Update test tunners

[ipa-kut]

• [x] Update visio models for all runners -> Redesign the runners (ie The entire model)
• [x] Then refactor code to reflect this

[ipa-rwu]

• [x] test1
• [x] test1 with emergency braking
• [x] test4 with goal
• [x] test4 without goal
• [ ] test5 dynamic obstacle

[ipa-kut]

Need to review.

[ipa-kut]

Closed by https://github.com/ipa320/araig_test_stack/pull/35