I've created a drop in replacement single joint finger that's interchangeable with existing 2 joint fingers. A single joint finger allows for more precise control of finger actuation without uncertainties resulting from the under-actuation of joints in the 2 joint finger. Although features have been implemented into two joint finger to improve consistency in initial actuation for use in pinch and tripod grip, a single joint finger completely removes the uncertainty that results in the 2 joint finger as the amount actuated directly equates to the angle of the finger. 

Features:
- 1 joint and 2 joint fingers are interchangeable on MK0, MK0M and MK0S
- Reduced required actuation length
- Semi sprung joints
- Allows for more precise tripod and pinch grip
- Length actuated equates to angle of finger