Probably the most invasive format patch, also changing some internal API.
I deliberately disabled ClassCase and MethodCase checks for the moment
to avoid public API changes in this patch set.
Previous code was generating the error on changing object_name in config/panda_config.yaml file because of this bug as here we are overwriting the object_name as "object" which brought the inconsistency in code.
Using a joint-space interpolator to move back to start pose,
we avoid pose drift in the Cartesian loop, which pushes the robot
into its joint limits over time. Fixes#113.