1.`env_manager` - virtual environment switching manager and related packages
-`env_interface` - base class for creating a specific environment based on the ROS 2 LifeCycle Node
-`env_manager` - main package of the virtual environment switching manager
-`env_manager_interfaces` - ROS 2 interfaces for env_manager, describe messages about the state of the environment, services for configuring/loading/enabling/unloading the environment
-`gz_environment` - a specific instance of `env_interface` for the Gazebo simulator
-`planning_scene_manager` - sync env with planning scene for MoveIt 2
-`rbs_gym` - training module with reinforcement: management of the learning process, formation of simulation environments, management of action spaces (actions) and perception (observation), task management, utilities
2.`rbs_bringup` - package for launching different launch scenarios: simulation, real robot, different hardware configurations (multi-robot)
3.`rbs_bt_executor` - module for launching behavior trees on Behavior Tree CPP v4
4.`rbs_interface` - package for linking trees with skill servers
5.`rbs_perception` - machine perception module, where different versions are implemented
6.`rbs_simulation` - models for simulation
7.`rbs_skill_interfaces` - commonly used (common) interfaces for interacting with Skill Servers and the Behavior Tree (specific interfaces are placed in Skill Server packages)
