applying the following changes:
- Use `fixed` virtual joint
- Remove `panda_finger_joint1` from `hand` group (it's automatically included via finger links)
- Configure correct controller names provided by `franka_ros`:
  - arm: `joint_trajectory_controller` (`FollowJointTrajectory`)
  - hand: `franka_gripper` (`GripperCommand`)
- Change author to MoveIt maintainer team