<commit_before><?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:property name="M_PI" value="3.1415926535897931" />

  <xacro:macro name="pioneer_mount" params="name parent xyz rpy model_dir:=^">   
  <xacro:property name="mount_base_width" value="0.14" />
  <xacro:property name="mount_bar_width" value="0.02" />
        
  <!--  mount top bar -->
  <joint name="${parent}_top_bar_joint" type="fixed">
    <origin xyz="0 0 0.96" rpy="${rpy}"/>
    <parent link="${parent}"/>
    <child link="${name}_top_bar"/>
  </joint>
  <link name="${name}_top_bar">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="${mount_bar_width} 0.385 ${mount_bar_width} "/>
      </geometry>
      <material name="${name}_top_bar">
        <color rgba="0.8 0.8 0.8 1"/>
      </material>
    </visual>
  </link>
  <gazebo reference="${name}_top_bar">
    <material value="Gazebo/Grey"/>
  </gazebo>
        
  
  <!--  mount camera tof -->
  <joint name="${parent}_camera_tof_joint" type="fixed">
    <origin xyz="0 0 0.51" rpy="${rpy}"/>
    <parent link="${parent}"/>
    <child link="${name}_camera_tof"/>
  </joint>
  <link name="${name}_camera_tof">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.01 0.12 0.12"/>
      </geometry>
      <material name="${name}_camera_tof">
        <color rgba="0.8 0.8 0.8 1"/>
      </material>
    </visual>
  </link>
  <gazebo reference="${name}_camera_tof">
    <material value="Gazebo/Grey"/>
  </gazebo>
  
  
  <!--  mount bottom left -->
  <joint name="${parent}_${name}_bottom_left_joint" type="fixed">
    <origin xyz="0.0 ${+mount_base_width} ${mount_bar_width/2.}" rpy="${rpy}"/>
    <parent link="${parent}"/>
    <child link="${name}_bottom_left"/>
  </joint>
  <link name="${name}_bottom_left">
    <visual>
      <origin xyz="-0.04 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.3 ${mount_bar_width} ${mount_bar_width}"/>
      </geometry>
      <material name="${name}_bottom_left_material">
        <color rgba="0.8 0.8 0.8 1"/>
      </material>
    </visual>
  </link>
  <gazebo reference="${name}_bottom_left">
    <material value="Gazebo/Grey"/>
  </gazebo>
  
  
  <!--  mount bottom right -->
  <joint name="${parent}_${name}_bottom_right_joint" type="fixed">
    <origin xyz="0.0 ${-mount_base_width} ${mount_bar_width/2.}" rpy="${rpy}"/>
    <parent link="${parent}"/>
    <child link="${name}_bottom_right"/>
  </joint>
  <link name="${name}_bottom_right">
    <visual>
      <origin xyz="-0.04 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.3 ${mount_bar_width} ${mount_bar_width}"/>
      </geometry>
      <material name="${name}_bottom_right_material">
        <color rgba="0.8 0.8 0.8 1"/>
      </material>
    </visual>
  </link>
  <gazebo reference="${name}_bottom_right">
    <material value="Gazebo/Grey"/>
  </gazebo>
  
  
  <!--  mount column right -->
  <joint name="${name}_column_right_joint" type="fixed">
    <origin xyz="0.0 0 ${0.92/2. + mount_bar_width}" rpy="${rpy}"/>
    <parent link="${name}_bottom_right"/>
    <child link="${name}_column_right"/>
  </joint>
  <link name="${name}_column_right">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="${mount_bar_width} ${mount_bar_width} 0.92 "/>
      </geometry>
      <material name="${name}_column_right_material">
        <color rgba="0.8 0.8 0.8 1"/>
      </material>
    </visual>
  </link>
  <gazebo reference="${name}_column_right">
    <material value="Gazebo/Grey"/>
  </gazebo>
  
  
  
  <!--  mount column left -->
  <joint name="${name}_column_left_joint" type="fixed">
    <origin xyz="0.0 0 ${0.92/2. + mount_bar_width}" rpy="${rpy}"/>
    <parent link="${name}_bottom_left"/>
    <child link="${name}_column_left"/>
  </joint>
  <link name="${name}_column_left">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="${mount_bar_width} ${mount_bar_width} 0.92 "/>
      </geometry>
      <material name="${name}_column_left_material">
        <color rgba="0.8 0.8 0.8 1"/>
      </material>
    </visual>
  </link>
  <gazebo reference="${name}_column_left">
    <material value="Gazebo/Grey"/>
  </gazebo>
  
  
  
  </xacro:macro>
</robot><commit_msg>model update<commit_after><?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:property name="M_PI" value="3.1415926535897931" />

  <xacro:macro name="pioneer_mount" params="name parent xyz rpy model_dir:=^">   
  <xacro:property name="mount_base_width" value="0.14" />
  <xacro:property name="mount_bar_width" value="0.02" />
  <xacro:property name="aluminium_bar_colour" value="0.8 0.8 0.8 1" />
               
  
  <!--  mount camera tof  -->
  <joint name="${parent}_camera_tof_joint" type="fixed">
    <origin xyz="0 0 0.38" rpy="${rpy}"/>
    <parent link="${parent}"/>
    <child link="${name}_camera_tof"/>
  </joint>
  <link name="${name}_camera_tof">
    <visual>
      <origin xyz="0 0 0.03" rpy="0 0 0"/>
      <geometry>
        <box size="0.01 0.12 0.12"/>
      </geometry>
      <material name="${name}_camera_tof">
        <color rgba="0.8 0.8 0.8 1"/>
      </material>
    </visual>
  </link>
  <gazebo reference="${name}_camera_tof">
    <material value="Gazebo/Grey"/>
  </gazebo>
 
  
  <!--  mount bottom left -->
  <joint name="${parent}_${name}_bottom_left_joint" type="fixed">
    <origin xyz="0 0 0" rpy="${rpy}"/>
    <parent link="${parent}"/>
    <child link="${name}_bottom_left"/>
  </joint>
  <link name="${name}_bottom_left">
    <!-- right base bar -->
    <visual>
      <origin xyz="-0.04 +${0.27/2.} 0.01"/>
      <geometry>
        <box size="0.31 0.04 0.02"/>
      </geometry>
      <material name="aluminium_bar">
        <color rgba="${aluminium_bar_colour}"/>
      </material>
    </visual>
    <!-- left base bar -->
    <visual>
      <origin xyz="-0.04 -${0.27/2.} 0.01"/>
      <geometry>
        <box size="0.31 0.04 0.02"/>
      </geometry>
      <material name="aluminium_bar">
        <color rgba="${aluminium_bar_colour}"/>
      </material>
    </visual>
    <!-- right column -->
    <visual>
      <origin xyz="-0.0 +${0.25/2.} ${0.02+0.92/2}"/>
      <geometry>
        <box size="0.02 0.02 0.92"/>
      </geometry>
      <material name="aluminium_bar">
        <color rgba="${aluminium_bar_colour}"/>
      </material>
    </visual>
    <!-- left column -->
    <visual>
      <origin xyz="-0.0 -${0.25/2.} ${0.02+0.92/2}"/>
      <geometry>
        <box size="0.02 0.02 0.92"/>
      </geometry>
      <material name="aluminium_bar">
        <color rgba="${aluminium_bar_colour}"/>
      </material>
    </visual>
    <!-- laser bar -->
    <visual>
      <origin xyz="0.02 0 0.19"/>
      <geometry>
        <box size="0.02 0.23 0.02 "/>
      </geometry>
      <material name="aluminium_bar">
        <color rgba="${aluminium_bar_colour}"/>
      </material>
    </visual>
    <!-- camera tof bar low -->
    <visual>
      <origin xyz="-0.02 0 0.36"/>
      <geometry>
        <box size="0.02 0.23 0.02 "/>
      </geometry>
      <material name="aluminium_bar">
        <color rgba="${aluminium_bar_colour}"/>
      </material>
    </visual>
    <!-- camera tof bar bottom -->
    <visual>
      <origin xyz="-0.02 0 0.47"/>
      <geometry>
        <box size="0.02 0.27 0.02 "/>
      </geometry>
      <material name="aluminium_bar">
        <color rgba="${aluminium_bar_colour}"/>
      </material>
    </visual>
    <!-- Top bar -->
    <visual>
      <origin xyz="0 0 ${0.02+0.92+0.02/2}"/>
      <geometry>
        <box size="0.02 0.30 0.02 "/>
      </geometry>
      <material name="aluminium_bar">
        <color rgba="${aluminium_bar_colour}"/>
      </material>
    </visual>
  </link>
  <gazebo reference="${name}_bottom_left">
    <material value="Gazebo/Grey"/>
  </gazebo>
  
  </xacro:macro>
</robot>
{'fraction_non_alphanumeric': 0.211664979757085, 'fraction_numerical': 0.04744433198380567, 'mean_word_length': 2.6145404663923184, 'pattern_counts': {'":': 0, '<': 251, '<?xml version=': 2, '>': 251, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, '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': '5219396', 'n_tokens_mistral': 3205, 'n_tokens_neox': 2918, 'n_words': 563}