Clean up duplicate dependencies in main pyproject.toml

[coderabbitai]

Background

The main pyproject.toml contains dependencies that are duplicated in nested pyproject.toml files of the sub-packages (rai_core, rai_asr, rai_tts). These dependencies need to be cleaned up and properly organized before the release.

Examples

• lark package is only required by ROS2 and should be moved to the appropriate sub-package
• Other dependencies need to be reviewed and moved to their respective sub-packages where they are actually used

Action Items

• Review all dependencies in main pyproject.toml
• Identify which dependencies belong to which sub-package
• Move dependencies to appropriate sub-package pyproject.toml files
• Remove redundant dependencies from main pyproject.toml
• Verify that all packages still build and work correctly after the cleanup

This cleanup is required before the release to ensure proper dependency management.

Related PR discussion: #411 (comment)