Add arms module with Arm/GripperArm hierarchy, Brooks and iSWAP backends#957

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rickwierenga wants to merge 2 commits intov1b1from

Commits on Mar 23, 2026

Add arms module, Brooks vendor module, and iSWAP backend

rickwierenga
and
claude
committed
Introduce CanGrip mixin and _BaseArmBackend, rename backend classes

rickwierenga
and
claude
committed