only check plans in one place in first solution loop, remove spam and clean api so you get better errors

.github/workflows/motion-benchmarks.yml

@@ -41,7 +41,7 @@ jobs:
       run: |
         cd motion-testing
         go mod edit -replace go.viam.com/rdk=${URL#"https://"}@$SHA
-        sudo -Hu testbot bash -lc "go mod tidy && go test ./... -v -run TestDefault --name=$BASELINE"
+        sudo -Hu testbot bash -lc "go mod tidy && go test ./... -run TestDefault --name=$BASELINE"
 
     - name: Run motion quality tests on PR branch
       shell: bash
@@ -51,7 +51,7 @@ jobs:
       run: |
         cd motion-testing
         go mod edit -replace go.viam.com/rdk=${URL#"https://"}@$SHA
-        sudo -Hu testbot bash -lc "go mod tidy && go test ./... -v -run TestDefault --name=$MODIFIED"
+        sudo -Hu testbot bash -lc "go mod tidy && go test ./... -run TestDefault --name=$MODIFIED"
 
     - name: Print results
       run: |

.github/workflows/test.yml

@@ -139,7 +139,7 @@ jobs:
             --platform linux/arm/v7 \
             -v `pwd`:/rdk \
             ghcr.io/viamrobotics/rdk-devenv:armhf-cache \
-            sudo -Hu testbot bash -lc 'sudo apt-get update && sudo apt-get install -y python3-venv && cd /rdk && go test -v ./...'
+            sudo -Hu testbot bash -lc 'sudo apt-get update && sudo apt-get install -y python3-venv && cd /rdk && go test ./...'
 
   motion_tests:
     name: Test Longer-running Motion Plans if affected

components/gantry/fake/gantry.go

@@ -97,7 +97,7 @@ func (g *Gantry) Kinematics(ctx context.Context) (referenceframe.Model, error) {
 	if err != nil {
 		return nil, err
 	}
-	m.OrdTransforms = append(m.OrdTransforms, f)
+	m.SetOrdTransforms(append(m.OrdTransforms(), f))
 	return m, nil
 }
 

components/gantry/multiaxis/multiaxis.go

@@ -237,7 +237,7 @@ func (g *multiAxis) Kinematics(ctx context.Context) (referenceframe.Model, error
 			if err != nil {
 				return nil, err
 			}
-			model.OrdTransforms = append(model.OrdTransforms, k)
+			model.SetOrdTransforms(append(model.OrdTransforms(), k))
 		}
 		g.model = model
 	}

components/gantry/singleaxis/singleaxis.go

@@ -608,14 +608,14 @@ func (g *singleAxis) Kinematics(ctx context.Context) (referenceframe.Model, erro
 		if err != nil {
 			return nil, err
 		}
-		m.OrdTransforms = append(m.OrdTransforms, f)
+		m.SetOrdTransforms(append(m.OrdTransforms(), f))
 
 		f, err = referenceframe.NewTranslationalFrame(g.Name().ShortName(), g.frame, referenceframe.Limit{Min: 0, Max: g.lengthMm})
 		if err != nil {
 			return nil, err
 		}
 
-		m.OrdTransforms = append(m.OrdTransforms, f)
+		m.SetOrdTransforms(append(m.OrdTransforms(), f))
 		g.model = m
 	}
 	return g.model, nil