Fix gripper joint handling and update launch defaults to new rbs_arm

- Fixed a potential issue where `gripper_actuated_joint_names` might be None by adding a conditional check before appending joint positions.
- Updated `rbs_bringup.launch.py` to:
  - Change `with_gripper` default to `false`
  - Modify `ee_link_name` from `gripper_grasp_point` to `tool0`
  - Set `interactive` mode to `true`

env_manager/env_manager/env_manager/models/robots/rbs_arm.py

@@ -144,8 +144,11 @@ class RbsArm(RobotWrapper):
 
         joint_position_data = [
             (self.__initial_arm_joint_positions, self._robot.actuated_joint_names),
-            (self.__initial_gripper_joint_positions, self._robot.gripper_actuated_joint_names),
         ]
+        if self._robot.gripper_actuated_joint_names:
+            joint_position_data.append(
+                (self.__initial_gripper_joint_positions, self._robot.gripper_actuated_joint_names)
+            )
 
         for positions, joint_names in joint_position_data:
             print(f"Setting joint positions for {joint_names}: {positions}")

rbs_bringup/launch/rbs_bringup.launch.py

@@ -20,7 +20,7 @@ def launch_setup(context, *args, **kwargs):
             ]
         ),
         launch_arguments={
-            "with_gripper": "true",
+            "with_gripper": "false",
             "robot_type": "rbs_arm",
             "description_package": "rbs_arm",
             "description_file": "rbs_arm_modular.xacro",
@@ -32,10 +32,10 @@ def launch_setup(context, *args, **kwargs):
             "use_controllers": "true",
             "scene_config_file": "",
             "base_link_name": "base_link",
-            "ee_link_name": "gripper_grasp_point",
+            "ee_link_name": "tool0",
             "control_space": "task",
             "control_strategy": "position",
-            "interactive": "false",
+            "interactive": "true",
             "use_rbs_utils": "true",
             "assembly_config_name": "board_pick_and_place"
         }.items(),