提交优化版的improved_multi_body_train#4736
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修改概述:
禁用了人际碰撞，并在原来的基础上，进行了不同体型的运动模拟修改的详细描述
经过了什么样的测试?
运行效果
动图、视频、截图等
（之前）
far_walk_out.mp4
（现在）
QQ20251227-125724.mp4