1.修改模型目录结构

1ea60a68 · liufq · 03eab9af · 1ea60a68 · 1ea60a68 · 1ea60a68
Commit 1ea60a68 authored Mar 29, 2025 by liufq
--- a/resources/robots/elf12/meshes/base_link.STL
+++ b/resources/robots/elf12/meshes/base_link.STL
--- a/resources/robots/elf12/meshes/l_ankle_x_link.STL
+++ b/resources/robots/elf12/meshes/l_ankle_x_link.STL
--- a/resources/robots/elf12/meshes/l_ankle_y_link.STL
+++ b/resources/robots/elf12/meshes/l_ankle_y_link.STL
--- a/resources/robots/elf12/meshes/l_elb_y_link.STL
+++ b/resources/robots/elf12/meshes/l_elb_y_link.STL
--- a/resources/robots/elf12/meshes/l_elb_z_link.STL
+++ b/resources/robots/elf12/meshes/l_elb_z_link.STL
--- a/resources/robots/elf12/meshes/l_hip_x_link.STL
+++ b/resources/robots/elf12/meshes/l_hip_x_link.STL
--- a/resources/robots/elf12/meshes/l_hip_y_link.STL
+++ b/resources/robots/elf12/meshes/l_hip_y_link.STL
--- a/resources/robots/elf12/meshes/l_hip_z_link.STL
+++ b/resources/robots/elf12/meshes/l_hip_z_link.STL
--- a/resources/robots/elf12/meshes/l_knee_y_link.STL
+++ b/resources/robots/elf12/meshes/l_knee_y_link.STL
--- a/resources/robots/elf12/meshes/l_shld_x_link.STL
+++ b/resources/robots/elf12/meshes/l_shld_x_link.STL
--- a/resources/robots/elf12/meshes/l_shld_y_link.STL
+++ b/resources/robots/elf12/meshes/l_shld_y_link.STL
--- a/resources/robots/elf12/meshes/l_shld_z_link.STL
+++ b/resources/robots/elf12/meshes/l_shld_z_link.STL
--- a/resources/robots/elf12/meshes/r_ankle_x_link.STL
+++ b/resources/robots/elf12/meshes/r_ankle_x_link.STL
--- a/resources/robots/elf12/meshes/r_ankle_y_link.STL
+++ b/resources/robots/elf12/meshes/r_ankle_y_link.STL
--- a/resources/robots/elf12/meshes/r_elb_y_link.STL
+++ b/resources/robots/elf12/meshes/r_elb_y_link.STL
--- a/resources/robots/elf12/meshes/r_elb_z_link.STL
+++ b/resources/robots/elf12/meshes/r_elb_z_link.STL
--- a/resources/robots/elf12/meshes/r_hip_x_link.STL
+++ b/resources/robots/elf12/meshes/r_hip_x_link.STL
--- a/resources/robots/elf12/meshes/r_hip_y_link.STL
+++ b/resources/robots/elf12/meshes/r_hip_y_link.STL
--- a/resources/robots/elf12/meshes/r_hip_z_link.STL
+++ b/resources/robots/elf12/meshes/r_hip_z_link.STL
--- a/resources/robots/elf12/meshes/r_knee_y_link.STL
+++ b/resources/robots/elf12/meshes/r_knee_y_link.STL
--- a/resources/robots/elf12/meshes/r_shld_x_link.STL
+++ b/resources/robots/elf12/meshes/r_shld_x_link.STL
--- a/resources/robots/elf12/meshes/r_shld_y_link.STL
+++ b/resources/robots/elf12/meshes/r_shld_y_link.STL
--- a/resources/robots/elf12/meshes/r_shld_z_link.STL
+++ b/resources/robots/elf12/meshes/r_shld_z_link.STL
--- a/resources/robots/elf12/meshes/waist_x_link.STL
+++ b/resources/robots/elf12/meshes/waist_x_link.STL
--- a/resources/robots/elf12/meshes/waist_y_link.STL
+++ b/resources/robots/elf12/meshes/waist_y_link.STL
--- a/resources/robots/elf12/meshes/waist_z_link.STL
+++ b/resources/robots/elf12/meshes/waist_z_link.STL
--- a/resources/robots/elf12/urdf/elf12.urdf
+++ b/resources/robots/elf12/urdf/elf12.urdf
 <?xml version="1.0" encoding="utf-8"?>
 <robot
-  name="elf12">
+  name="elf2">
  <link
    name="base_link">
    <inertial>
@@ -326,8 +326,8 @@
    <axis
      xyz="0 1 0" />
    <limit
-      lower="-2"
+      lower="-1.134"
-      upper="2"
+      upper="0.872"
      effort="14"
      velocity="20" />
  </joint>
@@ -686,8 +686,8 @@
    <axis
      xyz="0 1 0" />
    <limit
-      lower="-2"
+      lower="-1.134"
-      upper="2"
+      upper="0.872"
      effort="14"
      velocity="20" />
  </joint>
@@ -988,8 +988,8 @@
    <axis
      xyz="0 1 0" />
    <limit
-      lower="-2"
+      lower="-3.14"
-      upper="2"
+      upper="1.57"
      effort="27"
      velocity="20" />
  </joint>
@@ -1278,8 +1278,8 @@
    <axis
      xyz="0 1 0" />
    <limit
-      lower="-2"
+      lower="-3.14"
-      upper="2"
+      upper="1.57"
      effort="27"
      velocity="20" />
  </joint>

--- a/resources/robots/elf2/urdf/elf2_dof25.urdf
+++ b/resources/robots/elf2/urdf/elf2_dof25.urdf