Allowing generic case

Author: Rachel Holladay

src/prpy/base/robot.py

@@ -110,8 +110,8 @@ def wrapper_method(*args, **kw_args):
 
             delegate_method = self.actions.get_action(name)
             @functools.wraps(delegate_method)
-            def wrapper_method(obj, *args, **kw_args):
-                return delegate_method(self, obj, *args, **kw_args)
+            def wrapper_method(*args, **kw_args):
+                return delegate_method(self, *args, **kw_args)
             return wrapper_method
 
         raise AttributeError('{0:s} is missing method "{1:s}".'.format(repr(self), name))

src/prpy/tsr/tsrlibrary.py

@@ -98,8 +98,11 @@ def __call__(self, kinbody, action_name, *args, **kw_args):
                 raise KeyError('There is no TSR factory registered for action "{:s}"'
                                ' with robot "{:s}" and object "{:s}".'.format(
                         action_name, self.robot_name, kinbody_name))
-
-        return f(self.robot, kinbody=kinbody, *args, **kw_args)
+       
+        if kinbody is None:
+            return f(self.robot, *args, **kw_args)
+        else:
+            return f(self.robot, kinbody, *args, **kw_args)
 
     def load_yaml(self, yaml_file):
         """