If a trajectory with 2 consecutive duplicate states exists, then the current implementation of decompose_into_paths will consider this a new joint_group with 0 joints since none of the joints is manipulated. The proposed fix simply removes the duplicate consecutive state.
If a trajectory with 2 consecutive duplicate states exists, then the current implementation of decompose_into_paths will consider this a new joint_group with 0 joints since none of the joints is manipulated. The proposed fix simply removes the duplicate consecutive state.