- 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
feat(robot): add support for handling scalar joint positions
- Updated `RobotData` and `RbsArm` to allow joint positions to be passed
as either a list or a scalar value.
- Refactored logic to dynamically handle scalar values and repeat them
across all joints.
- Added new `initial_arm_joint_positions` and
`initial_gripper_joint_positions` properties in `RbsArm`.
- Improved joint position initialization in the `Scene` class to
retrieve robot description asynchronously if not provided.
- Enhanced the launch script to configure environment variables based on
available CPU cores.
- Minor code cleanups and bug fixes, including terrain naming and
corrected joint defaultsd.
git commit --amend
