<commit_before><?xml version="1.0"?>
<robot name="wheel" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
  <!-- Wheels -->
<!--
  <xacro:property name="wheel_radius" value="0.125" /> 
  <xacro:property name="wheel_height" value="0.032" />
-->
  <xacro:property name="wheel_mass" value="0.3" /> <!-- in kg-->
 
<!--
  <xacro:property name="base_x_origin_to_wheel_origin" value="0.25" />
  <xacro:property name="base_y_origin_to_wheel_origin" value="0.3" />
  <xacro:property name="base_z_origin_to_wheel_origin" value="0.0" />
-->
 
  <xacro:macro name="cylinder_inertia" params="m r h">
    <inertia  ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
              iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
              izz="${m*r*r/2}" /> 
  </xacro:macro>
 
  <xacro:macro name="wheel" params="fb lr parent translateX translateY translateZ wheel_radius wheel_height flip"> <!--fb : front, back ; lr: left, right -->
    <link name="${fb}_${lr}_wheel">
      <visual>
        <origin xyz="0 0 0" rpy="${flip*M_PI/2} 0 0" /> 
        <geometry>
          <cylinder length="${wheel_height}" radius="${wheel_radius}" />
        </geometry>
        <material name="Black" />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="${flip*M_PI/2} 0 0" />
        <geometry>
          <cylinder length="${wheel_height}" radius="${wheel_radius}" />
        </geometry>
      </collision>
      <inertial>
        <mass value="${wheel_mass}" />
        <!-- <origin xyz="0 0 0" rpy="${flip*M_PI/2} 0 0"/> -->
        <origin xyz="0 0 0" />
        <cylinder_inertia  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_height}" />
      </inertial>
    </link>
 
    <gazebo reference="${fb}_${lr}_wheel">
      <mu1 value="100.0"/>
      <mu2 value="100.0"/>
      <kp  value="10000000.0" />
      <kd  value="1.0" />
      <fdir1 value="1 0 0"/>
      <material>Gazebo/Black</material>
      <turnGravityOff>false</turnGravityOff>
    </gazebo>
 
    <joint name="${fb}_${lr}_wheel_joint" type="continuous">
      <parent link="${parent}"/>
      <child link="${fb}_${lr}_wheel"/>
      <origin xyz="${translateX} ${translateY} ${translateZ}" rpy="0 0 0" /> 
      <axis xyz="0 1 0" rpy="0 0 0" />
      <limit effort="1000" velocity="100"/>
      <joint_properties damping="0.0" friction="0.0"/>
    </joint>
 
    <!-- Transmission is important to link the joints and the controller -->
    <transmission name="${fb}_${lr}_wheel_joint_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${fb}_${lr}_wheel_joint">
        <hardwareInterface>EffortJointInterface</hardwareInterface>
      </joint>
      <actuator name="${fb}_${lr}_wheel_joint_motor">
        <hardwareInterface>EffortJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
 
  </xacro:macro>
</robot><commit_msg>Fix gazebo warning about deprecation<commit_after><?xml version="1.0"?>
<robot name="wheel" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
  <!-- Wheels -->
<!--
  <xacro:property name="wheel_radius" value="0.125" /> 
  <xacro:property name="wheel_height" value="0.032" />
-->
  <xacro:property name="wheel_mass" value="0.3" /> <!-- in kg-->
 
<!--
  <xacro:property name="base_x_origin_to_wheel_origin" value="0.25" />
  <xacro:property name="base_y_origin_to_wheel_origin" value="0.3" />
  <xacro:property name="base_z_origin_to_wheel_origin" value="0.0" />
-->
 
  <xacro:macro name="cylinder_inertia" params="m r h">
    <inertia  ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
              iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
              izz="${m*r*r/2}" /> 
  </xacro:macro>
 
  <xacro:macro name="wheel" params="fb lr parent translateX translateY translateZ wheel_radius wheel_height flip"> <!--fb : front, back ; lr: left, right -->
    <link name="${fb}_${lr}_wheel">
      <visual>
        <origin xyz="0 0 0" rpy="${flip*M_PI/2} 0 0" /> 
        <geometry>
          <cylinder length="${wheel_height}" radius="${wheel_radius}" />
        </geometry>
        <material name="Black" />
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="${flip*M_PI/2} 0 0" />
        <geometry>
          <cylinder length="${wheel_height}" radius="${wheel_radius}" />
        </geometry>
      </collision>
      <inertial>
        <mass value="${wheel_mass}" />
        <!-- <origin xyz="0 0 0" rpy="${flip*M_PI/2} 0 0"/> -->
        <origin xyz="0 0 0" />
        <cylinder_inertia  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_height}" />
      </inertial>
    </link>
 
    <gazebo reference="${fb}_${lr}_wheel">
      <mu1 value="100.0"/>
      <mu2 value="100.0"/>
      <kp  value="10000000.0" />
      <kd  value="1.0" />
      <fdir1 value="1 0 0"/>
      <material>Gazebo/Black</material>
      <turnGravityOff>false</turnGravityOff>
    </gazebo>
 
    <joint name="${fb}_${lr}_wheel_joint" type="continuous">
      <parent link="${parent}"/>
      <child link="${fb}_${lr}_wheel"/>
      <origin xyz="${translateX} ${translateY} ${translateZ}" rpy="0 0 0" /> 
      <axis xyz="0 1 0" rpy="0 0 0" />
      <limit effort="1000" velocity="100"/>
      <joint_properties damping="0.0" friction="0.0"/>
    </joint>
 
    <!-- Transmission is important to link the joints and the controller -->
    <transmission name="${fb}_${lr}_wheel_joint_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${fb}_${lr}_wheel_joint">
        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      </joint>
      <actuator name="${fb}_${lr}_wheel_joint_motor">
        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
 
  </xacro:macro>
</robot>
{'fraction_non_alphanumeric': 0.20140917683450765, 'fraction_numerical': 0.03299536002749613, 'mean_word_length': 3.089950808151792, 'pattern_counts': {'":': 0, '<': 153, '<?xml version=': 2, '>': 153, 'https://': 0, 'lorem ipsum': 0, 'www.': 2, 'xml': 4}, 'pii_count': 0, 'substrings_counts': 2, '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': '4211049', 'n_tokens_mistral': 2234, 'n_tokens_neox': 2048, 'n_words': 365}