Organize hand models and launchers; use linear active joint mapping

run_middle_step_experiment.sh

@@ -1,25 +0,0 @@
-#!/usr/bin/env bash
-# 快捷入口：O6 中指 step 实验（真机 / 仿真 / 对比）
-set -eo pipefail
-ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-31}"
-export ROS_LOCALHOST_ONLY=0
-
-set +u
-source /opt/ros/jazzy/setup.bash 2>/dev/null || true
-set -u
-
-MODE="${1:-}"
-if [[ -z "$MODE" ]]; then
-  cat <<'EOF'
-用法:
-  ./run_middle_step_experiment.sh real     # 真机实验（需 can0 + SDK）
-  ./run_middle_step_experiment.sh sim      # 仿真实验（MuJoCo）
-  ./run_middle_step_experiment.sh compare  # 对比图（需先 real + sim）
-
-时序（两边相同）: 3s 张开 → 3s 握紧 → 3s 张开 → 2s 余量
-EOF
-  exit 1
-fi
-
-exec python3 "$ROOT/tools/run_middle_step_experiment.py" "$MODE" "${@:2}"