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。

src/arm_application/config/perception.yaml

@@ -0,0 +1,42 @@
+# perception_node defaults. Launch overlays ~/ros2/config/site.yaml → yolo: / paths:
+# Do not edit this file for day-to-day tuning.
+
+perception_node:
+  ros__parameters:
+    camera_source: "d405"
+    camera_namespace: ""
+    image_topic: ""
+    camera_info_topic: ""
+    depth_topic: "/d405/aligned_depth_to_color/image_raw"
+    weights: "/home/cc/ros2/models/yolo/detect_yolo26_gongjian.pt"
+    conf: 0.35
+    iou: 0.45
+    imgsz: 416
+    device: "0"
+    half_precision: true
+    min_conf: 0.35
+    vision_hz: 20.0
+    z_ref_m: 0.30
+    # Large gate + reacquire: fast motion must NOT freeze track
+    jump_px: 280.0
+    jump_z_m: 0.20
+    min_depth_m: 0.05
+    max_depth_m: 2.50
+    object_frame: "tracked_object"
+    camera_frame: "d405_color_optical_frame"
+    # Snappy KF + blend toward raw measurement
+    kf_q_pos: 0.002
+    kf_q_vel: 0.05
+    kf_r_pos: 0.0008
+    meas_blend: 0.65
+    # Faster infer + tight box follow
+    infer_max_width: 640
+    box_ema_alpha: 0.85
+    miss_clear_frames: 2
+    # Item 4 — adaptive Z depth LPF
+    z_alpha_min: 0.10
+    z_alpha_max: 0.60
+    z_alpha_gain: 2.0
+    feature_mode: "plane"  # stereo 3D centroid; box = monocular box-center ray
+    plane_inlier_m: 0.008
+    plane_band_m: 0.06