Issues with jacobi-motion-0.0.33

I am facing different issues with the latest release of the jacobi Python library. Here are the two that I could notice so far:

1. It seems like the Robot.set_base() method vanished, and I didn't find any new equivalent.
   

   import jacobi
   r = jacobi.robots.UniversalUR10()
   r.set_base(jacobi.Frame(x=1))

   
   gives the error
   

   AttributeError: 'jacobi.robots.UniversalUR10' object has no attribute 'set_base'

2. The planner seems to sometimes output trajectories with duplicate points. For example:
   

   ...
   ---------------------------------------
   delta_time: 0.56
   [
     pos:[0.3645631903549399, -1.3499699545987047, 1.9407129751035896, -2.1932749051672698, -1.5749572201786464, -1.2576011030217746],
   ]
   ---------------------------------------
   delta_time: 0.56
   [
     pos:[0.3645631903549399, -1.3499699545987047, 1.9407129751035896, -2.1932749051672698, -1.5749572201786464, -1.2576011030217746],
   ]
   ---------------------------------------
   ...

The only solution I found was to rollback to v0.032.