- **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.
- 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.
