feat(rbs): refactor controller paths and launch configuration

- Rename default controllers file `rbs_arm0_controllers.yaml` to `controllers.yaml` across all launch files
- Enhance `runtime.launch.py` by adding imports (`URDF_parser`, `ControllerManager`, `yaml`) and new arguments (`scene_config_file`, `ee_link_name`, `base_link_name`)
  - Implement xacro argument loading via YAML
  - Configure `robot_builder` to save controllers to `controllers.yaml` based on URDF parsing
- Add `control.launch.py` in `rbs_bringup` for dynamic controller spawning based on strategies/configurations
- Add `rbs_bringup.launch.py` as a unified entry point for single robot setup, initializing core settings like gripper, robot type, and controllers
- Remove `launch_env.launch.py`
- Remove `multi_robot.launch.py`
- Enhance `rbs_robot.launch.py` with `ee_link_name` and `base_link_name` arguments for end-effector and base link customization
- Add `ee_link_name` and `base_link_name` to `skills.launch.py` for flexible robot setup in skills
- Update `mtp_jtc_cart.cpp` with `base_link` and `robot_ee_link` parameters for KDL chain retrieval
- Remove `single_robot.launch.py` for simplified single robot deployment

env_manager/rbs_gym/launch/optimize.launch.py

@@ -70,7 +70,7 @@ def launch_setup(context, *args, **kwargs):
     launch_simulation = LaunchConfiguration("launch_sim")
 
     initial_joint_controllers_file_path = os.path.join(
-        get_package_share_directory('rbs_arm'), 'config', 'rbs_arm0_controllers.yaml'
+        get_package_share_directory('rbs_arm'), 'config', 'controllers.yaml'
     )
 
     single_robot_setup = IncludeLaunchDescription(
@@ -195,7 +195,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "controllers_file",
-            default_value="rbs_arm_controllers_gazebosim.yaml",
+            default_value="controllers_gazebosim.yaml",
             description="YAML file with the controllers configuration.",
         )
     )