rbs_gym multi camera and multi object setup

rbs_skill_servers/launch/skills.launch.py

@@ -88,15 +88,17 @@ def launch_setup(context, *args, **kwargs):
             {"use_sim_time": use_sim_time},
         ]
     )
-        
-    grasp_pose_loader = Node(
-        package="rbs_skill_servers",
-        executable="pick_place_pose_loader_service_server",
+
+    assembly_config = Node(
+        package="rbs_utils",
+        executable="assembly_config_service.py",
         namespace=namespace,
         output="screen"
     )
+        
 
     nodes_to_start =[
+        assembly_config,
         move_topose_action_server,
         gripper_control_node,
         move_cartesian_path_action_server,