Purge 'side' parameter

hero_skills/src/hero_skills/hero.py

@@ -23,7 +23,9 @@ def __init__(self, wait_services=False):
         self._ignored_parts = ["leftArm", "torso", "spindle", "head"]
 
         self.add_body_part('base', base.Base(self.robot_name, self.tf_listener))
-        self.add_body_part('torso', torso.Torso(self.robot_name, self.tf_listener, self.get_joint_states))
+
+        arm_joint_names = rospy.get_param('/' + self.robot_name + '/skills/arm_center/joint_names')
+        self.add_body_part('torso', torso.Torso(self.robot_name, self.tf_listener, self.get_joint_states, arm_joint_names))
 
         # add hero's arm
         hero_arm = arms.Arm(self.robot_name, self.tf_listener, self.get_joint_states, "arm_center")

robot_skills/src/robot_skills/torso.py

@@ -14,7 +14,7 @@
 
 
 class Torso(RobotPart):
-    def __init__(self, robot_name, tf_listener, get_joint_states):
+    def __init__(self, robot_name, tf_listener, get_joint_states, arm_joint_names=[]):
         """
         constructor
 
@@ -29,10 +29,7 @@ def __init__(self, robot_name, tf_listener, get_joint_states):
         self.lower_limit = self.default_configurations['lower_limit']
         self.upper_limit = self.default_configurations['upper_limit']
 
-        try:  # TODO make sure this is no longer needed
-            self._arm_joint_names = self.load_param('skills/arm_center/joint_names')
-        except KeyError:
-            self._arm_joint_names = []
+        self._arm_joint_names = arm_joint_names  #TODO make sure this is no longer needed
 
         # Init action client
         self.ac_move_torso = self.create_simple_action_client('/' + self.robot_name + '/body/joint_trajectory_action',