Add project sources for Mujoco LinkerHand ROS2

Co-authored-by: Cursor <cursoragent@cursor.com>

run_middle_step_experiment.sh

@@ -0,0 +1,25 @@
+#!/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}"