How did the Prophet, peace and blessings be upon him, sit between Ali and Fatimah, may Allah be pleased with them both, to the extent that Fatimah felt the coolness of his feet on her chest, as was mentioned in the Hadith of her complaint about the pain of the grinding mill?

The Hadith (definition) about Fatima's complaint to the Prophet, peace and blessings be upon him, regarding the effect of the grinding mill on her hands, indicates the permissibility for a father to sit between his daughter and her husband. This is the view adopted by Ibn Hubayra, provided that no 'awrah (private parts) are seen or touched, as there is an explicit prohibition against that. The Hadith does not state that the Prophet, peace and blessings be upon him, saw the 'awrah of either of them or touched them. Furthermore, the phrase "until I felt the coolness of his feet on my chest" refers to Ali, may Allah be pleased with him, and a man's chest is not 'awrah. Therefore, there is no issue with the Hadith, and the reason for this question is a result of waswas (whispers of the devil/obsessive thoughts), which should not be entertained.