valid locations of the handle, which all lie on the arc defined by the position of the handle relative to the door hinge.  The second constraint defines the position of the robot end-effector relative to the handle. Each of these constraints can be defined by a single TSR. In order to specify the full constraint on the hand motion, we link the TSRs in a TSR Chain.  
+A single TSR, or finite set of TSRs, is sometimes insufficient to capture pose constraints of a given task. To describe more complex constraints, such as closed-chain kinematics, we can use a TSR Chain.  Consider the example of opening a refrigerator door while allowing the manipulator to rotate around the handle. Here, the constraint on the motion of the hand is defined by the product of two constraints.  The first constraint describes valid locations of the handle, which all lie on the arc defined by the position of the handle relative to the door hinge.  The second constraint defines the position of the robot end-effector relative to the handle. Each of these constraints can be defined by a single TSR. In order to specify the full constraint on the hand motion, we link the TSRs in a TSR Chain.  
 
 ### Example: Defining a TSR Chain
 In the following code snippet, we show how to define a TSR Chain for the example of opening the refrigerator door, allowing the robot's hand to rotate around the door handle.