Update basestate tutorial

Author: xela-95

tutorial/basestate/README.md

@@ -9,11 +9,18 @@
   ~~~
 
 - 2nd terminal:
+  - Update the `GZ_SIM_RESOURCE_PATH` environment variable to point to the `tutorial` folder:
 
-  ~~~
-  cd tutorial/basestate
-  gz sim model.sdf
-  ~~~
+    ~~~
+    export GZ_SIM_RESOURCE_PATH = $GZ_SIM_RESOURCE_PATH:<path-to-tutorial-folder>
+    ~~~
+
+  - Then, launch Gazebo:
+
+    ~~~
+    cd <path-to-tutorial-folder>/basestate
+    gz sim model.sdf
+    ~~~
 
 - 3rd terminal:
 

tutorial/basestate/model.sdf

@@ -87,9 +87,8 @@
         <yarpConfigurationString>(yarpDeviceName basestate_plugin_device) (baseLink link_1)</yarpConfigurationString>
       </plugin>
       <plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
-        <yarpRobotInterfaceConfigurationFile>basestate_nws.xml</yarpRobotInterfaceConfigurationFile>
+        <yarpRobotInterfaceConfigurationFile>model://basestate/basestate_nws.xml</yarpRobotInterfaceConfigurationFile>
       </plugin>
     </model>
-    
   </world>
 </sdf>