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feat: add grantId/budgetId chain linkage and domain-separated signing
Adds explicit ID-based linkage through the MPCP authorization chain:
- SBA now requires and stores grantId (links to PolicyGrant)
- SPA now requires and stores budgetId (links to SBA)
- Verifier checks grantId/budgetId chain integrity at each step
- Domain-separated hashing: "MPCP:SBA:1.0:" and "MPCP:SPA:1.0:" prefixes
Also regenerates all golden test vectors and updates all tests to
provide the new required fields. Adds scripts/gen-vectors.mjs for
reproducible vector regeneration.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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