improve naming and yaml layout

config/config.yaml

 panda_mqtt_connector:
   server: "tcp://localhost:1883"
   topics:
-    - robotConfig: "robotconfig"
-    - dataConfig: "dataconfig"
+    robotConfig: "robotconfig"
+    dataConfig: "dataconfig"
   zone_size: 0.5
   zones:
     - "1 1"
     - "-1 -1 1"
-  joints:
+  parts:
     panda:
-      Joint0: "panda::panda_link0"
-      Joint1: "panda::panda_link1"
-      Joint2: "panda::panda_link2"
-      Joint3: "panda::panda_link3"
-      Joint4: "panda::panda_link4"
-      Joint5: "panda::panda_link5"
-      Joint6: "panda::panda_link6"
+      Link0: "panda::panda_link0"
+      Link1: "panda::panda_link1"
+      Link2: "panda::panda_link2"
+      Link3: "panda::panda_link3"
+      Link4: "panda::panda_link4"
+      Link5: "panda::panda_link5"
+      Link6: "panda::panda_link6"
       LeftFinger: "panda::panda_leftfinger"
       RightFinger: "panda::panda_rightfinger"
   end_effectors:

src/RobotStateProvider.cpp

@@ -216,7 +216,7 @@ namespace robot_state_provider {
   }
 
   void readTopicList(const ros::NodeHandle &n) {
-    const std::vector<std::string> elementTypes{"/joints/", "/end_effectors/"};
+    const std::vector<std::string> elementTypes{"/parts/", "/end_effectors/"};
     std::vector<std::string> parameterNames;
     n.getParamNames(parameterNames);
     std::set<std::string> groups{};