The current design of the `VFIConfigurationFile` depends on CoppeliaSim

[juanjqo]

The current design of the VFIConfigurationFile relies on CoppeliaSim to extract additional data (e.g., the robot's workspace pose and the offset of the attached-to-robot primitive). For instance, the ENVIRONMENT_TO_ROBOT_DATA struct contains

        std::vector<std::string> cs_entity_environment;
        std::vector<std::string> cs_entity_robot;

, which are used to read data from CoppeliaSim.

However, I think a more general class design could be useful in scenarios where CoppeliaSim is unavailable or underperforming.