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Attach V1 fingers to hand and correct gripper origins - #91
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V1 fingers attach directly to link7 while their placement is defined relative to the gripper. Attach both fingers to hand, set the hand origin to 100.1 mm from link7, and place the finger joints at
(0, ±0.005, 0.015)m in hand. Express the hand mesh and COM offsets in the corrected hand frame and use the same definition for the standalone gripper. Adjust the hand-local TCP offset to keep its existing 186 mm link7-relative position.Validation: expanded single-arm and bimanual models with both prefix modes and ROS2 control, plus the standalone gripper. Checked link/joint references, mesh paths, inertia validity and shared finger limits.