feat: specify submodule branch and improve goal success handling
- Added `branch = main` to the `env_manager` submodule in `.gitmodules`. - Set the `success` flag in `m_current_result` on goal success in `mtp_jtc.cpp`.
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[submodule "env_manager"]
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path = env_manager
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url = https://gitlab.com/solid-sinusoid/env_manager.git
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branch = main
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