Organize hand models and launchers; use linear active joint mapping

tools/run_middle_step_experiment.py

@@ -35,7 +35,7 @@ import time
 from pathlib import Path
 
 ROOT = Path(__file__).resolve().parents[1]
-OUT_DIR = ROOT / "reports/O6_middle_ros"
+OUT_DIR = ROOT / "outputs/reports/O6/O6_middle_ros"
 
 # 与 middle_step_cmd_pub.py 保持一致
 PRE_WAIT = 3.0
@@ -220,7 +220,7 @@ def main():
 
     if args.mode == "real":
         print("\n[提示] 真机请先: sudo ip link set can0 up type can bitrate 1000000")
-        print("       并运行 ./run_real_hand.sh（或本脚本前自行启动 SDK）\n")
+        print("       并运行 ./tools/hardware/run_real_hand.sh（或本脚本前自行启动 SDK）\n")
         return run_real_experiment(args) or 0
     if args.mode == "sim":
         return run_sim_experiment(args) or 0