Long-delayed update to main for robot config updates

[daverolli]

Includes several updates of the API to support the YAML robot config format. This is what we've been using internally for a while, but should probably be looked over one more time and run on some arm kits before merging.

[daverolli]

That change is ongoing and not yet made to the main on other API example repos. I at least wanted to get this in first, because the re-org of config/gains/hrdf is tied to making a whole bunch of new config files for each example as well

[HEBI-Willig]

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