>>When you say "which nodes are rotationally reachable", what does that imply for formations?

Here, position is essential, while SpinStep is orientational. Each node (e.g., drone) is assigned a target slot in space. Movement is needed — so SpinStep alone wouldn’t currently manage this. It might help decide orientation steps, but not positional navigation or collision avoidance.

Possibilities Going Forward:

We could extend SpinStep toward SE(3) traversal, or write a complementary module. That would involve:

-Pairing quaternions with positional vectors -- which is an awesome upgrade to the SpSt library.

-Defining a traversal condition based on both angular distance and spatial proximity.

-Possibly adding constraints (like occupied/available slots) and collision checks.

Such an approach could lead to a formation coordinator, where:

-Each drone is a node.

-Target positions + orientations define “goal nodes.”

-You route through “pose-space” rather than just physical space.

I'm a little swamped right now. In the days ahead i will be taking a closer look at how to integrate SpinStep with Ketu. It's gonna be fun.

All the best!