Refresh V2 finger collision meshes and split variants

assets/end_effector/pinch_gripper/meshes/README.md

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+# Finger mesh assets
+
+Coordinates are expressed in metres in the existing finger frames. Visual DAE files retain the contact pads, plastic body and metal mount as separate geometry groups.
+
+| Representation | Inner finger triangles | Outer finger triangles | Location |
+| --- | ---: | ---: | --- |
+| Visual | 2486 | 2486 | `visual/finger_{inner,outer}.dae` |
+| Whole collision | 2388 | 2374 | `collision/finger_{inner,outer}.stl` |
+| Four-piece collision | 2580 | 2580 | `collision/splited/finger_{inner,outer}/` |
+| Five-piece collision | 2590 | 2580 | `collision/splited/five_parts/finger_{inner,outer}/` |
+
+The default `config/link/collisions.yaml` references the whole-finger STL files. Each split set is complete and uses the same frame as the whole mesh.
+
+| Part | Four-piece set | Five-piece set |
+| --- | --- | --- |
+| `00` | Tip section | Tip section |
+| `01` | Front section | Front section |
+| `02` | Middle section | Middle section |
+| `03` | Rear plastic and metal mount | Rear plastic |
+| `04` | Included in `03` | Metal mount |
+
+Collision STLs retain concave geometry. Each file is a closed, consistently wound single shell. The whole collision mesh is the union of the four-piece set, with internal cut faces removed.