接入力标定 schema 3 与多点空间增益模型

保留旧格式和 cal_path，校验 SN、特征身份及坐标附件，按帧返回逐轴状态。相关测试 263 项通过，已核对存量预测并实测 180 帧录像。

src/orisys/pipeline.py

@@ -154,6 +154,8 @@ class FrameSnapshot:
     #: compare it with ``image.shape`` to see how much the frame was reduced.
     image_size_raw: tuple[int, int] | None = None
     source_metadata: Any = None
+    force_units: tuple[str, str, str] | None = None
+    calibration_status: dict[str, str] | None = None
 
 
 @dataclass
@@ -654,6 +656,8 @@ class StreamPipeline:
             shear_x_raw=float(sensor._force_raw[1]),
             shear_y_raw=float(sensor._force_raw[2]),
             torque=float(getattr(sensor, "ftor", 0.0)),
+            force_units=tuple(getattr(sensor, "force_units", (getattr(sensor, "force_unit", "raw"),) * 3)),
+            calibration_status=dict(getattr(sensor, "calibration_status", {})),
             # Both already private per-frame copies owned by this snapshot.
             image=frame if "image" in include else None,
             flow=flow if "flow" in include else None,