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/run_hole_detect.sh

@@ -0,0 +1,42 @@
+#!/usr/bin/env bash
+# Hole detection on the current-arm wrist D405. Detect only — no insert motion.
+#
+#   bash ~/ros2/scripts/run_camera_d405.sh --arm 89 --preview
+#   bash ~/ros2/scripts/run_hole_detect.sh --arm 89 --preview
+#
+# backend from site.yaml hole_detect.backend:
+#   two_stage  YOLO workpiece bbox + HoughCircles (camera_test hole_detect.py)
+#   yolo       YOLO boxes treated as holes
+#   hough      full-image HoughCircles
+
+set -eo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+PREVIEW=false
+
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/parse_arm_args.sh"
+parse_arm_args "$@"
+set -- "${PARSE_ARM_REST[@]}"
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --preview) PREVIEW=true; shift ;;
+    -h|--help) sed -n '2,16p' "$0"; exit 0 ;;
+    *) echo "Unknown: $1" >&2; exit 1 ;;
+  esac
+done
+
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/load_site_config.sh"
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/env.sh"
+
+pkill -f 'arm_application/hole_detect_node.py' 2>/dev/null || true
+pkill -f 'lib/arm_application/hole_detect' 2>/dev/null || true
+sleep 0.2
+
+BACKEND="${SITE_HOLE_BACKEND:-two_stage}"
+echo "=== hole_detect  arm=${SITE_ROBOT_ARM:-?} cam=${SITE_CAM_NAME} backend=${BACKEND} preview=${PREVIEW} ==="
+exec ros2 launch arm_application hole_detect.launch.py \
+  backend:="${BACKEND}" \
+  preview:="${PREVIEW}"