<commit_before><?xml version="1.0"?>
<robot name="nao_robot_v4_H25" xmlns:xacro="http://www.ros.org/wiki/xacro">

	<!-- XACRO PROPERTIES -->
	<xacro:property name="PI" value="3.14159265359" />
	<xacro:property name="PI_2" value="1.57079632679" />
	<xacro:property name="scale" value="0.001" />
	<xacro:property name="H25" value="true" />
	<xacro:property name="nao_meshes" value="true" />
	<xacro:property name="use_helmet" value="true" />

	<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_H25_control.xacro" />

	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/torso.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/head.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/arms.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/hands.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/legs.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/imu.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/sonars.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/cameras.xacro" />

	<xacro:if value="${use_helmet}">
		<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet.xacro" />
		<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_cameras.xacro" />
	</xacro:if>
<commit_msg>Added helmet_cameras_viz property to H25..<commit_after><?xml version="1.0"?>
<robot name="nao_robot_v4_H25" xmlns:xacro="http://www.ros.org/wiki/xacro">

	<!-- XACRO PROPERTIES -->
	<xacro:property name="PI" value="3.14159265359" />
	<xacro:property name="PI_2" value="1.57079632679" />
	<xacro:property name="scale" value="0.001" />
	<xacro:property name="H25" value="true" />
	<xacro:property name="nao_meshes" value="true" />
	<xacro:property name="use_helmet" value="true" />
	<xacro:property name="helmet_cameras_viz" value="false" />

	<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_H25_control.xacro" />

	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/torso.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/head.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/arms.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/hands.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/legs.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/imu.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/sonars.xacro" />
	<xacro:include filename="$(find nao_dcm_description)/urdf/modules/cameras.xacro" />

	<xacro:if value="${use_helmet}">
		<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet.xacro" />
		<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_cameras.xacro" />
	</xacro:if>

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{'dir': 'git-commits-cleaned', 'id': '5214328', 'n_tokens_mistral': 1422, 'n_tokens_neox': 1334, 'n_words': 141}