Update BT for full process with graver

- Adding new fixed joint links (`right_contact_panel` and `left_contact_panel`) to Link8 and Link7.
 - Defining visual representations with semi-transparent boxes for these panels.
 - Setting up collision models to enable accurate contact detection.
 - Updating Gazebo references to maintain fixed joint properties in simulations.
 - Moving sensors from the main links to the new contact panels for better interaction sensing.
 - Correcting and updating collision references in sensors.
 - Making minor XML formatting adjustments for consistency.

rbs_mill_assist/scripts/get_key_pose_frame.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+
+import os
+from typing import Dict
+
+import rclpy
+import yaml
+from ament_index_python.packages import get_package_share_directory
+from geometry_msgs.msg import Pose
+from rbs_utils_interfaces.srv import GetNamedPose
+from rclpy.node import Node
+from rclpy.service import Service
+
+
+class GetNamedPoseService(Node):
+    def __init__(self) -> None:
+        super().__init__("get_named_pose_service")
+        self.srv: Service = self.create_service(
+            GetNamedPose, "get_named_pose", self.get_named_pose
+        )
+        yaml_file_path: str = os.path.join(
+            get_package_share_directory("rbs_mill_assist"), "config", "key_poses.yaml"
+        )
+        with open(yaml_file_path, "r", encoding="utf-8") as file:
+            self.key_poses: Dict = yaml.safe_load(file)
+
+    def create_pose(self, pose_data: Dict) -> Pose:
+        """
+        Helper function to create a Pose from the given pose data.
+        """
+        pose = Pose()
+        if pose_data:
+            pose.position.x = pose_data.get("position", {}).get("x", 0.0)
+            pose.position.y = pose_data.get("position", {}).get("y", 0.0)
+            pose.position.z = pose_data.get("position", {}).get("z", 0.0)
+            pose.orientation.x = pose_data.get("orientation", {}).get("x", 0.0)
+            pose.orientation.y = pose_data.get("orientation", {}).get("y", 0.0)
+            pose.orientation.z = pose_data.get("orientation", {}).get("z", 0.0)
+            pose.orientation.w = pose_data.get("orientation", {}).get("w", 1.0)
+        return pose
+
+    def get_named_pose(
+        self, request: GetNamedPose.Request, response: GetNamedPose.Response
+    ) -> GetNamedPose.Response:
+
+        key_pose = self.key_poses.get(request.pose_name, None)
+        if key_pose is None:
+            response.ok = False
+            return response
+
+        response.named_pose.name = request.pose_name
+        response.named_pose.pose = self.create_pose(key_pose)
+        response.ok = True
+
+        return response
+
+
+def main():
+    rclpy.init()
+    executor = rclpy.executors.SingleThreadedExecutor()
+    # executor = rclpy.executors.MultiThreadedExecutor() # can't be used
+    i_node = GetNamedPoseService()
+    executor.add_node(i_node)
+    try:
+        executor.spin()
+    except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
+        i_node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()