6. The method of claim 5 , further comprising: providing an instructor interface that includes a tool proxy of the tool type for receiving a user demonstrated motion; determining a start position of the tool proxy; acquiring trajectory data of the tool proxy from the user demonstrated motion; generalizing the trajectory data based on the start position of the robot to form the TMP; and storing the TMP.
6. The method of claim 5 , further comprising: providing an instructor interface that includes a tool proxy of the tool type for receiving a user demonstrated motion; determining a start position of the tool proxy; acquiring trajectory data of the tool proxy from the user demonstrated motion; generalizing the trajectory data based on the start position of the robot to form the TMP; and storing the TMP. 7. The method of claim 6 , wherein acquiring the trajectory data further comprises: providing a tool behavior constraint associated with the tool type, the tool behavior constraint providing a motion constraint associated with the tool type; and enforcing the motion constraint to constrain one or more motions of the tool proxy.