quick_connect_interface_link does not have X pointing forward

[hello-robot-shehab]

quick_connect_interface_link has a rotated frame:

    <joint name="tool_connection_joint" type="fixed">
      <origin xyz="0.0 0.0 0.0" rpy="0 0 1.5708" />
      <parent link="tool_attachment_site_link" />
      <child link="quick_connect_interface_link" />
      <axis xyz="0 0 0" />
    </joint>

This is causing kinematic math to be a little confusing because the gripper reference (quick_connect_interface_link) has forward as negative-Y, instead of positive-X.