✨ feat(runtime): 添加轨迹持久化与密集执行链路

* 新增飞拍轨迹文件存储，支持上传、加载与删除
* 接通 ControllerClientCompat 到运行时的轨迹编排
* 完善 FANUC 命令与 J519 客户端发送链路
* 补充密集轨迹执行、运行时编排和协议客户端测试
* 更新 README 与 AGENTS 中的当前实现状态

src/Flyshot.Core.Domain/TrajectoryResult.cs

@@ -21,7 +21,8 @@ public sealed class TrajectoryResult
         string? failureReason,
         bool usedCache,
         int originalWaypointCount,
-        int plannedWaypointCount)
+        int plannedWaypointCount,
+        IEnumerable<IReadOnlyList<double>>? denseJointTrajectory = null)
     {
         if (string.IsNullOrWhiteSpace(programName))
         {
@@ -51,6 +52,7 @@ public sealed class TrajectoryResult
         var copiedShotEvents = shotEvents.ToArray();
         var copiedTriggerTimeline = triggerTimeline.ToArray();
         var copiedArtifacts = artifacts.ToArray();
+        var copiedDenseJointTrajectory = denseJointTrajectory?.Select(static row => row.ToArray()).ToArray();
 
         ProgramName = programName;
         Method = method;
@@ -63,6 +65,7 @@ public sealed class TrajectoryResult
         UsedCache = usedCache;
         OriginalWaypointCount = originalWaypointCount;
         PlannedWaypointCount = plannedWaypointCount;
+        DenseJointTrajectory = copiedDenseJointTrajectory;
     }
 
     /// <summary>
@@ -130,6 +133,13 @@ public sealed class TrajectoryResult
     /// </summary>
     [JsonPropertyName("plannedWaypointCount")]
     public int PlannedWaypointCount { get; }
+
+    /// <summary>
+    /// Gets the dense joint trajectory samples where each row is [time, j1, j2, ...].
+    /// Null when dense sampling was not performed (e.g. simulation fallback).
+    /// </summary>
+    [JsonPropertyName("denseJointTrajectory")]
+    public IReadOnlyList<IReadOnlyList<double>>? DenseJointTrajectory { get; }
 }
 
 /// <summary>