File transfer between Linux and Apple iOS

What's the best way to transfer files (images, media files, etc.) between a Linux machine and an Apple iPad running iOS 7.1? It should preferably be achieveable from the shell and amenable to scripting. I've started looking at http://libimobiledevice.org/ and it appears there are utilities available from that project, but I'm yet to find a good howto and I don't know what other options are open and which protocols are available. Also, I would rather avoid taking any risks that might adversely affect the device.