PoseUtils.cs

public static class PoseUtils {
    [MethodImpl(MethodImplOptions.AggressiveInlining)]
    public static Pose GetPose(this Transform transform) {
        return new Pose() {position = transform.position, rotation = transform.rotation};
    }

    [MethodImpl(MethodImplOptions.AggressiveInlining)]
    public static void SetPose(this Transform transform, Pose pose) {
        transform.position = pose.position;
        transform.rotation = pose.rotation;
    }

    [MethodImpl(MethodImplOptions.AggressiveInlining)]
    public static Pose With(this Pose src, Vector3? position = default, Quaternion? rotation = default) {
        src.position = position ?? src.position;
        src.rotation = rotation ?? src.rotation;
        return src;
    }

    [MethodImpl(MethodImplOptions.AggressiveInlining)]
    public static Pose PoseLerp(Pose start, Pose end, float progress) {
        var pos = Vector3.Lerp(start.position, end.position, progress);
        var rot = Quaternion.Slerp(start.rotation, end.rotation, progress);
        return new Pose(pos, rot);
    }

    public static async Routine Blend(Transform agent, float timeTotal, AnimationCurve curve, Pose start, Pose end) {
        var endTime = Time.time + timeTotal;
        while (true) {
            var linear = endTime.Progress01(Time.time, timeTotal);
            if (linear >= 1f) {
                agent.SetPose(PoseLerp(start, end, curve.Evaluate(1f)));
                break;
            }

            var curved = curve.Evaluate(linear);
            agent.SetPose(PoseLerp(start, end, curved));
            await Sch.Update;
        }
    }
}