[DO NOT MERGE] example-slow-plan-request-serialization

[nicksanford]

cd motionplan/armplanning
go test -bench=BenchmarkBigPlanRequest
➜  armplanning git:(main) ✗ go test -bench=BenchmarkBigPlanRequest
2025-12-05T18:32:23.400Z        INFO    smart-seed-cache-build  armplanning/smart_seed.go:673   time to build: 8.496673584s for: xArm7 size: 19487171
2025-12-05T18:32:23.498Z        INFO    smart-seed-cache-build  armplanning/smart_seed.go:673   time to build: 49.315959ms for: UR5e size: 100793
2025-12-05T18:32:27.007Z        INFO    smart-seed-cache-build  armplanning/smart_seed.go:673   time to build: 281.640083ms for: xArm6 size: 100793
2025-12-05T18:32:27.664Z        INFO    smart-seed-cache-build  armplanning/smart_seed.go:673   time to build: 550.834µs for: test size: 1331
2025-12-05T18:32:29.773Z        INFO    smart-seed-cache-build  armplanning/smart_seed.go:673   time to build: 57.125µs for: gantryX size: 11
2025-12-05T18:32:39.632Z        INFO    smart-seed-cache-build  armplanning/smart_seed.go:673   time to build: 53.892125ms for: ur20-modular size: 100793
2025-12-05T18:32:40.852Z        INFO    smart-seed-cache-build  armplanning/smart_seed.go:673   time to build: 40.792958ms for: arm size: 100793
goos: darwin
goarch: arm64
pkg: go.viam.com/rdk/motionplan/armplanning
cpu: Apple M2
BenchmarkBigPlanRequest-8              1        1765741791 ns/op
PASS
ok      go.viam.com/rdk/motionplan/armplanning  43.437s

~1.77 seconds to serialize a plan request

[github-actions]

Availability

Scene #	viamrobotics:main	nicksanford:example-slow-plan-request-serialization	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	nicksanford:example-slow-plan-request-serialization	Percent Improvement	Probability of Improvement	Health
1	1.31±0.00	1.31±0.00	0%	62%	➖
2	0.90±0.00	0.90±0.00	-0%	50%	➖
3	5.99±0.15	5.99±0.15	-0%	50%	➖
4	3.21±0.43	3.27±0.37	-2%	46%	➖
5	9.17±2.85	9.15±2.45	0%	50%	➖
6	10.47±2.18	10.78±2.33	-3%	46%	➖
7	6.08±2.45	5.25±2.56	14%	59%	➖
8	0.90±0.00	0.90±0.00	-0%	38%	➖
9	4.25±0.17	4.21±0.13	1%	57%	➖
10	12.77±0.44	12.77±0.44	-0%	50%	➖
11	0.62±0.00	0.62±0.00	0%	54%	➖

Performance

Scene #	viamrobotics:main	nicksanford:example-slow-plan-request-serialization	Percent Improvement	Probability of Improvement	Health
1	0.02±0.00	0.02±0.01	-13%	34%	➖
2	0.03±0.00	0.03±0.00	-7%	31%	➖
3	0.02±0.00	0.02±0.00	1%	54%	➖
4	0.15±0.04	0.15±0.04	0%	50%	➖
5	1.44±0.14	1.44±0.15	0%	50%	➖
6	1.79±0.45	1.87±0.55	-4%	46%	➖
7	2.46±1.52	2.44±1.60	1%	51%	➖
8	0.03±0.00	0.03±0.00	-1%	47%	➖
9	1.45±0.08	1.45±0.10	-1%	48%	➖
10	2.90±0.41	2.94±0.44	-2%	47%	➖
11	0.62±0.02	0.62±0.01	-0%	48%	➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: 0e931489d131bab9318e21e661bd8bd8d4c13ade
The SHA1 for nicksanford:example-slow-plan-request-serialization is: 0e931489d131bab9318e21e661bd8bd8d4c13ade

• 11 samples were taken for each scene