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/use_local_flexiv.sh

@@ -0,0 +1,50 @@
+#!/usr/bin/env bash
+# Wire local Flexiv trees under ~/文档/Flexiv_Rizon4 into this workspace.
+# Avoids re-cloning RDK / sim plugin from GitHub.
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+SRC="${ROOT}/src"
+TP="${ROOT}/thirdparty"
+LOCAL_FLEXIV="${LOCAL_FLEXIV:-$HOME/文档/Flexiv_Rizon4}"
+
+if [[ ! -d "${LOCAL_FLEXIV}/flexiv_rdk" ]]; then
+  echo "ERROR: not found: ${LOCAL_FLEXIV}/flexiv_rdk"
+  echo "Set LOCAL_FLEXIV to your Flexiv_Rizon4 directory."
+  exit 1
+fi
+
+mkdir -p "${SRC}" "${TP}"
+
+VER_LINE=$(grep -E '^project\(flexiv_rdk' "${LOCAL_FLEXIV}/flexiv_rdk/CMakeLists.txt" | head -1 || true)
+echo "Linking RDK (${VER_LINE:-unknown version})..."
+ln -sfn "${LOCAL_FLEXIV}/flexiv_rdk" "${SRC}/flexiv_rdk"
+touch "${LOCAL_FLEXIV}/flexiv_rdk/COLCON_IGNORE"
+
+if [[ -d "${LOCAL_FLEXIV}/flexiv_sim_plugin" ]]; then
+  if [[ -d "${TP}/flexiv_sim_plugin" && ! -L "${TP}/flexiv_sim_plugin" ]]; then
+    mv "${TP}/flexiv_sim_plugin" "${TP}/flexiv_sim_plugin.cloned.bak.$(date +%s)"
+  fi
+  ln -sfn "${LOCAL_FLEXIV}/flexiv_sim_plugin" "${TP}/flexiv_sim_plugin"
+  touch "${LOCAL_FLEXIV}/flexiv_sim_plugin/COLCON_IGNORE"
+  echo "Linked thirdparty/flexiv_sim_plugin -> ${LOCAL_FLEXIV}/flexiv_sim_plugin"
+fi
+
+# humble-v1 ROS hardware needs RDK 1.9.x (kept separately if present)
+if [[ -d "${SRC}/flexiv_rdk.bak.1787646725" ]]; then
+  ln -sfn "${SRC}/flexiv_rdk.bak.1787646725" "${SRC}/flexiv_rdk_v1"
+  touch "${SRC}/flexiv_rdk.bak.1787646725/COLCON_IGNORE"
+  echo "ROS stack RDK v1.9.1 available at src/flexiv_rdk_v1"
+fi
+
+cat <<EOF
+
+Done.
+  src/flexiv_rdk          -> ${LOCAL_FLEXIV}/flexiv_rdk   (your tree, currently v2.1)
+  thirdparty/flexiv_sim_plugin -> local sim plugin
+
+Note: flexiv_ros2 humble-v1 expects RDK **v1.9.1**.
+  Build/install src/flexiv_rdk_v1 into ~/flexiv_install for flexiv_hardware.
+  Use your v2.1 tree for RDK C++/Python examples and Isaac-side tooling.
+
+EOF