[style] simplify build paths (#5888)

This commit simplifies the build paths:

* remove cmake prefix from `script/test`
* use fixed name for simulation and posix platforms just like others

script/check-posix-pty

@@ -75,7 +75,7 @@ check()
     echo 'RADIO_PTY' "$RADIO_PTY"
     echo 'CORE_PTY' "$CORE_PTY"
 
-    RADIO_NCP_PATH="$(pwd)/$(ls output/*linux*/bin/ot-rcp)"
+    RADIO_NCP_PATH="$PWD/output/simulation/bin/ot-rcp"
 
     # shellcheck disable=SC2094
     $RADIO_NCP_PATH 1 >"$RADIO_PTY" <"$RADIO_PTY" &
@@ -86,9 +86,9 @@ check()
     RADIO_URL="spinel+hdlc+uart://${CORE_PTY}?max-power-table=11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26"
 
     if [[ ${DAEMON} == 1 ]]; then
-        sudo "$(pwd)/$(ls output/posix/*linux*/bin/ot-daemon)" -I "${VALID_NETIF_NAME}" "${RADIO_URL}" &
+        sudo "$PWD/output/posix/bin/ot-daemon" -I "${VALID_NETIF_NAME}" "${RADIO_URL}" &
         sleep 1
-        OT_CLI_CMD="$(pwd)/$(ls output/posix/*linux*/bin/ot-ctl)"
+        OT_CLI_CMD="$PWD/output/posix/bin/ot-ctl"
         sudo "${OT_CLI_CMD}" panid 0xface | grep 'Done' || die 'failed to set panid with ot-ctl'
 
         # verify this reset and factoryreset end immediately
@@ -97,7 +97,7 @@ check()
         sleep 2
         sudo "${OT_CLI_CMD}" factoryreset
     else
-        OT_CLI="$(pwd)/$(ls output/posix/*linux*/bin/ot-cli)"
+        OT_CLI="$PWD/output/posix/bin/ot-cli"
         sudo "${OT_CLI}" -I "${VALID_NETIF_NAME}" -n "${RADIO_URL}"
 
         # Cover setting a too long(max is 15 characters) network interface name.
@@ -105,7 +105,7 @@ check()
         readonly INVALID_NETIF_NAME="wan0123456789123"
         sudo "${OT_CLI}" -I "${INVALID_NETIF_NAME}" -n "${RADIO_URL}" || test $? = 2
 
-        OT_CLI_CMD="$(pwd)/$(ls output/posix/*linux*/bin/ot-cli) ${RADIO_URL}"
+        OT_CLI_CMD="$PWD/output/posix/bin/ot-cli ${RADIO_URL}"
     fi
 
     sudo expect <<EOF | tee "${OT_OUTPUT}" &