Use PackagePath instead of absolute path

source/armarx/control/retrieve_hand/aron/RetrieveHandParams.xml

@@ -2,6 +2,7 @@
 <AronTypeDefinition>
     <AronIncludes>
         <Include include="RobotAPI/libraries/aron/common/aron/framed.xml" />
+        <Include include="RobotAPI/libraries/aron/common/aron/PackagePath.xml" />
     </AronIncludes>
     <GenerateTypes>
         <Object name="::armarx::control::retrieve_hand::skills::RetrieveHandParams">
@@ -40,7 +41,7 @@
 
             <ObjectChild key="fileNames">
                 <List>
-                    <String/>
+                    <armarx::arondto::PackagePath/>
                 </List>
             </ObjectChild>
 

source/armarx/control/retrieve_hand/skills/RetrieveHand.cpp

@@ -2,6 +2,8 @@
 
 #include <ArmarXCore/core/logging/Logging.h>
 
+#include <RobotAPI/libraries/aron/common/aron_conversions/packagepath.cpp>
+
 #include <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.h>
 #include <armarx/control/retrieve_hand/constants/constants.h>
 
@@ -11,15 +13,17 @@ namespace armarx::control::retrieve_hand::skills
     ::armarx::skills::SkillDescription
     RetrieveHand::GetSkillDescription()
     {
-        ParamType defaultParams;
-        defaultParams.targetPose.header.agent = "Armar7";
-        defaultParams.targetPose.header.frame = "root";
-        defaultParams.targetPose.position = Eigen::Matrix<float, 3, 1>{-234.0f, 284.06f, 1103.0f};
-        defaultParams.targetPose.orientation =
+        ParamType defaults;
+        defaults.targetPose.header.agent = "Armar7";
+        defaults.targetPose.header.frame = "root";
+        defaults.targetPose.position = Eigen::Matrix<float, 3, 1>{-234.0f, 284.06f, 1103.0f};
+        defaults.targetPose.orientation =
             Eigen::Quaternion<float>{0.7640368, -0.63349, 0.06744281, -0.10187};
-        defaultParams.fileNames = std::vector<std::string>{
-            "/home/armar-user/code/armarx_integration/robots/armar7/motions/data/armar7_motions/"
-            "tcp_trajectories/dmp/default_left.csv"};
+
+        armarx::arondto::PackagePath& packagePath = defaults.fileNames.emplace_back();
+        packagePath.package = "armar7_motions";
+        packagePath.path = "tcp_trajectories/dmp/default_left.csv";
+
         // ARMARX_INFO << VAROUT(defaultParams.targetPose);
         // ARMARX_INFO << VAROUT(defaultParams.targetPose.position) << VAROUT(defaultParams.targetPose.orientation);
         // ARMARX_INFO << VAROUT(defaultParams.targetPose.header.frame) << VAROUT(defaultParams.targetPose.header.agent);
@@ -32,7 +36,7 @@ namespace armarx::control::retrieve_hand::skills
         return ::armarx::skills::SkillDescription{.skillId = skillId,
                                                   .description =
                                                       "TODO: Description of skill RetrieveHand.",
-                                                  .rootProfileDefaults = defaultParams.toAron(),
+                                                  .rootProfileDefaults = defaults.toAron(),
                                                   .timeout = ::armarx::Duration::MilliSeconds(1000),
                                                   .parametersType = ParamType::ToAronType()};
     }
@@ -66,6 +70,14 @@ namespace armarx::control::retrieve_hand::skills
                                       in.parameters.targetPose.orientation,
                                       in.parameters.targetPose.header.frame,
                                       in.parameters.targetPose.header.agent};
+
+        std::vector<std::string> fileNames;
+        for (const auto& aronPackagePath : in.parameters.fileNames)
+        {
+            armarx::PackagePath packagePath = fromAron<armarx::PackagePath>(aronPackagePath);
+            fileNames.push_back(packagePath.toSystemPath().string());
+        }
+
         core::RetrieveHand::Properties props{
             .robotName = in.parameters.robotName,
             .robotNodeSet = in.parameters.robotNodeSet,
@@ -75,7 +87,7 @@ namespace armarx::control::retrieve_hand::skills
             .kpAngular = in.parameters.kpAngular,
             .kdLinear = in.parameters.kdLinear,
             .kdAngular = in.parameters.kdAngular,
-            .fileNames = in.parameters.fileNames,
+            .fileNames = fileNames,
         };