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.

rbs_skill_servers/launch/skills.launch.py

@@ -1,16 +1,11 @@
-from collections import namedtuple
-from os import name
 from launch import LaunchDescription
-from launch.actions import (
-    DeclareLaunchArgument,
-    OpaqueFunction
-)
-from ament_index_python.packages import get_package_share_directory
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from rbs_launch_utils.launch_common import load_yaml
 
+
 def launch_setup(context, *args, **kwargs):
     robot_description_decl = LaunchConfiguration("robot_description")
     robot_description_semantic_decl = LaunchConfiguration("robot_description_semantic")
@@ -19,12 +14,12 @@ def launch_setup(context, *args, **kwargs):
     with_gripper_condition = LaunchConfiguration("with_gripper_condition")
     points_params_filepath_decl = LaunchConfiguration("points_params_filepath")
     robot_description = {"robot_description": robot_description_decl}
-    robot_description_semantic = {"robot_description_semantic": robot_description_semantic_decl}
+    robot_description_semantic = {
+        "robot_description_semantic": robot_description_semantic_decl
+    }
     namespace = LaunchConfiguration("namespace")
 
-    points_params = load_yaml(
-        "rbs_skill_servers", "config/gripperPositions.yaml"
-    )
+    points_params = load_yaml("rbs_skill_servers", "config/gripperPositions.yaml")
 
     kinematics_yaml = load_yaml("rbs_arm", "config/kinematics.yaml")
 
@@ -39,20 +34,20 @@ def launch_setup(context, *args, **kwargs):
             robot_description_semantic,
             robot_description_kinematics,
             {"use_sim_time": use_sim_time},
-        ]
+        ],
     )
 
     gripper_control_node = Node(
         package="rbs_skill_servers",
         executable="gripper_control_action_server",
         namespace=namespace,
-        parameters= [
+        parameters=[
             robot_description,
             robot_description_semantic,
             robot_description_kinematics,
             {"use_sim_time": use_sim_time},
         ],
-        condition=IfCondition(with_gripper_condition)
+        condition=IfCondition(with_gripper_condition),
     )
 
     move_cartesian_path_action_server = Node(
@@ -64,19 +59,16 @@ def launch_setup(context, *args, **kwargs):
             robot_description_semantic,
             robot_description_kinematics,
             {"use_sim_time": use_sim_time},
-        ]
+        ],
+    )
+
+    cartesian_move_to_pose_action_server = Node(
+        package="rbs_skill_servers",
+        executable="move_to_pose.py",
+        namespace=namespace,
+        parameters=[{"use_sim_time": use_sim_time}, {"robot_name": namespace}],
     )
 
-    # cartesian_move_to_pose_action_server = Node(
-    #     package="rbs_skill_servers",
-    #     executable="move_to_pose.py",
-    #     namespace=namespace,
-    #     parameters=[
-    #         {"use_sim_time": use_sim_time},
-    #         {"robot_name": namespace}
-    #         ]
-    # )
-    
     move_joint_state_action_server = Node(
         package="rbs_skill_servers",
         executable="move_to_joint_states_action_server",
@@ -86,30 +78,29 @@ def launch_setup(context, *args, **kwargs):
             robot_description_semantic,
             robot_description_kinematics,
             {"use_sim_time": use_sim_time},
-        ]
+        ],
     )
 
     assembly_config = Node(
         package="rbs_utils",
         executable="assembly_config_service.py",
         namespace=namespace,
-        output="screen"
+        output="screen",
     )
-        
 
-    nodes_to_start =[
+    nodes_to_start = [
         assembly_config,
         move_topose_action_server,
         gripper_control_node,
         move_cartesian_path_action_server,
         move_joint_state_action_server,
-        # cartesian_move_to_pose_action_server,
+        cartesian_move_to_pose_action_server,
         # grasp_pose_loader
     ]
     return nodes_to_start
 
+
 def generate_launch_description():
-    
     declared_arguments = []
 
     declared_arguments.append(
@@ -125,18 +116,15 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument("robot_description_kinematics", default_value="")
     )
-    declared_arguments.append(
-        DeclareLaunchArgument("use_sim_time", default_value="")
-    )
+    declared_arguments.append(DeclareLaunchArgument("use_sim_time", default_value=""))
     declared_arguments.append(
         DeclareLaunchArgument("with_gripper_condition", default_value="")
     )
     declared_arguments.append(
         DeclareLaunchArgument("points_params_filepath", default_value="")
     )
-    declared_arguments.append(
-        DeclareLaunchArgument("namespace", default_value="")
+    declared_arguments.append(DeclareLaunchArgument("namespace", default_value=""))
+
+    return LaunchDescription(
+        declared_arguments + [OpaqueFunction(function=launch_setup)]
     )
-
-
-    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])