Getting the end position of a TrajectoryActionBuilder

[polarbub]

I have two TrajectoryActionBuilders. After the first one the robot stops and then it executes the second one, but doesn't start from the end of the first one, but instead the path starts at the start of the first one. I am using .fresh() to get a new TrajectoryActionBuilder that should start from the end of the last TrajectoryActionBuilder, but it starts at the start of the first TrajectoryActionBuilder. Manually calculating the end pose of the first path and putting it in as the start pose for the second path works, but it seems like .fresh() should work. Video one shows what happens and video two shows what the path should be, but the robot doesn't stop between the two paths.

Code:

import com.acmerobotics.roadrunner.Action;
import com.acmerobotics.roadrunner.Pose2d;
import com.acmerobotics.roadrunner.SequentialAction;
import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
import com.acmerobotics.roadrunner.Vector2d;
import com.noahbres.meepmeep.MeepMeep;
import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder;
import com.noahbres.meepmeep.roadrunner.entity.RoadRunnerBotEntity;

public class MeepMeepTesting {
    public static void main(String[] args) {
        System.setProperty("sun.java2d.opengl", "true");
        MeepMeep meepMeep = new MeepMeep(800);

        RoadRunnerBotEntity myBot = new DefaultBotBuilder(meepMeep)
                // Required: Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
                .setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
                .build();

        TrajectoryActionBuilder toBasketBuilder1 = myBot.getDrive().actionBuilder(new Pose2d(-10.5, -70, Math.toRadians(90)))
                .splineTo(new Vector2d(-47, -54), Math.toRadians(180));
                
        TrajectoryActionBuilder toBasketBuilder2 = toBasketBuilder1.fresh()
                .splineTo(new Vector2d(-55, -59), Math.toRadians(225));



        Action action1 = toBasketBuilder1.build();
        Action action2 = toBasketBuilder2.build();
        
        myBot.runAction(new SequentialAction(
                action1,
                action2
        ));

        meepMeep.setBackground(MeepMeep.Background.FIELD_INTO_THE_DEEP_JUICE_DARK)
                .setDarkMode(true)
                .setBackgroundAlpha(0.95f)
                .addEntity(myBot)
                .start();
    }
}

[polarbub]

It turns out running endTrajectory() before fresh() fixes the problem. To apply this fix replace TrajectoryActionBuilder toBasketBuilder2 = toBasketBuilder1.fresh() with TrajectoryActionBuilder toBasketBuilder2 = toBasketBuilder1.endTrajectory().fresh(). Is this the intended behavior?