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/env.sh

@@ -0,0 +1,36 @@
+#!/usr/bin/env bash
+# Source this workspace environment (conda + ROS + flexiv libs).
+# Usage: source scripts/env.sh
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+
+if [[ -f /opt/ros/humble/setup.bash ]]; then
+  # shellcheck disable=SC1091
+  source /opt/ros/humble/setup.bash
+elif [[ -f /opt/ros/jazzy/setup.bash ]]; then
+  # shellcheck disable=SC1091
+  source /opt/ros/jazzy/setup.bash
+fi
+
+if [[ -f "${HOME}/anaconda3/etc/profile.d/conda.sh" ]]; then
+  # shellcheck disable=SC1091
+  source "${HOME}/anaconda3/etc/profile.d/conda.sh"
+  conda activate ros_flexiv 2>/dev/null || true
+fi
+
+# shellcheck disable=SC1091
+source "${ROOT}/install/setup.bash"
+export LD_LIBRARY_PATH="${HOME}/flexiv_install/lib:${LD_LIBRARY_PATH:-}"
+# Pip TensorRT (tensorrt-cu12) — needed to load YOLO .engine
+_TRT_SITE="${CONDA_PREFIX:-${HOME}/anaconda3/envs/ros_flexiv}/lib/python3.11/site-packages"
+for _d in "${_TRT_SITE}/tensorrt" "${_TRT_SITE}/tensorrt_libs" "${_TRT_SITE}/nvidia/tensorrt/lib"; do
+  if [[ -d "${_d}" ]]; then
+    export LD_LIBRARY_PATH="${_d}:${LD_LIBRARY_PATH}"
+  fi
+done
+unset _d _TRT_SITE
+export YOLO_AUTOINSTALL=false
+export ROS2_WS="${ROOT}"
+
+# Master site config → SITE_* (YOLO weights, camera, robot SN, …)
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true