├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.rst ├── bigdata ├── download.py └── upload.py ├── cmake ├── boost-python.cmake └── modules │ └── FindNumpy.cmake ├── data └── bookshelve.env.xml ├── doc ├── Makefile ├── apidoc.py ├── conf.py ├── documenting.rst ├── generate_module_rst.sh ├── index.rst ├── install.rst ├── install_gpu.rst ├── lfd.demonstration.rst ├── lfd.environment.rst ├── lfd.registration.rst ├── lfd.rst ├── lfd.tpsopt.rst ├── lfd.transfer.rst ├── lfd.util.rst ├── misc.rst ├── modules.rst └── open_index.sh ├── examples ├── drop_objs.py ├── move_box.py ├── move_rope.py ├── register.py └── rope_register_transfer.py ├── lfd ├── __init__.py ├── action_selection.py ├── demonstration │ ├── __init__.py │ └── demonstration.py ├── environment │ ├── __init__.py │ ├── environment.py │ ├── robot_world.py │ ├── settings.py │ ├── sim_util.py │ ├── simulation.py │ └── simulation_object.py ├── lfmd │ ├── __init__.py │ ├── analyze_data.py │ └── combine_force_file.py ├── mmqe │ ├── __init__.py │ ├── auto_performance.py │ ├── build.py │ ├── colorize.py │ ├── constraints.py │ ├── features.py │ ├── max_margin.py │ ├── search.py │ └── util.py ├── rapprentice │ ├── #clouds.py# │ ├── #ropesim.py# │ ├── PR2.py │ ├── __init__.py │ ├── animate_traj.py │ ├── bag_proc.py │ ├── berkeley_pr2.py │ ├── cloud_proc_funcs.py │ ├── clouds.py │ ├── compute_decomps.py │ ├── conversions.py │ ├── cv_plot_utils.py │ ├── eq_solve_exps.py │ ├── eq_solve_exps.py.lprof │ ├── eval_util.py │ ├── func_utils.py │ ├── interactive_roi.py │ ├── kernprof.py │ ├── kinematics_utils.py │ ├── knot_classifier.py │ ├── knot_identification.py │ ├── math_utils.py │ ├── plotting_openrave.py │ ├── plotting_plt.py │ ├── pr2_trajectories.py │ ├── registration.py │ ├── resampling.py │ ├── retiming.py │ ├── rope_initialization.py │ ├── ropesim.py │ ├── ros2rave.py │ ├── svds.py │ ├── task_execution.py │ ├── tps.py │ ├── tps_registration.py │ ├── tps_registration_parallel.py │ ├── transformations.py │ ├── util.py │ └── yes_or_no.py ├── registration │ ├── __init__.py │ ├── plotting_openrave.py │ ├── registration.py │ ├── settings.py │ ├── solver.py │ ├── tps.py │ └── transformation.py ├── settings.py ├── tpsopt │ ├── README.md │ ├── __init__.py │ ├── batchtps.py │ ├── clouds.py │ ├── culinalg_exts.py │ ├── optimization_notes.txt │ ├── precompute.py │ ├── registration.py │ ├── settings.py │ ├── tps.py │ └── transformations.py ├── transfer │ ├── __init__.py │ ├── planning.py │ ├── registration_transfer.py │ ├── settings.py │ └── transfer.py └── util │ ├── __init__.py │ ├── colorize.py │ └── util.py ├── requirements_doc.txt ├── scripts ├── auto_performance.py ├── build_all.sh ├── constants.py ├── cross_val.sh ├── eval.py ├── fig8_cross_val.sh ├── filter_labeled_examples.py ├── gen_tasks.py ├── label.py ├── make_lfd_settings_package.py ├── print_results.py ├── sample_landmarks.py └── test_baseline.sh ├── src ├── CMakeLists.txt └── tpsopt │ ├── CMakeLists.txt │ ├── cuda_funcs.cpp │ ├── 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