tracking all untracked changes into newborn Mk5.2 hand

[Lawproto]

The hand had some changes in the last year that were not tracked at coupling law level and its parameter. Time to create a new Mk5.2 from the current as-is hand. This PR updates all the related documentation.

[gemini-code-assist]

Summary of Changes

Hello @Lawproto, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request formally documents the newly established Mk5.2 version of the robotic hand. It addresses previously untracked changes in the hand's physical parameters and coupling laws by introducing new, detailed sections for joint specifications and coupling variables. The goal is to ensure that the project's documentation accurately reflects the current 'as-is' state of the Mk5.2 hardware, providing essential reference information for future development and understanding.

Highlights

• New Mk5.2 Hand Documentation: Introduced comprehensive documentation for the new Mk5.2 hand version, detailing its joint specifications and coupling variables.
• Updated Joint Specifications: Added a new section in hands_mk5.md with a detailed table outlining the joint numbers, motors, identifiers, types, parent/child links, and hardware limits for all fingers of the Mk5.2 hand.
• Revised Coupling Variables and Parameters: Created a dedicated section in hands_mk5_coupling.md for Mk5.2, providing an extensive table of coupling variables and parameters, including new q1rest and q2rest values.
• Clarified Parameter Definitions: Included detailed notes in the Mk5.2 coupling variables section to explain the shift in hard stop for the rest position and a generalized definition for q2bias, accompanied by illustrative images.
• Minor Documentation Refinements: Renamed P1x and P1y parameters to P1x(0) and P1y(0) in the Mk5.1 and Mk5.0 coupling variables tables for consistency.

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[gemini-code-assist]

Code Review

This pull request introduces documentation for the new Mk5.2 hand, including joint specifications and coupling variables. The changes are a good step towards tracking the new hardware version. I've identified a few minor issues, such as typos and opportunities for clarification, which will improve the quality and readability of the documentation. My feedback focuses on removing editing artifacts, clarifying notes, and suggesting additions for completeness.