POC traj gen in motion service

[JohnN193]

currently multi arm planning fails, but not going to worry about that for a poc

[github-actions]

Availability

Scene #	viamrobotics:main	JohnN193:multi-arm-traj-gen	Percent Improvement	Health
1	100%	100%	0%	➖
2	100%	100%	0%	➖
3	100%	100%	0%	➖
4	100%	100%	0%	➖
5	100%	100%	0%	➖
6	100%	100%	0%	➖
7	100%	100%	0%	➖
8	100%	100%	0%	➖
9	100%	100%	0%	➖
10	100%	100%	0%	➖
11	100%	100%	0%	➖

Quality

Scene #	viamrobotics:main	JohnN193:multi-arm-traj-gen	Percent Improvement	Probability of Improvement	Health
1	1.31±0.00	1.31±0.00	0%	57%	➖
2	0.94±0.01	0.94±0.01	-0%	33%	➖
3	6.13±0.00	5.89±0.37	4%	73%	➖
4	1.98±0.27	1.98±0.27	-0%	50%	➖
5	8.78±1.87	8.70±1.90	1%	51%	➖
6	8.94±2.48	9.05±2.49	-1%	49%	➖
7	1.95±0.38	1.95±0.38	-0%	50%	➖
8	0.94±0.01	0.94±0.01	-0%	34%	➖
9	4.57±0.35	4.17±0.00	9%	87%	✅
10	12.63±0.03	12.63±0.03	-0%	50%	➖
11	0.62±0.00	0.62±0.00	0%	58%	➖

Performance

Scene #	viamrobotics:main	JohnN193:multi-arm-traj-gen	Percent Improvement	Probability of Improvement	Health
1	0.02±0.00	0.02±0.00	-6%	3%	❌
2	0.03±0.00	0.03±0.00	13%	87%	✅
3	0.02±0.00	0.02±0.00	-54%	0%	❌
4	0.28±0.04	0.26±0.06	9%	63%	➖
5	1.20±0.22	1.36±0.13	-14%	26%	➖
6	1.45±0.38	1.62±0.35	-12%	37%	➖
7	0.71±0.09	1.31±0.11	-84%	0%	❌
8	0.03±0.00	0.03±0.00	-4%	29%	➖
9	1.26±0.34	1.72±0.09	-36%	10%	❌
10	3.79±0.50	3.44±0.39	9%	71%	➖
11	0.49±0.04	0.54±0.08	-11%	27%	➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: 56429e7f3402c283974c725fd2725a0b654ff64c
The SHA1 for JohnN193:multi-arm-traj-gen is: 56429e7f3402c283974c725fd2725a0b654ff64c

• 11 samples were taken for each scene