Added some initarg functions to data-structures.
Extended creation function for beasty-interface to also accept beasty-robot.
Refactored: All motion commands to Beasty no automatically set motor power on.
Removed: Export of deprecated symbol.
Renamed everything so-far called safety-released to the correct emergency-released. Also, releasing of the brakes is now done with a switch-behaviour call.
Added: Command to hard-stop the arm with brakes kicking in, and a cleanup function which kicks in brakes and logs out.