removed code i didnt add

Author: dhritinaidu

services/motion/builtin/builtin_test.go

@@ -1422,50 +1422,6 @@ func TestMultiWaypointPlanning(t *testing.T) {
 		test.That(t, spatialmath.PoseAlmostEqualEps(plannedPose, finalPose.Pose(), 1e-3), test.ShouldBeTrue)
 	})
 
-	t.Run("plan with pose start state", func(t *testing.T) {
-		// Define waypoints as poses relative to world frame
-		start := referenceframe.NewPoseInFrame("world", spatialmath.NewPoseFromPoint(r3.Vector{X: -800, Y: -180, Z: 30}))
-		waypoint := referenceframe.NewPoseInFrame("world", spatialmath.NewPoseFromPoint(r3.Vector{X: -800, Y: -190, Z: 30}))
-		finalPose := referenceframe.NewPoseInFrame("world", spatialmath.NewPoseFromPoint(r3.Vector{X: -800, Y: -200, Z: 30}))
-
-		startState := armplanning.NewPlanState(referenceframe.FrameSystemPoses{"pieceGripper": start}, nil)
-		wpState := armplanning.NewPlanState(referenceframe.FrameSystemPoses{"pieceGripper": waypoint}, nil)
-
-		moveReq := motion.MoveReq{
-			ComponentName: "pieceGripper",
-			Destination:   finalPose,
-			Extra: map[string]interface{}{
-				"start_state": startState.Serialize(),
-				"waypoints":   []interface{}{wpState.Serialize()},
-				"smooth_iter": 5,
-			},
-		}
-
-		plan := getPlanFromMove(t, moveReq)
-		test.That(t, len(plan), test.ShouldBeGreaterThan, 0)
-
-		frameSys, err := framesystem.NewFromService(ctx, ms.(*builtIn).fsService, nil)
-		test.That(t, err, test.ShouldBeNil)
-
-		// Verify start configuration matches start pose
-		firstConfig := plan[0]
-		firstPoseInWorld, err := frameSys.Transform(firstConfig,
-			referenceframe.NewPoseInFrame("pieceGripper", spatialmath.NewZeroPose()),
-			"world")
-		test.That(t, err, test.ShouldBeNil)
-		plannedPose := firstPoseInWorld.(*referenceframe.PoseInFrame).Pose()
-		test.That(t, spatialmath.PoseAlmostEqualEps(plannedPose, start.Pose(), 1e-3), test.ShouldBeTrue)
-
-		// Verify final pose
-		finalConfig := plan[len(plan)-1]
-		finalPoseInWorld, err := frameSys.Transform(finalConfig,
-			referenceframe.NewPoseInFrame("pieceGripper", spatialmath.NewZeroPose()),
-			"world")
-		test.That(t, err, test.ShouldBeNil)
-		plannedPose = finalPoseInWorld.(*referenceframe.PoseInFrame).Pose()
-		test.That(t, spatialmath.PoseAlmostEqualEps(plannedPose, finalPose.Pose(), 1e-3), test.ShouldBeTrue)
-	})
-
 	t.Run("plan through mixed pose and configuration waypoints", func(t *testing.T) {
 		// Define specific arm configuration for first waypoint
 		armConfig := []float64{0.2, 0.3, 0.4, 0.5, 0.6, 0.7}