1.修改模型目录结构

resources/robots/elf12/urdf/elf12.urdf → resources/robots/elf2/urdf/elf2_dof12.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"
-      upper="2"
+      lower="-1.134"
+      upper="0.872"
       effort="14"
       velocity="20" />
   </joint>
@@ -686,8 +686,8 @@
     <axis
       xyz="0 1 0" />
     <limit
-      lower="-2"
-      upper="2"
+      lower="-1.134"
+      upper="0.872"
       effort="14"
       velocity="20" />
   </joint>
@@ -988,8 +988,8 @@
     <axis
       xyz="0 1 0" />
     <limit
-      lower="-2"
-      upper="2"
+      lower="-3.14"
+      upper="1.57"
       effort="27"
       velocity="20" />
   </joint>
@@ -1278,8 +1278,8 @@
     <axis
       xyz="0 1 0" />
     <limit
-      lower="-2"
-      upper="2"
+      lower="-3.14"
+      upper="1.57"
       effort="27"
       velocity="20" />
   </joint>