Massive code restructuring. In particular, clean separation between registration, transfer and simulation, and genelized simulation (i.e. not rope specific).
Add empty classes for gpu registration
Fix import
Change planning hyper-parameters to better ones
Add move box example
Remove embed
Add em_iter dummy parameter
Fix dynamic link ordering problem when closing the gripper.
Improve the logic for closing the gripper and grabbing objects by detecting distances for parallel rays between the fingers
Make the box example script more interesting by having (non cubic) rectangular cuboids and by rotating one of the cuboids
Add move rope (and grid of cylinders) example script
Remove the plus one for opening and closing inds
Settle after the rope is added to the environment in eval
Add some NonImplementedError in eval for functions that haven't been updated
Make class for action selection and add the greedy action selection
added TpsRpmRegistrationFactory and bugfixes to eval
Merge branch 'dev' of ssh://github.com/dhadfieldmenell/lfd into dev
script to record rope and robot states in simulated exection
everything
Revert "everything"

This reverts commit b911376917d6e57379b4aa7c0d2a53cb2de8c306.