Cleaned up import commands
Fixed trajectory following topic name
Got rid of hint to pycharm for message type that was causing a bug
Changed a bunch of logging stuff from print commands to ros.logXXX commands
Fixed call to barrett_manager.move_barrett that was using the wrong
argument types
Fixed object/model name confusion
Made logging use roslog and got rid of some extraneous logging
Fixed ambiguity between object and model name
Added some logging