chore: 框架科学优化前的完整基线

在开始'设备契约层 + 目录重构 + 通止规装配'改造之前，先钉住当前可运行状态，
使后续任何删除/重构都可回退。

本基线包含：
- 现有 ROS 2 工作区全部源码（arm_application / arm_control / arm_bringup 等）
- 官方 flexiv_ros2 栈（含 flexiv_hardware / flexiv_controllers 等符号链接）
- 设备契约层 src/arm_interfaces（新增，46 项单测通过）
- devices/ 设备选型与品牌清单（新增）
- scripts/gen_site_example.py 与由它生成的 config/site.example.yaml

按 .gitignore 排除：build/ / install/ / log/ / config/site.yaml / 模型权重二进制。

scripts/convert_traj.sh

@@ -0,0 +1,69 @@
+#!/usr/bin/env bash
+# Convert Flexiv Elements .traj → arm_application YAML (standard entry for all trajectories).
+# Usage:
+#   ./scripts/convert_traj.sh ~/文档/my_task.traj
+#   ./scripts/convert_traj.sh ~/文档/my_task.traj -o /path/to/out.yaml
+#   ./scripts/convert_traj.sh ~/文档/my_task.traj --min-seg 2.5 --no-copy
+set -eo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+PY="${ROOT}/scripts/convert_flexiv_traj.py"
+
+if [[ $# -lt 1 ]]; then
+  echo "Usage: $0 INPUT.traj [-o OUT.yaml] [--min-seg SECONDS] [--no-copy]"
+  echo "Example: $0 ~/文档/my_task.traj"
+  exit 1
+fi
+
+INPUT="$(realpath "$1")"
+shift
+BASENAME="$(basename "${INPUT}" .traj)"
+OUT_DEFAULT="${ROOT}/src/arm_application/config/${BASENAME}_trajectory.yaml"
+TRAJ_COPY="${ROOT}/src/arm_application/trajectories/${BASENAME}.traj"
+
+OUT="${OUT_DEFAULT}"
+MIN_SEG="3.0"
+DO_COPY=1
+EXTRA=()
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    -o|--output)
+      OUT="$(realpath -m "$2")"
+      shift 2
+      ;;
+    --min-seg)
+      MIN_SEG="$2"
+      shift 2
+      ;;
+    --no-copy)
+      DO_COPY=0
+      shift
+      ;;
+    *)
+      EXTRA+=("$1")
+      shift
+      ;;
+  esac
+done
+
+if [[ ! -f "${INPUT}" ]]; then
+  echo "ERROR: input not found: ${INPUT}" >&2
+  exit 1
+fi
+
+python3 "${PY}" "${INPUT}" -o "${OUT}" --min-seg "${MIN_SEG}" "${EXTRA[@]}"
+
+if [[ "${DO_COPY}" -eq 1 ]]; then
+  mkdir -p "$(dirname "${TRAJ_COPY}")"
+  cp -f "${INPUT}" "${TRAJ_COPY}"
+  echo "Copied source traj → ${TRAJ_COPY}"
+fi
+
+echo ""
+echo "Next (stack must be running):"
+echo "  conda activate ros_flexiv"
+echo "  source ${ROOT}/install/setup.bash"
+echo "  export LD_LIBRARY_PATH=~/flexiv_install/lib:\$LD_LIBRARY_PATH"
+echo "  ros2 run arm_application run_joint_trajectory --ros-args \\"
+echo "    --params-file ${OUT}"