Planner and sim speed-ups, trajsample overhaul, motion metrics - #144

Canceling since a higher priority waiting request for Continuous Integration-perf/planner-and-sim-speedup exists

Canceling since a higher priority waiting request for Continuous Integration-perf/planner-and-sim-speedup exists

The operation was canceled.

Node.js 20 is deprecated. The following actions target Node.js 20 but are being forced to run on Node.js 24: actions/checkout@v4, prefix-dev/setup-pixi@v0.8.3. For more information see: https://github.blog/changelog/2025-09-19-deprecation-of-node-20-on-github-actions-runners/