Rework arm implementation and API#34

Draft

charlesmackenzie wants to merge 23 commits intomainfrom

Commits on Nov 15, 2023

Add generic code to deal with an arm joint
FujiBookPro
committed

Commits on Nov 16, 2023

Commits on Nov 20, 2023

Commits on Nov 27, 2023

Partially integrate new Armsubsystem. Does not build
charlesmackenzie
committed

Commits on Nov 28, 2023

Commits on Nov 29, 2023

implement new arm for auto; finish basic integration
charlesmackenzie
committed

Commits on Dec 13, 2023

[WIP] Introduce simulation
charlesmackenzie
committed

Commits on Jan 5, 2024

Correctly interact with Pheonix6 API
charlesmackenzie
committed