Create YAML with common paramaters for the UR launch/URDF file

## Description
There are parameters currently hardcoded in multiple places of our code. For instance:
```python
...
self.ur_type = "ur5e"
self.robot_ip = "aegis_ur"
...
```
We should extract such values from the URDFs and launch files and define them in a separate YAML config.

## References