refactor launch configuration for robot and environment setup

- Simplified and consolidated launch arguments by removing unused configurations.
- Enhanced `test_env.launch.py` to support dynamic loading of xacro and SRDF arguments via YAML files.
- Added new launch parameters for control space, strategy, and interactive mode to improve flexibility.
- Updated robot description and MoveIt integration to use dynamic configurations.
- Improved clarity and modularity in scene and robot setup processes.

rbs_bringup/launch/rbs_robot.launch.py

@@ -2,7 +2,7 @@ import os
 
 import xacro
 from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
+from launch import LaunchDescription, condition
 from launch.actions import (
     DeclareLaunchArgument,
     IncludeLaunchDescription,
@@ -30,6 +30,7 @@ def launch_setup(context, *args, **kwargs):
     moveit_config_package = LaunchConfiguration("moveit_config_package")
     use_sim_time = LaunchConfiguration("use_sim_time")
     use_controllers = LaunchConfiguration("use_controllers")
+    use_skills = LaunchConfiguration("use_skills")
     namespace = LaunchConfiguration("namespace")
     multi_robot = LaunchConfiguration("multi_robot")
     robot_name = robot_name.perform(context)
@@ -144,6 +145,7 @@ def launch_setup(context, *args, **kwargs):
             "ee_link_name": ee_link_name,
             "base_link_name": base_link_name,
         }.items(),
+        condition=IfCondition(use_skills),
     )
 
     nodes_to_start = [
@@ -247,6 +249,14 @@ def generate_launch_description():
             description="Specify if MoveIt should be launched.",
         )
     )
+
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_skills",
+            default_value="true",
+            description="Specify if skills should be launched.",
+        )
+    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "use_controllers",