Very interesting. I’ve been working on a small library called SpinStep — it's a Python-based quaternion traversal framework that steps through trees based on orientation thresholds, rather than positional hierarchy. I designed it with spatial decision-making in mind, and while it's still early-stage, it might complement Ketu’s orientation handling or be interesting for modeling formation logic.

Totally open-ended — no expectations at all. Just thought I’d share it in case it aligns with any future ideas you’re exploring.

https://github.com/VoxleOne/SpinStep

Cool!

One suggestion, your language can be more specific, I had a hard time figuring out what was going on. You know this will be for drone formations, so:

"Every simulation is modelled as a scenario. You can add multiple nodes to your world in a scenario."

A scenario is a single formation? or Multiple formations (with the transitions encapsulated)? Nodes are just drones?

I realize you might be adopting the language from some ROS framework, but for you specific situation you can make it so much easier to read!