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RSDK-8852 migrate motionplan to work on framesystems rather than individual frames #4558

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biotinker wants to merge 9 commits into viamrobotics:main from biotinker:20240924_RSDK-8852-migrate-motionplan-to-work-on-framesystems-rather-than-individual-frames

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RSDK-8852 migrate motionplan to work on framesystems rather than individual frames #4558

Assorted small test fixes

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