Add create_viewer method for sim, using window_prop and camera_matrix from settings.
Break earlier for registration_plot_cb.
Make rope_params optional.
Change examples to use create_viewer.
Add planning hyperparameters to settings and use them in transferer args.
Fix tranferer to accept lr2 dicts without one of the entries
Change AugmentedTrajectory to initilize with empty dicts when lr2 is None.
Minor bug fix in planning.
Remove useless viewer.Step in simulation.
Change move_rope to use LfdEnvironment interface and organize script with functions.
Add registration and transfer example.