Add cable model for Phase 1

[iche033]

Add a new cable sfp_sc_cable_phase_1 for Phase 1. The new cable has a configuration and pose that place the ends plugged into the mounts on the task board on launch.

To test:

ros2 launch aic_bringup aic_gz_bringup.launch.py ground_truth:=false  spawn_cable:=true attach_cable_to_gripper:=false spawn_task_board:=true nic_card_mount_0_present:=true sc_port_0_present:=true launch_rviz:=false  sfp_mount_rail_0_present:=true sc_mount_rail_0_present:=true cable_type:=sfp_sc_cable_phase_1 cable_x:=0.0090312138199806213 cable_y:=-0.093737214803695679 cable_z:=1.2267292737960815 cable_roll:=-2.5275254956976134 cable_pitch:=-1.3707510052403902 cable_yaw:=2.6911430280154049

The cable moderator plugin (added in #468) should lock the ends in place once the cable is spawned.