<commit_before><?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
        <xacro:macro name="vetex" params="prefix">
                <!-- link list -->
                <link name="${prefix}base_link">
                        <visual>
                                <origin rpy="0 0 0"/>
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/base_link.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                        </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/collision/base_link.stl" />
                                </geometry>
                        </collision>
                </link>
                <link name="${prefix}map">
                        <visual>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/map.stl" />       
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                        </visual>
                        <collision>
                                <origin xyz="0 0 0" Rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/collision/map.stl" />    
                                </geometry>
                        </collision>
                </link>
                <link name="${prefix}odom">
                        <visual>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/odom.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material> 
                        </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/collision/odom.stl" />
                                </geometry>
                        </collision>
                </link>
                <link name="${prefix}left_front_wheel">
                        <visual>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/left_front_wheel.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                        </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/collision/left_front_wheel.stl" />
                                </geometry>
                        </collision>
                </link>                
                <link name="${prefix}left_rear_wheel">
                        <visual>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/left_rear_wheel.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                        </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/collision/left_rear_wheel.stl" />
                                </geometry>
                        </collision>
                </link>
                <link name="${prefix}right_rear_wheel">
                        <visual>
                                <origin xyz="0 0 0" rpy="3.1415 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/right_rear_wheel.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                                </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="3.1415 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/collision/right_rear_wheel.stl" />
                                </geometry>
                        </collision>
                </link>
                <link name="${prefix}right_front_wheel">
                        <visual>
                                <origin xyz="0 0 0" rpy="3.1415 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/right_front_wheel.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                        </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="3.1415 0 0" />    
                                <geometry> 
                                        <mesh filename="package://vetex_support/meshes/collision/right_front_wheel.stl" />
                                </geometry>
                        </collision>
                </link>
                <!-- end of link list -->
                <!-- joint list -->
                <joint name="${prefix}map" type="fixed">
                        <origin xyz="0 0 0" rpy="0 0 0" />
                        <parent link="${prefix}base_link" />
                        <child link="${prefix}map" />
                        <axis xyz="0 0 0" />
                </joint>
                <joint name="${prefix}odom" type="fixed">
                        <origin xyz="0 0 0" rpy="0 0 0" />
                        <parent link="${prefix}map" />
                        <child link="${prefix}odom" />
                        <axis xyz="0 0 0" />
                </joint>
                <joint name="${prefix}left_front_wheel" type="continuous">
                        <origin xyz="0 0.58668 0.21577" rpy="0 1 0" />
                        <parent link="${prefix}odom" />
                        <child link="${prefix}left_front_wheel" />
                        <axis xyz="0 1 0" />
                        <limit effort="0" velocity="3" />
                </joint>
                <joint name="${prefix}left_rear_wheel" type="continuous">
                        <origin xyz="-2.0878 0.58642 0.21577" rpy="0 1 0" />
                        <parent link="${prefix}odom" />
                        <child link="${prefix}left_rear_wheel" />
                        <axis xyz="0 1 0" />
                        <limit effort="0" velocity="3" />
                </joint>
                <joint name="${prefix}right_rear_wheel" type="continuous">
                        <origin xyz="-2.0878 -0.58668 0.21577" rpy="0 1 0" />
                        <parent link="${prefix}odom" />
                        <child link="${prefix}right_rear_wheel" />
                        <axis xyz="0 1 0" />
                        <limit effort="0" velocity="3" />
                </joint>                
                <joint name="${prefix}right_front_wheel" type="continuous">
                        <origin xyz="0 -0.58642 0.21577" rpy="0 0 0" />
                        <parent link="${prefix}odom" />
                        <child link="${prefix}right_front_wheel" />
                        <axis xyz="0 1 0" />
                        <limit effort="0" velocity="3" />
                </joint>
               	<!-- end of joint list -->
        </xacro:macro>
</robot><commit_msg>Remove /map and /odom frames<commit_after><?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
        <xacro:macro name="vetex" params="prefix">
                <!-- link list -->
                <link name="${prefix}base_link">
                        <visual>
                                <origin rpy="0 0 0"/>
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/base_link.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                        </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/collision/base_link.stl" />
                                </geometry>
                        </collision>
                </link>
                <link name="${prefix}left_front_wheel">
                        <visual>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/left_front_wheel.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                        </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/collision/left_front_wheel.stl" />
                                </geometry>
                        </collision>
                </link>                
                <link name="${prefix}left_rear_wheel">
                        <visual>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/left_rear_wheel.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                        </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="0 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/collision/left_rear_wheel.stl" />
                                </geometry>
                        </collision>
                </link>
                <link name="${prefix}right_rear_wheel">
                        <visual>
                                <origin xyz="0 0 0" rpy="3.1415 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/right_rear_wheel.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                                </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="3.1415 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/collision/right_rear_wheel.stl" />
                                </geometry>
                        </collision>
                </link>
                <link name="${prefix}right_front_wheel">
                        <visual>
                                <origin xyz="0 0 0" rpy="3.1415 0 0" />
                                <geometry>
                                        <mesh filename="package://vetex_support/meshes/visual/right_front_wheel.stl" />
                                </geometry>
                                <material name="">
                                        <color rgba="0.75294 0.75294 0.75294 1" />
                                </material>
                        </visual>
                        <collision>
                                <origin xyz="0 0 0" rpy="3.1415 0 0" />    
                                <geometry> 
                                        <mesh filename="package://vetex_support/meshes/collision/right_front_wheel.stl" />
                                </geometry>
                        </collision>
                </link>
                <!-- end of link list -->
                <!-- joint list -->
                <joint name="${prefix}left_front_wheel" type="continuous">
                        <origin xyz="0 0.58668 0.21577" rpy="0 1 0" />
                        <parent link="${prefix}base_link" />
                        <child link="${prefix}left_front_wheel" />
                        <axis xyz="0 1 0" />
                        <limit effort="0" velocity="3" />
                </joint>
                <joint name="${prefix}left_rear_wheel" type="continuous">
                        <origin xyz="-2.0878 0.58642 0.21577" rpy="0 1 0" />
                        <parent link="${prefix}base_link" />
                        <child link="${prefix}left_rear_wheel" />
                        <axis xyz="0 1 0" />
                        <limit effort="0" velocity="3" />
                </joint>
                <joint name="${prefix}right_rear_wheel" type="continuous">
                        <origin xyz="-2.0878 -0.58668 0.21577" rpy="0 1 0" />
                        <parent link="${prefix}base_link" />
                        <child link="${prefix}right_rear_wheel" />
                        <axis xyz="0 1 0" />
                        <limit effort="0" velocity="3" />
                </joint>                
                <joint name="${prefix}right_front_wheel" type="continuous">
                        <origin xyz="0 -0.58642 0.21577" rpy="0 0 0" />
                        <parent link="${prefix}base_link" />
                        <child link="${prefix}right_front_wheel" />
                        <axis xyz="0 1 0" />
                        <limit effort="0" velocity="3" />
                </joint>
               	<!-- end of joint list -->
        </xacro:macro>
</robot>
{'fraction_non_alphanumeric': 0.1141633064516129, 'fraction_numerical': 0.03805443548387097, 'mean_word_length': 0.7521801523346948, 'pattern_counts': {'":': 0, '<': 293, '<?xml version=': 2, '>': 293, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 4}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 36, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '4212030', 'n_tokens_mistral': 4231, 'n_tokens_neox': 3483, 'n_words': 697}