Minor bug fix in TpsnRegistration parameters and callback args in tra…

…nsfer,

lfd/registration/registration.py

@@ -642,7 +642,7 @@ def register(self, demo, test_scene_state, callback=None, args=()):
                                                         outlierprior=self.outlierprior, outlierfrac=self.outlierfrac, 
                                                         callback=callback, args=args)
 
-        return TpsnRpmRegistration(demo, test_scene_state, corr_lm, corr_rs, self.rad_final, self.radn_final, self.reg_final, self.rot_coef)
+        return TpsnRpmRegistration(demo, test_scene_state, f, corr_lm, corr_rs, self.rad_final, self.radn_final, self.reg_final, self.rot_reg)
 
     def cost(self, demo, test_scene_state):
         raise NotImplementedError

lfd/transfer/registration_transfer.py

@@ -13,7 +13,7 @@ def __init__(self, registration_factory, trajectory_transferer):
         self.registration_factory = registration_factory
         self.trajectory_transferer = trajectory_transferer
 
-    def transfer(self, demo, test_scene_state, callback=None, plotting=False):
+    def transfer(self, demo, test_scene_state, callback=None, args=(), plotting=False):
         """Registers demonstration scene onto the test scene and uses this registration to transfer the demonstration trajectory
         
         Args:
@@ -26,8 +26,8 @@ def transfer(self, demo, test_scene_state, callback=None, plotting=False):
         raise NotImplementedError
 
 class TwoStepRegistrationAndTrajectoryTransferer(RegistrationAndTrajectoryTransferer):
-    def transfer(self, demo, test_scene_state, callback=None, plotting=False):
-        reg = self.registration_factory.register(demo, test_scene_state, callback=callback)
+    def transfer(self, demo, test_scene_state, callback=None, args=(), plotting=False):
+        reg = self.registration_factory.register(demo, test_scene_state, callback=callback, args=args)
         test_aug_traj = self.trajectory_transferer.transfer(reg, demo, plotting=plotting)
         return test_aug_traj
 
@@ -50,8 +50,8 @@ def __init__(self, registration_factory, trajectory_transferer,
         self.use_collision_cost = use_collision_cost
         self.init_trajectory_transferer = init_trajectory_transferer
 
-    def transfer(self, demo, test_scene_state, callback=None, plotting=False):
-        reg = self.registration_factory.register(demo, test_scene_state, callback=callback)
+    def transfer(self, demo, test_scene_state, callback=None, args=(), plotting=False):
+        reg = self.registration_factory.register(demo, test_scene_state, callback=callback, args=args)
 
         handles = []
         if plotting: