Keep one HOME front-view coordinate illustration

Retains the single HOME front-view illustration and removes seven coordinate close-up PNGs and their README references. TCP definitions, axis directions and units, the complete hand-joint mapping, and elastomer-frame tactile units remain unchanged. Recorded data, videos and annotations are untouched.

README.md

@@ -369,37 +369,11 @@ The corresponding homogeneous transform is `T_root_hand_base`, with `p_root = T_
 
 #### Coordinate-frame illustrations
 
-The robot is shown in its configured **HOME pose**, rendered in Isaac Sim. The overview is a front view. Axis colors are **X red, Y green, Z blue**; left and right refer to the robot's sides. The illustrations explain coordinate definitions and do not establish physical calibration accuracy.
+The robot is shown in its configured **HOME pose**, rendered in Isaac Sim from the front. Axis colors are **X red, Y green, Z blue**; left and right refer to the robot's sides. The local hand axes move with the hands. This illustration explains coordinate definitions and does not establish physical calibration accuracy.
 
 ![North in HOME pose: base, hand TCP and camera coordinate frames](assets/coordinate_frames/home_front.png)
 
-<details>
-<summary>Base and left/right TCP close-ups</summary>
-
-The two TCP origins are the corresponding `hand_base_link` origins. The local axes move with the hands; they are not fixed to the robot-base axes.
-
-![Robot base coordinate frame](assets/coordinate_frames/root_frame.png)
-
-![Left hand-base TCP coordinate frame](assets/coordinate_frames/left_tcp.png)
-
-![Right hand-base TCP coordinate frame](assets/coordinate_frames/right_tcp.png)
-
-</details>
-
-<details>
-<summary>Head and wrist camera coordinate-frame close-ups</summary>
-
-These camera diagrams use the **nominal URDF camera-link frames**. They are not recording-specific calibrated extrinsics. Camera intrinsics, distortion parameters and calibrated camera-to-hand transforms are outside this documentation update. Close-up viewing angles are chosen to make the 3D axes readable; the robot remains in the same HOME configuration.
-
-![Head-left camera coordinate frame](assets/coordinate_frames/head_left_camera.png)
-
-![Head-right camera coordinate frame](assets/coordinate_frames/head_right_camera.png)
-
-![Left wrist-camera coordinate frame](assets/coordinate_frames/left_wrist_camera.png)
-
-![Right wrist-camera coordinate frame](assets/coordinate_frames/right_wrist_camera.png)
-
-</details>
+Camera axes in this illustration follow the **nominal URDF camera-link frames**, not recording-specific calibrated extrinsics. Camera intrinsics, distortion parameters and calibrated camera-to-hand transforms are outside this documentation update.
 
 ### Video Streams