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/install_rdk_offline.sh

@@ -0,0 +1,104 @@
+#!/usr/bin/env bash
+# Offline-friendly Flexiv RDK v1.9.1 install for ROS (humble-v1 / flexiv_hardware).
+# CMakeLists already supports FLEXIV_RDK_OFFLINE_LIB / vendor/rdk_libs/.
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+RDK_SRC="${RDK_SRC:-$ROOT/src/flexiv_rdk_v1}"
+PREFIX="${PREFIX:-$HOME/flexiv_install}"
+LIB_NAME="libflexiv_rdk.x86_64-linux-gnu.a"
+EXPECTED_HASH="$(tr -d '[:space:]' < "${RDK_SRC}/lib/${LIB_NAME}.sha256")"
+VENDOR_LIB="${ROOT}/vendor/rdk_libs/${LIB_NAME}"
+JOBS="${JOBS:-$(nproc)}"
+
+# Prefer conda ros_flexiv toolchain (cmake/g++ often only there)
+if ! command -v cmake >/dev/null 2>&1; then
+  # shellcheck disable=SC1091
+  source "${HOME}/anaconda3/etc/profile.d/conda.sh" 2>/dev/null \
+    || source "${HOME}/miniconda3/etc/profile.d/conda.sh" 2>/dev/null \
+    || true
+  conda activate "${CONDA_ENV:-ros_flexiv}" 2>/dev/null || true
+fi
+if ! command -v cmake >/dev/null 2>&1; then
+  echo "ERROR: cmake not found. Activate ros_flexiv (or install cmake) first."
+  exit 1
+fi
+echo "Using cmake: $(command -v cmake) ($(cmake --version | head -1))"
+
+mkdir -p "${ROOT}/vendor/rdk_libs" "${PREFIX}"
+
+if [[ -f "${VENDOR_LIB}" ]] && [[ "$(sha256sum "${VENDOR_LIB}" | awk '{print $1}')" == "${EXPECTED_HASH}" ]]; then
+  echo "OK: ${VENDOR_LIB}"
+else
+  echo "Need ${LIB_NAME} (SHA256 ${EXPECTED_HASH})"
+  base="https://github.com/flexivrobotics/flexiv_rdk/releases/download/v1.9.1/${LIB_NAME}"
+  ok=0
+  for url in \
+    "${base}" \
+    "https://ghproxy.net/${base}" \
+    "https://gh.ddlc.top/${base}" \
+    "https://hub.gitmirror.com/${base}" \
+    "https://cf.ghproxy.cc/${base}"
+  do
+    echo "TRY ${url}"
+    if curl -fL --connect-timeout 15 --max-time 120 -o "${VENDOR_LIB}.part" "${url}" \
+      && [[ "$(sha256sum "${VENDOR_LIB}.part" | awk '{print $1}')" == "${EXPECTED_HASH}" ]]; then
+      mv "${VENDOR_LIB}.part" "${VENDOR_LIB}"
+      ok=1
+      break
+    fi
+    rm -f "${VENDOR_LIB}.part"
+  done
+  if [[ "${ok}" -ne 1 ]]; then
+    cat <<EOF
+FAILED to download ${LIB_NAME}.
+
+Manual (any PC with GitHub access):
+  wget -O ${LIB_NAME} '${base}'
+  sha256sum ${LIB_NAME}   # must be ${EXPECTED_HASH}
+  scp ${LIB_NAME} $(hostname):${VENDOR_LIB}
+
+Then re-run: $0
+EOF
+    exit 1
+  fi
+fi
+
+export FLEXIV_RDK_OFFLINE_LIB="${VENDOR_LIB}"
+
+echo "Install deps into ${PREFIX} (may still need git mirrors)..."
+DEP_SCRIPT=""
+for s in \
+  "${RDK_SRC}/thirdparty/build_and_install_dependencies_not_in_ros2.sh" \
+  "${RDK_SRC}/thirdparty/build_and_install_dependencies.sh"
+do
+  [[ -f "$s" ]] && DEP_SCRIPT="$s" && break
+done
+if [[ -n "${DEP_SCRIPT}" ]]; then
+  bash "${DEP_SCRIPT}" "${PREFIX}" "${JOBS}" || {
+    echo "WARN: deps script failed. If Eigen/spdlog/Fast-DDS/RBDyn already in ${PREFIX}, continue."
+  }
+else
+  echo "WARN: no dependency script found"
+fi
+
+rm -rf "${RDK_SRC}/build"
+mkdir -p "${RDK_SRC}/build" && cd "${RDK_SRC}/build"
+cmake .. -DCMAKE_BUILD_TYPE=Release \
+  -DCMAKE_INSTALL_PREFIX="${PREFIX}" \
+  -DCMAKE_PREFIX_PATH="${PREFIX}"
+cmake --build . --target install -j "${JOBS}"
+
+cat <<EOF
+
+RDK installed to ${PREFIX}
+Next:
+  conda activate ros_flexiv
+  cd ${ROOT}
+  colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=${PREFIX} \\
+    --packages-up-to flexiv_bringup flexiv_hardware arm_bringup
+
+Python (already ready, no GitHub):
+  /home/cc/rdk_py310/bin/python
+  bash ${ROOT}/scripts/test_rdk_python.sh
+EOF