Fix fixed coords #897
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Fix fixed coords #897
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LGTM. |
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fixLegCoordsの対象を四脚歩行のときも二脚歩行のときと同様にして，足裏の真ん中にodomが出るようにしました． @orikuma さん
また，leg_namesが変わらないときはleg_namesの補間をしないようにして，mode_sync_to_abcに移行しないようにしました． @snozawa さん