SO-ARM101/102 custom STS32XX firmware payload compensation test: deviation at 250 g load reduced from about 70 mm to about 35 mm

Engineers tested payload compensation on custom STS32XX firmware for the SO-ARM101/102; under a 250 g load, gravity compensation calibrated with an empty gripper reduced deviation from about 70 mm to about 35 mm. The team is seeking input on how to automatically adapt to different payloads, and the relevant code has been placed in the repository.