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Correct the opposing V1 finger mesh orientation - #93
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The opposing V1 finger currently uses a Y-reflected mesh. Assemble its visual and collision meshes with a 180° Z rotation and positive scales, with both finger link frames aligned to hand. Transform the opposing finger COM consistently and make the mimic multiplier and offset explicit.
Validation: single-arm, bimanual and standalone Xacro expansion; link/joint references, inertia validity and shared gripper limits. The finger frames and prismatic axes retain their existing orientation.