add gripper static obstacle test

[JosephBorodach]

Registers a minimal gripper whose Kinematics() returns referenceframe.NewSimpleModel(name) which doesn't contain a geometry

That mirrors module resources whose geometry is declared in frame.geometry rather than served through Kinematics()

Expected behavior - geometry exists on the frame
Actual behavior on main - geometry is dropped and the test fails

WARN  impl/local_robot.go:1246  An input enabled component erroneously included a geometry. Ignoring the geometry.  {"ResName":"obstacle"}