✨ feat(fanuc): 统一 speedRatio 执行倍率语义

* 将 speedRatio 前移到规划/准备阶段，运行时只消费已生成的 8ms 队列
* 区分旧格式规划导出与 ActualSend 实发诊断工件
* 补充普通轨迹、MoveJoint、飞拍队列和严格限幅回归测试

tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs

@@ -8,13 +8,13 @@ namespace Flyshot.Core.Tests;
 public sealed class ConfigCompatibilityTests
 {
     /// <summary>
-    /// 验证现有 RobotConfig.json 能被加载，并保持关键机器人参数与飞拍程序内容不变。
+    /// 验证现有旧样本配置能被加载，并保持关键机器人参数与飞拍程序内容不变。
     /// </summary>
     [Fact]
     public void RobotConfigLoader_LoadsLegacyRobotConfig_AndPreservesPrograms()
     {
         var workspaceRoot = GetWorkspaceRoot();
-        var configPath = Path.Combine(workspaceRoot, "Rvbust", "EOL10_EAU_0", "RobotConfig.json");
+        var configPath = Path.Combine(workspaceRoot, "Rvbust", "EOL10_EAU_0", "EOL10_EAU_0.json");
 
         var loaded = new RobotConfigLoader().Load(configPath);
 
@@ -253,7 +253,7 @@ public sealed class ConfigCompatibilityTests
     public void RobotModelLoader_LoadsRobotProfile_WithJointLimitsAndCoupling()
     {
         var replacementRoot = GetReplacementRoot();
-        var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
+        var modelPath = Path.Combine(replacementRoot, "Config", "Models", "LR_Mate_200iD_7L.json");
 
         var profile = new RobotModelLoader().LoadProfile(modelPath);
 
@@ -277,7 +277,7 @@ public sealed class ConfigCompatibilityTests
     public void RobotModelLoader_AppliesAccelerationAndJerkScales()
     {
         var replacementRoot = GetReplacementRoot();
-        var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
+        var modelPath = Path.Combine(replacementRoot, "Config", "Models", "LR_Mate_200iD_7L.json");
 
         var profile = new RobotModelLoader().LoadProfile(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
 
@@ -292,7 +292,7 @@ public sealed class ConfigCompatibilityTests
     public void RobotModelLoader_LoadsProfileAndKinematics_FromSingleParse()
     {
         var replacementRoot = GetReplacementRoot();
-        var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
+        var modelPath = Path.Combine(replacementRoot, "Config", "Models", "LR_Mate_200iD_7L.json");
 
         var loaded = new RobotModelLoader().LoadProfileAndKinematics(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);