<commit_before><?xml version="1.0"?>
<!-- for 3finger_hand and 2finger_hand -->


<root xmlns:xi="http://www.w3.org/2001/XInclude"
    xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
    xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
    xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
    xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:include filename="$(find kinova_description)/urdf/kinova_common.xacro" />


    <xacro:macro name="kinova_3fingers" params="link_hand prefix">

        <!-- finger1 Rot := Ry((1/2)*Pi) . Rx(12.1*((1/180)*Pi)+Pi) . Rz(-52.8*((1/180)*Pi)) -->
        <xacro:kinova_finger prefix="${prefix}" finger_number="1" hand="${link_hand}" finger_origin_xyz="0.00279 0.03126 -0.11467" finger_origin_rpy="-1.570796327 .649262481663582 1.35961148639407"/>
        <!-- finger2 Rot := Ry((1/2)*Pi) . Rx(10.58*((1/180)*Pi)) . Rz(-52.8*((1/180)*Pi)) -->
        <xacro:kinova_finger prefix="${prefix}" finger_number="2" hand="${link_hand}" finger_origin_xyz="0.02226 -0.02707 -0.11482" finger_origin_rpy="-1.570796327 .649262481663582 -1.38614049188413"/><commit_msg>Fix origin of 1st finger in 3 finger gripper<commit_after><?xml version="1.0"?>
<!-- for 3finger_hand and 2finger_hand -->


<root xmlns:xi="http://www.w3.org/2001/XInclude"
    xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
    xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
    xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
    xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:include filename="$(find kinova_description)/urdf/kinova_common.xacro" />


    <xacro:macro name="kinova_3fingers" params="link_hand prefix">

        <!-- finger1 Rot := Ry(96.12*((1/180)*Pi)) . Rx(1.2*((1/180)*Pi)) . Rz(52.52*((1/180)*Pi)) -->
        <xacro:kinova_finger prefix="${prefix}" finger_number="1" hand="${link_hand}" finger_origin_xyz="0.00279 0.03126 -0.11467" finger_origin_rpy="-1.7047873384941834 0.6476144647144773 1.67317415161155"/>
        <!-- finger2 Rot := Ry((1/2)*Pi) . Rx(10.58*((1/180)*Pi)) . Rz(-52.8*((1/180)*Pi)) -->
        <xacro:kinova_finger prefix="${prefix}" finger_number="2" hand="${link_hand}" finger_origin_xyz="0.02226 -0.02707 -0.11482" finger_origin_rpy="-1.570796327 .649262481663582 -1.38614049188413"/>
{'fraction_non_alphanumeric': 0.19112073632918244, 'fraction_numerical': 0.0928532755820249, 'mean_word_length': 4.969305331179322, 'pattern_counts': {'":': 0, '<': 21, '<?xml version=': 2, '>': 21, 'https://': 0, 'lorem ipsum': 0, 'www.': 4, 'xml': 50}, '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': '3946806', 'n_tokens_mistral': 1612, 'n_tokens_neox': 1367, 'n_words': 121}