translation.en: So we did a whole optimization process to find out the right structure, where to place the motors, how to connect them together, to be able to replay these motions as well as possible.
translation.zh: 因此我们为了找到正确的结构，进行了全套的优化方案 例如在哪里放置这些运动，如何让它们连贯起来 才能尽可能地重现这些动作