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_moveit_config/config/joint_limits.yaml

@@ -0,0 +1,36 @@
+joint_limits:
+  joint1:
+    has_velocity_limits: true
+    max_velocity: 2.0944
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  joint2:
+    has_velocity_limits: true
+    max_velocity: 2.0944
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  joint3:
+    has_velocity_limits: true
+    max_velocity: 2.4435
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  joint4:
+    has_velocity_limits: true
+    max_velocity: 2.4435
+    has_acceleration_limits: true
+    max_acceleration: 5.0
+  joint5:
+    has_velocity_limits: true
+    max_velocity: 4.8869
+    has_acceleration_limits: true
+    max_acceleration: 8.0
+  joint6:
+    has_velocity_limits: true
+    max_velocity: 4.8869
+    has_acceleration_limits: true
+    max_acceleration: 8.0
+  joint7:
+    has_velocity_limits: true
+    max_velocity: 4.8869
+    has_acceleration_limits: true
+    max_acceleration: 8.0

src/arm_moveit_config/config/kinematics.yaml

@@ -0,0 +1,4 @@
+rizon_arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05

src/arm_moveit_config/config/moveit_controllers.yaml

@@ -0,0 +1,22 @@
+trajectory_execution:
+  allowed_execution_duration_scaling: 1.2
+  allowed_goal_duration_margin: 0.5
+  allowed_start_tolerance: 0.01
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - rizon_arm_controller
+  rizon_arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - Rizon4-063989_joint1
+      - Rizon4-063989_joint2
+      - Rizon4-063989_joint3
+      - Rizon4-063989_joint4
+      - Rizon4-063989_joint5
+      - Rizon4-063989_joint6
+      - Rizon4-063989_joint7

src/arm_moveit_config/config/ompl_planning.yaml

@@ -0,0 +1,24 @@
+planning_plugin: ompl_interface/OMPLPlanner
+request_adapters: >-
+  default_planner_request_adapters/AddTimeOptimalParameterization
+  default_planner_request_adapters/ResolveConstraintFrames
+  default_planner_request_adapters/FixWorkspaceBounds
+  default_planner_request_adapters/FixStartStateBounds
+  default_planner_request_adapters/FixStartStateCollision
+  default_planner_request_adapters/FixStartStatePathConstraints
+start_state_max_bounds_error: 0.1
+
+planner_configs:
+  RRTConnect:
+    type: geometric::RRTConnect
+    range: 0.0
+  RRTstar:
+    type: geometric::RRTstar
+    range: 0.0
+
+rizon_arm:
+  planner_configs:
+    - RRTConnect
+    - RRTstar
+  projection_evaluator: joints(joint1,joint2)
+  longest_valid_segment_fraction: 0.005