duration == 0.0 results unexpected behavior

[k-okada]

seqplay (playPattern) crashes when duration = 0, and MoveIt publishes JTA starting with current state position with duration = 0...., that the cause of #1036

#1013 removes magic number to subtract 0.2 from duration[0], because if we send angle-vector-sequence with 0.2, it goes unexpected behavior.
After #1013, the robot goes unexpected behavior if we send angle-vector-sequence with 0. so this patch force set duration = 0.001 when duration = 0 is set.

[k-okada]

Merged as a part of #1038

[Naoki-Hiraoka]

恐らくここで0除算が発生しています。
https://github.com/fkanehiro/hrpsys-base/blob/7926d0f125c06636d9bb67864439f9bb33aa96c9/rtc/SequencePlayer/seqplay.cpp#L623-L624