DSL tutorials

The tutorials use the maintained repository models rather than separate toy syntax.

• Hands-on: pick_and_place
• Dual-arm pick and place
• Arc motion and admittance

1. Single-arm pick and place introduces the complete pipeline and the core motion/handler split.

2. Dual-arm pick and place adds repeated robot instances, independent solvers, and velocity profiles.

3. Arc motion and admittance adds force sensing, grouped conditions, event snapshots, and compliant velocity references.