refactor and extend runtime configuration handling

- **Scene configuration:**
  - Replaced `bishop` object with `hole` and added a new `peg` object.
  - Enhanced object properties with new attributes like `randomize`, `relative_to`, `static`, and `texture`.
  - Updated `robot` joint positions in the default scene configuration.

- **Launch file updates:**
  - Added handling for MoveIt SRDF file processing, including semantic descriptions.
  - Refactored unused parameters (`gripper_name`, `hardware`) and streamlined arguments.
  - Extended `robot_type` choices in the `generate_launch_description` method.

- **Runtime initialization:**
  - Introduced `object_factory` to handle dynamic object instantiation based on type (`box`, `cylinder`, `mesh`, or `model`).
  - Enhanced `scene_config_loader` to process and instantiate objects using the factory function.

env_manager/rbs_runtime/rbs_runtime/__init__.py

@@ -4,6 +4,24 @@ import yaml
 from dacite import from_dict
 from env_manager.models.configs import SceneData
 
+from typing import Dict, Any
+from env_manager.models.configs import (
+    BoxObjectData, CylinderObjectData, MeshData, ModelData, ObjectData
+)
+
+def object_factory(obj_data: Dict[str, Any]) -> ObjectData:
+    obj_type = obj_data.get('type', '')
+    
+    if obj_type == 'box':
+        return BoxObjectData(**obj_data)
+    elif obj_type == 'cylinder':
+        return CylinderObjectData(**obj_data)
+    elif obj_type == 'mesh':
+        return MeshData(**obj_data)
+    elif obj_type == 'model':
+        return ModelData(**obj_data)
+    else:
+        return ObjectData(**obj_data)
 
 def scene_config_loader(file: str | Path) -> SceneData:
     def tuple_constructor(loader, node):
@@ -15,4 +33,8 @@ def scene_config_loader(file: str | Path) -> SceneData:
 
     scene_data = from_dict(data_class=SceneData, data=scene_cfg)
 
+    scene_data.objects = [object_factory(obj) for obj in scene_cfg.get('objects', [])]
+
+    print(scene_data)
+
     return scene_data