feat: enhance scene management and object handling with new features and improvements

- Updated Sphere, Cylinder, Box classes to support random color generation by accepting an optional color parameter and implementing random color assignment if none is provided.
- Improved documentation formatting in the RbsArm class for better readability and consistency.
- Refactored scene management to integrate both Model and Mesh classes, allowing for more flexible object handling. This includes updating object instantiation and adding comments for future color randomization implementation.
- Added `trimesh` as a dependency in the setup configuration to ensure proper functionality for mesh handling.
- Cleaned up node initialization in the runtime launch setup for improved readability.
- Enhanced the default scene configuration by including new ModelData and MeshData objects, with random color generation configured for MeshData.
- Renamed `MeshObjectData` to `ModelData` for clarity and introduced a new `MeshData` class to specifically handle mesh properties.
- Added a `random_color` attribute to `ObjectRandomizerData` and updated `ObjectData` to include a `color` attribute for better object customization.
- Introduced new gripper data classes for better organization and added a `GripperEnum` to categorize different gripper types.
- Implemented a new Mesh class for handling 3D mesh objects in Gazebo simulation, including methods for calculating inertia and generating SDF strings, with error handling for missing mesh files.

env_manager/rbs_runtime/launch/runtime.launch.py

@@ -113,9 +113,7 @@ def launch_setup(context, *args, **kwargs):
 
     delay_robot_control_stack = TimerAction(period=10.0, actions=[single_robot_setup])
 
-    nodes_to_start = [rbs_runtime, clock_bridge, 
-                      delay_robot_control_stack
-                      ]
+    nodes_to_start = [rbs_runtime, clock_bridge, delay_robot_control_stack]
     return nodes_to_start