[stevenaya]

Depends on #116 and #117.

Moves V1 single-arm and bimanual assembly onto the shared preset and component generator.

Changes

• Split V1 arm data into topology, joint, link and control configuration, and add single-arm and bimanual presets.
• Move the pedestal and complete parallel-link gripper, including link7, into their component directories.
• Configure installation transforms, reflection and joint overrides through presets, and remove legacy mounting and prefix CLI conversions.
• Keep the V1 Xacro entrypoint and reuse resolved component descriptions for control declarations. Configure hardware directly under each preset component's control, with automatic mock selection.

Validation

• 32 existing tests pass on ROS 2 Jazzy, covering assembly, entrypoints, control interfaces and resource references.

Review the V1 migration after its prerequisites.