Custom gripper interface and tutorial section

[codecov[bot]]

Codecov Report

Attention: 1 lines in your changes are missing coverage. Please review.

Comparison is base (008fa3a) 88.93% compared to head (1b469cd) 89.56%. Report is 1 commits behind head on main.

Files	Patch %	Lines
src/dm_robotics/panda/arm.py	91.66%	1 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #5 +/- ## ========================================== + Coverage 88.93% 89.56% +0.63% ========================================== Files 9 9 Lines 913 930 +17 ========================================== + Hits 812 833 +21 + Misses 101 97 -4 ```

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