G1仿真
左边是真值，右边是模型跑的
由于没有mujoto世界，所以是输入训练集-模型推理-翻译到动作-mojoto播片
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episode-2
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episode-3
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episode-4
把g1的灵巧手改成了二爪，凑合一下：
临时的二爪版本.xml
