1.修改urdf目录

humanoid/envs/elf12/elf12_dh_stand_config.py

@@ -60,7 +60,7 @@ class Elf12DHStandCfg(LeggedRobotCfg):
 
 
 
 
     class asset(LeggedRobotCfg.asset):
     class asset(LeggedRobotCfg.asset):
-        file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/elf12/urdf/elf12.urdf'
+        file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/elf2/urdf/elf2_dof12.urdf'
         xml_file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/xxxx'
         xml_file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/xxxx'
 
 
         name = "elf12"
         name = "elf12"