<commit_before><?xml version="1.0"?>
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find lbr_iiwa_description)/urdf/lbr_iiwa.xacro"/>

  <link name="world_link">
  
    <inertial>
      <mass value="50.0"/>
      <com xyz="0 0 0"/>
      <inertia  ixx="0.01" ixy="0.00"  ixz="0.00"
                iyy="0.01" iyz="0.00"
                izz="0.01" />
    </inertial>

    <visual>
      <origin xyz="0 0 0.50" rpy="0 0 0"/>
      <geometry>
        <box size="1 1 1.0"/>
      </geometry>
    </visual>

    <collision>
      <origin xyz="0 0 0.50" rpy="0 0 0"/>
      <geometry>
        <box size="1 1 1.0"/>
      </geometry>
    </collision>
  </link> 
  
  <lbr_iiwa parent="world" name="lbr_iiwa" right="1">
    <origin xyz="0 0 1.1" rpy="0 0 0"/>
  </lbr_iiwa>

</robot><commit_msg>modified urdf.xacro<commit_after><?xml version="1.0"?>
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find lbr_iiwa_description)/urdf/lbr_iiwa.xacro"/>




  <!-- base link-->
  <link name="base_link"/>

  <!--lbr-->
  <xacro:lbr_iiwa name="arm" parent="base_link">
    <origin xyz="0 0 0.01" rpy="0 0 0" />
  </xacro:lbr_iiwa>




</robot>
{'fraction_non_alphanumeric': 0.21306122448979592, 'fraction_numerical': 0.05551020408163265, 'mean_word_length': 2.6379821958456975, 'pattern_counts': {'":': 0, '<': 39, '<?xml version=': 2, '>': 39, 'https://': 0, 'lorem ipsum': 0, 'www.': 2, 'xml': 4}, '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': '7580298', 'n_tokens_mistral': 581, 'n_tokens_neox': 522, 'n_words': 94}