<commit_before><?xml version="1.0"?>

<robot name="FurutaPendulum">

  <link name="base_link">
    <inertial>
      <mass value="1" />
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0.083" />
    </inertial>
    <visual>
      <geometry>
         <box size=".2 .2 .2" />
      </geometry>
      <material name="green">
	<color rgba="0 1 0 1" />
      </material>
    </visual>
  </link>

  <link name="upper_link">
    <inertial>
      <origin xyz="0 .5 0" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0.083" />
    </inertial>
    <visual>
      <origin xyz="0 .45 0" rpy="1.5708 0 0" />
      <geometry>
         <cylinder length="1" radius=".05" />
      </geometry>
      <material name="red">
	<color rgba="1 0 0 1" />
      </material>
    </visual>
  </link>

  <link name="lower_link">
    <inertial>
      <origin xyz="0 0 -1" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="1" ixy="0" ixz="0" iyy="0.33" iyz="0" izz="1" />
    </inertial>
    <visual>
      <origin xyz="0 0 -1" rpy="0 0 0" />
      <geometry>
         <cylinder length="2.1" radius=".05" />
      </geometry>
      <material name="blue">
	<color rgba="0 0 1 1" />
      </material>
    </visual>
  </link>
  
  <joint name="shoulder" type="continuous">
    <parent link="base_link" />
    <child link="upper_link" />
    <origin xyz="0 0 .15" />
    <axis xyz="0 0 1" />
    <dynamics damping="0.1" />
  </joint>

  <joint name="elbow" type="continuous">
    <parent link="upper_link" />
    <child link="lower_link" />
    <origin xyz="0 1 0" />
    <axis xyz="0 1 0" />
    <dynamics damping="0.1" />
  </joint>

  <transmission type="SimpleTransmission" name="shoulder_trans">
    <actuator name="shoulder_torque" />
    <joint name="shoulder" />
    <mechanicalReduction>1</mechanicalReduction>
  </transmission>
</robot>
<commit_msg>comment urdf<commit_after><?xml version="1.0"?>

<robot name="FurutaPendulum">

  <link name="base_link">
    <inertial>
      <mass value="1" />
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0.083" />
    </inertial>
    <visual>
      <geometry>
         <box size=".2 .2 .2" />
      </geometry>
      <material name="green">
      	<color rgba="0 1 0 1" />
      </material>
    </visual>
  </link>

  <link name="upper_link">
    <inertial>
      <origin xyz="0 .5 0" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0.083" />
    </inertial>
    <visual>
      <origin xyz="0 .45 0" rpy="1.5708 0 0" />
      <geometry>
         <cylinder length="1" radius=".05" />
      </geometry>
      <material name="red">
	      <color rgba="1 0 0 1" />
      </material>
    </visual>
  </link>

  <link name="lower_link">
    <inertial>
      <origin xyz="0 0 -1" rpy="0 0 0" />
      <mass value="1" />
      <!-- note: the inertia of a ROD about it's COM is 1/12 m*L^2 -->
      <inertia ixx="1" ixy="0" ixz="0" iyy="0.33" iyz="0" izz="1" />
    </inertial>
    <visual>
      <origin xyz="0 0 -1" rpy="0 0 0" />
      <geometry>
        <cylinder length="2.1" radius=".05" />
      </geometry>
      <material name="blue">
	      <color rgba="0 0 1 1" />
      </material>
    </visual>
  </link>
  
  <joint name="shoulder" type="continuous">
    <parent link="base_link" />
    <child link="upper_link" />
    <origin xyz="0 0 .15" />
    <axis xyz="0 0 1" />
    <dynamics damping="0.1" />
  </joint>

  <joint name="elbow" type="continuous">
    <parent link="upper_link" />
    <child link="lower_link" />
    <origin xyz="0 1 0" />
    <axis xyz="0 1 0" />
    <dynamics damping="0.1" />
  </joint>

  <transmission type="SimpleTransmission" name="shoulder_trans">
    <actuator name="shoulder_torque" />
    <joint name="shoulder" />
    <mechanicalReduction>1</mechanicalReduction>
  </transmission>
</robot>

{'fraction_non_alphanumeric': 0.20830110853312708, 'fraction_numerical': 0.05259087393658159, 'mean_word_length': 2.362218370883882, 'pattern_counts': {'":': 0, '<': 142, '<?xml version=': 2, '>': 142, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 2}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '1073607', 'n_tokens_mistral': 1692, 'n_tokens_neox': 1522, 'n_words': 345}