def filename_handler_absolute2relative(fname, dir):
    """A filename handler that turns an absolute file name into a relative one.

    Args:
        fname (str): A file name.
        dir (str): A directory.

    Returns:
        str: The file name relative to the directory.
    """
    # TODO: that's not right
    if fname.startswith(dir):
        return fname[len(dir):]
    return fname
A filename handler that turns an absolute file name into a relative one.

    Args:
        fname (str): A file name.
        dir (str): A directory.

    Returns:
        str: The file name relative to the directory.
    
deploy/teleop/robot_control/dex_retargeting/yourdfpy.py