How are FR3 and inspire hand connected?

[eainx]

Hi, thanks for releasing this work.

We're setting up the FR3 + Inspire Hand platform from Table 2 of the Being-H0.5 paper (I saw in another issue that it's the RH56DFTP).

I wanted to ask:

• How is the hand attached to the FR3? I assume there's a custom adapter between the arm's ISO 9409-1-A50 flange and the hand's wrist base.
• Does the adapter add a fixed wrist tilt, or is the hand mounted straight along the flange axis?
• If a STEP file or dimensioned drawing could be shared, that would save us from machining the wrong plate. Or a photo of the mount would help a lot.

Thanks!