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chore: 框架科学优化前的完整基线

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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。
This commit is contained in:
arm_dev
2026-09-23 10:53:06 +08:00
commit 6edb8d39ab
635 changed files with 1165230 additions and 0 deletions
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src/arm_moveit_config/srdf/arm.srdf
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<?xml version="1.0" encoding="UTF-8"?>
<!-- MoveIt SRDF — site Rizon4-063989, no gripper. Names match flexiv_description. -->
<robot name="rizon4">
<group name="rizon_arm">
<chain base_link="Rizon4-063989_base_link" tip_link="Rizon4-063989_tcp"/>
</group>
<group_state name="home" group="rizon_arm">
<joint name="Rizon4-063989_joint1" value="0"/>
<joint name="Rizon4-063989_joint2" value="-0.698"/>
<joint name="Rizon4-063989_joint3" value="0"/>
<joint name="Rizon4-063989_joint4" value="1.57"/>
<joint name="Rizon4-063989_joint5" value="0"/>
<joint name="Rizon4-063989_joint6" value="0.698"/>
<joint name="Rizon4-063989_joint7" value="0"/>
</group_state>
<group_state name="ready" group="rizon_arm">
<joint name="Rizon4-063989_joint1" value="0"/>
<joint name="Rizon4-063989_joint2" value="-0.698"/>
<joint name="Rizon4-063989_joint3" value="0"/>
<joint name="Rizon4-063989_joint4" value="1.57"/>
<joint name="Rizon4-063989_joint5" value="0"/>
<joint name="Rizon4-063989_joint6" value="0.698"/>
<joint name="Rizon4-063989_joint7" value="0"/>
</group_state>
<end_effector name="hand" parent_link="Rizon4-063989_tcp" group="rizon_arm"/>
<disable_collisions link1="Rizon4-063989_base_link" link2="Rizon4-063989_link1" reason="Adjacent"/>
<disable_collisions link1="Rizon4-063989_link1" link2="Rizon4-063989_link2" reason="Adjacent"/>
<disable_collisions link1="Rizon4-063989_link2" link2="Rizon4-063989_link3" reason="Adjacent"/>
<disable_collisions link1="Rizon4-063989_link3" link2="Rizon4-063989_link4" reason="Adjacent"/>
<disable_collisions link1="Rizon4-063989_link4" link2="Rizon4-063989_link5" reason="Adjacent"/>
<disable_collisions link1="Rizon4-063989_link5" link2="Rizon4-063989_link6" reason="Adjacent"/>
<disable_collisions link1="Rizon4-063989_link6" link2="Rizon4-063989_link7" reason="Adjacent"/>
</robot>