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ArmarXDataPath::getRelativeArmarXPath simplified implementation, increased verbosity

Fabian Reister requested to merge feature/ArmarXDataPath-improvements into master

This function does not seem to be used anywhere yet. I wanted to obtain a relative path to a ArmarX package but failed. Finding the root cause (package was not part of ArmarXDataPath_data.dataPaths) was cumbersome. Therefore, I simplified the implementation and extended the exception message.

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