Use paths for referencing other yaml files

[kevinbackhouse]

The main change is in yaml_parser.py where I've removed the optional recurse and dir_namespace parameters. It now always recurses and always creates a namespaced name. For example, it will now generate the name personalities/examples/apple_expert.yaml rather than just apple_expert. These names are all relative to a root directory that contains all of the yaml files, which means that the names are never ambiguous.

In a future PR, I would like to add support for relative names like ../personalities/kev.yaml.

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