refactor: (env_manager, rbs_runtime) and add YAML config loading

- Updated `camera.py` to use consistent float literals for default spawn positions.
- Removed unused import statements and organized imports in `robot.py` and `scene.py`.
- Removed debugging import from `scene.py` to clean up codebase.
- Added a new YAML configuration file (`default-scene-config.yaml`) for scene settings.
- Implemented a scene configuration loader function in `rbs_runtime/__init__.py` to read and parse YAML config files.
- Modified `runtime.py` to utilize the newly added scene config loader and removed in-code default scene setup.
- Updated `setup.py` to include `config` directory in package data.
- Changed `rbs_robot.launch.py` to use position control strategy by default.
- Refactored `skills.launch.py` with cleaner parameter definitions and reactivated commented-out nodes.

env_manager/rbs_runtime/config/default-scene-config.yaml

@@ -0,0 +1,152 @@
+camera:
+- clip_color: !tuple
+  - 0.01
+  - 1000.0
+  clip_depth: !tuple
+  - 0.05
+  - 10.0
+  enable: true
+  height: 128
+  horizontal_fov: 1.0471975511965976
+  image_format: R8G8B8
+  name: robot_camera
+  noise_mean: null
+  noise_stddev: null
+  publish_color: true
+  publish_depth: true
+  publish_points: true
+  random_pose_focal_point_z_offset: 0.0
+  random_pose_mode: orbit
+  random_pose_orbit_distance: 1.0
+  random_pose_orbit_height_range: !tuple
+  - 0.1
+  - 0.7
+  random_pose_orbit_ignore_arc_behind_robot: 0.39269908169872414
+  random_pose_rollout_counter: 0.0
+  random_pose_rollouts_num: 1
+  random_pose_select_position_options: []
+  relative_to: base_link
+  spawn_position: !tuple
+  - 0.0
+  - 0.0
+  - 1.0
+  spawn_quat_xyzw: !tuple
+  - 0.0
+  - 0.70710678118
+  - 0.0
+  - 0.70710678118
+  type: rgbd_camera
+  update_rate: 10
+  vertical_fov: 1.0471975511965976
+  width: 128
+gravity: !tuple
+- 0.0
+- 0.0
+- -9.80665
+gravity_std: !tuple
+- 0.0
+- 0.0
+- 0.0232
+light:
+  color: !tuple
+  - 1.0
+  - 1.0
+  - 1.0
+  - 1.0
+  direction: !tuple
+  - 0.5
+  - -0.25
+  - -0.75
+  distance: 1000.0
+  model_rollouts_num: 1
+  radius: 25.0
+  random_minmax_elevation: !tuple
+  - -0.15
+  - -0.65
+  type: sun
+  visual: true
+objects:
+- color: null
+  name: bishop
+  orientation: !tuple
+  - 1.0
+  - 0.0
+  - 0.0
+  - 0.0
+  position: !tuple
+  - 0.0
+  - 1.0
+  - 0.3
+  randomize:
+    count: 0
+    models_rollouts_num: 0
+    random_color: false
+    random_model: false
+    random_orientation: false
+    random_pose: false
+    random_position: false
+    random_spawn_position_segments: []
+    random_spawn_position_update_workspace_centre: false
+    random_spawn_volume: !tuple
+    - 0.5
+    - 0.5
+    - 0.5
+  relative_to: world
+  static: false
+  texture: []
+  type: 'model'
+physics_rollouts_num: 0
+plugins:
+  fts_broadcaster: false
+  scene_broadcaster: false
+  sensors_render_engine: ogre2
+  user_commands: false
+robot:
+  gripper_joint_positions: 0.0
+  joint_positions:
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  - 0.0
+  name: rbs_arm
+  randomizer:
+    joint_positions: false
+    joint_positions_above_object_spawn: false
+    joint_positions_above_object_spawn_elevation: 0.2
+    joint_positions_above_object_spawn_xy_randomness: 0.2
+    joint_positions_std: 0.1
+    pose: false
+    spawn_volume: !tuple
+    - 1.0
+    - 1.0
+    - 0.0
+  spawn_position: !tuple
+  - 0.0
+  - 0.0
+  - 0.0
+  spawn_quat_xyzw: !tuple
+  - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+  urdf_string: ''
+  with_gripper: true
+terrain:
+  model_rollouts_num: 1
+  name: ground
+  size: !tuple
+  - 1.5
+  - 1.5
+  spawn_position: !tuple
+  - 0
+  - 0
+  - 0
+  spawn_quat_xyzw: !tuple
+  - 0
+  - 0
+  - 0
+  - 1
+  type: flat

env_manager/rbs_runtime/rbs_runtime/__init__.py

@@ -0,0 +1,18 @@
+from pathlib import Path
+
+import yaml
+from dacite import from_dict
+from env_manager.models.configs import SceneData
+
+
+def scene_config_loader(file: str | Path) -> SceneData:
+    def tuple_constructor(loader, node):
+        return tuple(loader.construct_sequence(node))
+
+    with open(file, "r") as yaml_file:
+        yaml.SafeLoader.add_constructor("!tuple", tuple_constructor)
+        scene_cfg = yaml.load(yaml_file, Loader=yaml.SafeLoader)
+
+    scene_data = from_dict(data_class=SceneData, data=scene_cfg)
+
+    return scene_data

env_manager/rbs_runtime/rbs_runtime/scripts/runtime.py

@@ -1,50 +1,42 @@
 #!/usr/bin/python3
 
-from env_manager.models.configs.objects import ObjectRandomizerData
-from rclpy.node import Node
-from env_manager.scene import Scene
-from env_manager.models.configs import (
-    CameraData,
-    SceneData,
-    RobotData,
-    MeshData,
-    ModelData,
-)
 import rclpy
-from scenario.bindings.gazebo import GazeboSimulator
+from ament_index_python.packages import get_package_share_directory
+from env_manager.scene import Scene
 from env_manager_interfaces.srv import ResetEnv
 from rbs_assets_library import get_world_file
+from rclpy.node import Node
+from scenario.bindings.gazebo import GazeboSimulator
 
-
-DEFAULT_SCENE: SceneData = SceneData(
-    robot=RobotData(
-        name="rbs_arm",
-        spawn_position = (0.0, 0.0, 0.0),
-        with_gripper=True,
-        joint_positions=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-        gripper_joint_positions=0.0,
-    ),
-    objects=[
-        ModelData("bishop", position=(0.0, 1.0, 0.3)),
-    ],
-    camera=[CameraData("robot_camera", publish_color=True, publish_depth=True, publish_points=True)],
-)
+from .. import scene_config_loader
 
 
 class GazeboRuntime(Node):
     def __init__(self) -> None:
         super().__init__(node_name="rbs_gz_runtime")
         self.declare_parameter("robot_description", "")
+        self.declare_parameter(
+            "config_file",
+            get_package_share_directory("rbs_runtime")
+            + "/config/default-scene-config.yaml",
+        )
+
         self.gazebo = GazeboSimulator(step_size=0.001, rtf=1.0, steps_per_run=1)
 
         self.gazebo.insert_world_from_sdf(get_world_file("default"))
         if not self.gazebo.initialize():
             raise RuntimeError("Gazebo cannot be initialized")
 
+        config_file = (
+            self.get_parameter("config_file").get_parameter_value().string_value
+        )
+
+        scene_data = scene_config_loader(config_file)
+
         self.scene = Scene(
             node=self,
             gazebo=self.gazebo,
-            scene=DEFAULT_SCENE,
+            scene=scene_data,
             robot_urdf_string=self.get_parameter("robot_description")
             .get_parameter_value()
             .string_value,

env_manager/rbs_runtime/setup.py

@@ -16,6 +16,10 @@ setup(
             os.path.join("share", package_name, "launch"),
             glob(os.path.join("launch", "*launch.[pxy][yma]*")),
         ),
+        (
+            os.path.join("share", package_name, "config"),
+            glob(os.path.join("config", "*config.[yma]*")),
+        ),
     ],
     install_requires=["setuptools"],
     zip_safe=True,