Improved Hardware Agnosticism

Currently changing out the hardware is possible, but involves rewriting code in this package. (Example: changing to a different camera means the _setup_camera takes different arguments.) We want to rewrite this such that the user does not need to touch package code to change out hardware if possible.

There are a few ways to do this:
* "_setup_x" functions might actually benefit from passing in the config directly, or using a keywords dict that can have device-specific fields.
* dependency injection. `SamplePose` and all other device-specific objects would need to be passed in as a parameter.