component assesment and fixes done

docs/02_components/10_factor_graph_optimizer/factor_graph_optimizer_spec.md

@@ -8,8 +8,19 @@
 
 ```python
 class IFactorGraphOptimizer(ABC):
-    # All methods take flight_id to support concurrent flights
-    # F10 maintains Dict[str, FactorGraph] keyed by flight_id internally
+    """
+    GTSAM-based factor graph optimizer for trajectory estimation.
+    
+    ## Multi-Flight Support
+    All state-modifying methods require `flight_id` parameter.
+    Each flight maintains an independent factor graph state.
+    F10 internally manages Dict[str, FactorGraph] keyed by flight_id.
+    
+    This enables:
+    - Concurrent processing of multiple flights
+    - Flight-scoped optimization without cross-contamination
+    - Independent cleanup via delete_flight_graph()
+    """
     
     @abstractmethod
     def add_relative_factor(self, flight_id: str, frame_i: int, frame_j: int, relative_pose: RelativePose, covariance: np.ndarray) -> bool: