Learning TSR Constraints From a Human Motion Demonstration

The code is designed to support the research on learning the TSRs from human demonstration.
TSR_extraction.py is used to extract TSR description from the demonstration.
TSR_execution.py is used to perform planning with the extracted TSR description. To get more details on the implementations and parameters look at the comments in these files.
Bags_to_csv_writer.py is used to write rosbag data into csv that is used in the TSR extraction code.