Add XML/YAML launch equivalents for intermediate URDF tutorials

[lsy3]

Description

Add XML/YAML launch file equivalents for URDF tutorials.

• Add XML and YAML equivalents for all Python launch files
• Update tutorial documentation with tabbed multi-format code examples

Fixes #6006

Did you use Generative AI?

Partially - Cursor AI Assistant for generating XML/YAML launch file equivalents and tutorial rephrasing. Each generated line reviewed.

Additional Information

Description

Add XML/YAML launch file equivalents for intermediate Tf2 tutorials.

• Add XML and YAML equivalents for all Python launch files
• Update tutorial documentation with tabbed multi-format code examples

Fixes #6006

Did you use Generative AI?

Partially - Cursor AI Assistant for generating XML/YAML launch file equivalents and tutorial rephrasing. Each generated line reviewed.

Additional Information

• Launch files are scoped to pages under Tutorials/Intermediate/URDF/ directory
• All launch file references in the URDF tutorial documentation have been updated