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