Improve relative path in YAML files

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Assessment

Difficulty
3/5
Estimated time
1-2 days
Newbie friendliness
48/100
Issue type
Bug
Clarity
Mostly clear
Activity status
Stale
Tech stack
python
Domain
robotics

Research direction

Start by locating the robots and sensors YAML files containing the class_dir and urdf_path entries, then trace how the simulation launch code resolves those paths. Run the simulation from more than one working directory and verify that the configuration loads successfully in each location.

Written by the indexing model from the issue text.

Description

Current robots and sensors YAML files use the relative path to the corresponding class in string, e.g. class_dir,

name: "Franka"
config:
  source: "urdf"
  urdf_path: "panda_with_gripper.urdf"
  class_dir: "../../../ark_robots/ark_franka/franka_panda"
  frequency: 10 # default is 240Hz
  merge_fixed_links: False
  ee_index: 11
  base_position:
  - -0.55
  - 0.0
  - 0.6
  base_orientation:
  # x, y, z, w
  - 0
  - 0
  - 0
  - 1
  use_fixed_base: True
  initial_configuration:
  - 0
  - -0.785
  - 0
  - -2.356
  - 0
  - 1.571
  - 0.785
  - 0
  - 0
  - 0
  - 0
  - 0
  joint_groups:
    arm:
      control_mode: "position"
      joints:
      - "panda_joint1"
      - "panda_joint2"
      - "panda_joint3"
      - "panda_joint4"
      - "panda_joint5"
      - "panda_joint6"
      - "panda_joint7"
    gripper:
      control_mode: "position"
      joints:
      - "panda_finger_joint1"
    all:
      control_mode: "position"
      joints:
      - "panda_joint1"
      - "panda_joint2"
      - "panda_joint3"
      - "panda_joint4"
      - "panda_joint5"
      - "panda_joint6"
      - "panda_joint7"
      - "panda_finger_joint1"

This expression restricts the users from running the script in different working directories and raises errors when launching the simulation.

Dominant language
Python
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