Add frame-descriptor derivation for motion plans#839
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🦋 Changeset detectedLatest commit: 0dd3002 The changes in this PR will be included in the next version bump. This PR includes changesets to release 1 package
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This was referenced Jul 10, 2026
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Rendering a plan step requires each frame resolved to a concrete transform, but a ParsedPlan only carries raw frame/orientation/geometry JSON. Adds buildFrameDescriptors, converting a ParsedPlan into static and jointed FrameDescriptors â geometry, orientation conversion (quaternion/euler/orientation-vector), joint-index mapping, and end-effector reparenting.
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