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* X7の重力補償関数とサンプル追加 * gravity_compensationのテストを追加 * target_idを指定するように実装変更 * S17のリンク情報で重力補償をテストした * S17にも対応したため、garvity_compensationに関数名を変更 * S17の重力補償サンプルを追加 * 質量位置と慣性テンソル読み込みのコメントアウトを解除 * 質量位置を読み取ったため、テストを修正 * 電流トルク比を更新 * サンプルの文言修正 * 重心位置、慣性テンソルの読み込みを実装したため、samples02のREADMEを修正 * READMEの更新 * コメントを更新 * コメントの更新 * CIにsamples02, 03のビルドを追加
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Shota Aoki
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Apr 8, 2022
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