Create separate transformation functions for the 2 robots and improve code readability

...wa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc

...ple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py

...ot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py

ros2_ws/src/simple_robot_inverse_kinematik/setup.py

...matik/simple_robot_inverse_kinematik/inverse_kinematik.py