<commit_before><?xml version="1.0"?>
<robot name="fifth_robot">
  <link name="base_link">
    
    <visual>
      <geometry>
        <box size="0.300 0.250 0.10"/>
      </geometry>
    </visual>
    
    <collision>
      <geometry>
        <box size="0.300 0.250 0.10"/>
      </geometry>
    </collision>
    
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.500"/>
      <inertia ixx="0.0020833333" ixy="0" ixz="0" iyy="0.0070833333" iyz="0" izz="0.0083333333"/>
    </inertial>
  </link>
  
  <link name="right_wheel_link">
    <visual>
      <geometry>
        <cylinder radius="0.07" length="0.03"/>
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <material name="black"/>
    </visual>
    
    <collision>
      <geometry>
        <cylinder radius="0.07" length="0.03"/>
      </geometry>
    </collision>
    
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.500"/>
      <inertia ixx="0.0013541667" ixy="0" ixz="0" iyy="0.0013541667" iyz="0" izz="0.0025"/>
    </inertial>
    
  </link>
  
  <joint name="right_wheel_joint" type="continuous">
    <parent link="base_link"/>
    <child link="right_wheel_link"/>
    <origin rpy="-1.5707 0 0" xyz="0.136 -0.130 0"/>
    <axis xyz="0 0 1"/>
  </joint>
  
  <link name="left_wheel_link">
    <visual>
      <geometry>
        <cylinder radius="0.07" length="0.03"/>
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <material name="black"/>
    </visual>
    
    <collision>
      <geometry>
        <cylinder radius="0.07" length="0.03"/>
      </geometry>
    </collision>
    
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.500"/>
      <inertia ixx="0.0013541667" ixy="0" ixz="0" iyy="0.0013541667" iyz="0" izz="0.0025"/>
    </inertial>
    
  </link>
  
  <joint name="left_wheel_joint" type="continuous">
    <parent link="base_link"/>
    <child link="left_wheel_link"/>
    <origin rpy="1.5707 0 0" xyz="0.136 0.130 0"/>
    <axis xyz="0 0 -1"/>
  </joint>
  
  <link name="caster_link">
    <visual>
      <geometry>
        <sphere radius="0.07"/>
      </geometry>
    </visual>
    
    <collision>
      <geometry>
        <sphere radius="0.07"/>
      </geometry>
    </collision>
    
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.500"/>
      <inertia ixx="0.00025" ixy="0" ixz="0" iyy="0.00025"  iyz="0" izz="0.00025"/>
    </inertial>
    
  </link>
  
  <joint name="caster_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_link"/>
    <origin xyz="-0.200 0  0"/>
  </joint>
  
  <!-- ===============  Transmission =============== -->
  <transmission name="right_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_wheel_joint">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="right_wheel_motor">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>15</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="left_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_wheel_joint">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="left_wheel_motor">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>15</mechanicalReduction>
    </actuator>
  </transmission>
  
  <!-- =============== Sensor =============== -->
  <!-- =============== Velodyne =============== -->
  <link name="velodyne_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
      <material name="Blue" />
    </visual>
  </link>
  <joint name="velodyne_joint" type="fixed">
    <origin xyz="0 0 0.1" rpy="0 0 0" />
    <parent link="base_link"/>
    <child link="velodyne_link" />
  </joint>

  <gazebo reference="velodyne_link">
    <material>Gazebo/Blue</material>
    <turnGravityOff>false</turnGravityOff>
    <sensor type="ray" name="velodyne_sensor">
      <pose>0.2 0 0 0 0 0</pose>
      <update_rate>5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>200</samples>
            <resolution>1</resolution>
            <min_angle>-3.14</min_angle>
            <max_angle> 3.14</max_angle>
          </horizontal>
          <vertical>
            <samples>35</samples>
            <resolution>1</resolution>
            <min_angle>-0.26166</min_angle>
            <max_angle> 0.26166</max_angle>
          </vertical>
        </scan>
        <range>
          <min>0.30</min>
          <max>131</max>
          <resolution>0.001</resolution>
        </range>
      </ray>
      <plugin name="gazebo_ros_velodyne_controller" filename="libgazebo_ros_velodyne_laser.so">
        <topicName>/velodyne_points</topicName>
        <frameName>velodyne_link</frameName>
        <min_range>0.9</min_range>
        <max_range>130</max_range>
      </plugin>
    </sensor>
  </gazebo>

  <!-- =============== Imu =============== -->
  <link name="imu_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.02 0.02 0.02"/>
      </geometry>
      <material name="Blue" />
    </visual>
  </link>
  <joint name="imu_joint" type="fixed">
    <origin xyz="0.16 0 0" rpy="0 0 0" />
    <parent link="base_link"/>
    <child link="imu_link" />
  </joint>

  <gazebo reference="imu_link">
    <material>Gazebo/Blue</material>
    <gravity>true</gravity>
    <sensor name="imu_sensor" type="imu">
      <always_on>true</always_on>
      <update_rate>1000</update_rate>
      <visualize>true</visualize>
      <topic>__default_topic__</topic>
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <topicName>imu</topicName>
        <bodyName>imu_link</bodyName>
        <updateRateHZ>1000.0</updateRateHZ>
        <gaussianNoise>0.0</gaussianNoise>
        <xyzOffset>0 0 0</xyzOffset>
        <rpyOffset>0 0 0</rpyOffset>
        <frameName>imu_link</frameName>
      </plugin>
      <pose>0 0 0 0 0 0</pose>
    </sensor>
  </gazebo>
  
  <!-- =============== Gazebo =============== -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>fifth_robot</robotNamespace>
    </plugin>
  </gazebo>
  
  <gazebo reference="base_link">
    <selfCollide>true</selfCollide>
    <material>Gazebo/Gray</material>
    <mu1 value="0.05" />
    <mu2 value="0.05" />
  </gazebo>

  <gazebo reference="right_wheel_link">
    <selfCollide>true</selfCollide>
    <material>Gazebo/Green</material>
    <mu1 value="0.8" />
    <mu2 value="0.8" />
  </gazebo>
  
  <gazebo reference="left_wheel_link">
    <selfCollide>true</selfCollide>
    <material>Gazebo/Red</material>
    <mu1 value="0.8" />
    <mu2 value="0.8" />
  </gazebo>
  
  <gazebo reference="caster_link">
    <selfCollide>true</selfCollide>
    <material>Gazebo/Black</material>
    <!-- This caster is no frictional resistance. -->
    <mu1 value="0.0" />
    <mu2 value="0.0" />
  </gazebo>
</robot>
<commit_msg>Modify urdf to adjust to real machine<commit_after><?xml version="1.0"?>
<robot name="fifth_robot">
  <link name="base_link">
    
    <visual>
      <geometry>
        <box size="0.300 0.250 0.20"/>
      </geometry>
    </visual>
    
    <collision>
      <geometry>
        <box size="0.300 0.250 0.10"/>
      </geometry>
    </collision>
    
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.500"/>
      <inertia ixx="0.0020833333" ixy="0" ixz="0" iyy="0.0070833333" iyz="0" izz="0.0083333333"/>
    </inertial>
  </link>
  
  <link name="right_wheel_link">
    <visual>
      <geometry>
        <cylinder radius="0.07" length="0.03"/>
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <material name="black"/>
    </visual>
    
    <collision>
      <geometry>
        <cylinder radius="0.07" length="0.03"/>
      </geometry>
    </collision>
    
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.500"/>
      <inertia ixx="0.0013541667" ixy="0" ixz="0" iyy="0.0013541667" iyz="0" izz="0.0025"/>
    </inertial>
    
  </link>
  
  <joint name="right_wheel_joint" type="continuous">
    <parent link="base_link"/>
    <child link="right_wheel_link"/>
    <origin rpy="-1.5707 0 0" xyz="0.136 -0.130 0"/>
    <axis xyz="0 0 1"/>
  </joint>
  
  <link name="left_wheel_link">
    <visual>
      <geometry>
        <cylinder radius="0.07" length="0.03"/>
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <material name="black"/>
    </visual>
    
    <collision>
      <geometry>
        <cylinder radius="0.07" length="0.03"/>
      </geometry>
    </collision>
    
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.500"/>
      <inertia ixx="0.0013541667" ixy="0" ixz="0" iyy="0.0013541667" iyz="0" izz="0.0025"/>
    </inertial>
    
  </link>
  
  <joint name="left_wheel_joint" type="continuous">
    <parent link="base_link"/>
    <child link="left_wheel_link"/>
    <origin rpy="1.5707 0 0" xyz="0.136 0.130 0"/>
    <axis xyz="0 0 -1"/>
  </joint>
  
  <link name="caster_link">
    <visual>
      <geometry>
        <sphere radius="0.07"/>
      </geometry>
    </visual>
    
    <collision>
      <geometry>
        <sphere radius="0.07"/>
      </geometry>
    </collision>
    
    <inertial>
      <origin xyz="0 0 0"/>
      <mass value="0.500"/>
      <inertia ixx="0.00025" ixy="0" ixz="0" iyy="0.00025"  iyz="0" izz="0.00025"/>
    </inertial>
    
  </link>
  
  <joint name="caster_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_link"/>
    <origin xyz="-0.200 0  0"/>
  </joint>
  
  <!-- ===============  Transmission =============== -->
  <transmission name="right_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_wheel_joint">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="right_wheel_motor">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>15</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="left_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_wheel_joint">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="left_wheel_motor">
      <hardwareInterface>VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>15</mechanicalReduction>
    </actuator>
  </transmission>
  
  <!-- =============== Sensor =============== -->
  <!-- =============== Velodyne =============== -->
  <link name="velodyne_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
      <material name="Blue" />
    </visual>
  </link>
  <joint name="velodyne_joint" type="fixed">
    <origin xyz="0.1 0 0.2" rpy="0 0 0" />
    <parent link="base_link"/>
    <child link="velodyne_link" />
  </joint>

  <gazebo reference="velodyne_link">
    <material>Gazebo/Blue</material>
    <turnGravityOff>false</turnGravityOff>
    <sensor type="ray" name="velodyne_sensor">
      <pose>0.2 0 0 0 0 0</pose>
      <update_rate>5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>200</samples>
            <resolution>1</resolution>
            <min_angle>-3.14</min_angle>
            <max_angle> 3.14</max_angle>
          </horizontal>
          <vertical>
            <samples>35</samples>
            <resolution>1</resolution>
            <min_angle>-0.26166</min_angle>
            <max_angle> 0.26166</max_angle>
          </vertical>
        </scan>
        <range>
          <min>0.30</min>
          <max>131</max>
          <resolution>0.001</resolution>
        </range>
      </ray>
      <plugin name="gazebo_ros_velodyne_controller" filename="libgazebo_ros_velodyne_laser.so">
        <topicName>/velodyne_points</topicName>
        <frameName>velodyne_link</frameName>
        <min_range>0.9</min_range>
        <max_range>130</max_range>
      </plugin>
    </sensor>
  </gazebo>

  <!-- =============== Imu =============== -->
  <link name="imu_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.02 0.02 0.02"/>
      </geometry>
      <material name="Blue" />
    </visual>
  </link>
  <joint name="imu_joint" type="fixed">
    <origin xyz="0.16 0 0" rpy="0 0 0" />
    <parent link="base_link"/>
    <child link="imu_link" />
  </joint>

  <gazebo reference="imu_link">
    <material>Gazebo/Blue</material>
    <gravity>true</gravity>
    <sensor name="imu_sensor" type="imu">
      <always_on>true</always_on>
      <update_rate>1000</update_rate>
      <visualize>true</visualize>
      <topic>__default_topic__</topic>
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <topicName>imu</topicName>
        <bodyName>imu_link</bodyName>
        <updateRateHZ>1000.0</updateRateHZ>
        <gaussianNoise>0.0</gaussianNoise>
        <xyzOffset>0 0 0</xyzOffset>
        <rpyOffset>0 0 0</rpyOffset>
        <frameName>imu_link</frameName>
      </plugin>
      <pose>0 0 0 0 0 0</pose>
    </sensor>
  </gazebo>
  
  <!-- =============== Gazebo =============== -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>fifth_robot</robotNamespace>
    </plugin>
  </gazebo>
  
  <gazebo reference="base_link">
    <selfCollide>true</selfCollide>
    <material>Gazebo/Gray</material>
    <mu1 value="0.05" />
    <mu2 value="0.05" />
  </gazebo>

  <gazebo reference="right_wheel_link">
    <selfCollide>true</selfCollide>
    <material>Gazebo/Green</material>
    <mu1 value="0.8" />
    <mu2 value="0.8" />
  </gazebo>
  
  <gazebo reference="left_wheel_link">
    <selfCollide>true</selfCollide>
    <material>Gazebo/Red</material>
    <mu1 value="0.8" />
    <mu2 value="0.8" />
  </gazebo>
  
  <gazebo reference="caster_link">
    <selfCollide>true</selfCollide>
    <material>Gazebo/Black</material>
    <!-- This caster is no frictional resistance. -->
    <mu1 value="0.0" />
    <mu2 value="0.0" />
  </gazebo>
</robot>

{'fraction_non_alphanumeric': 0.19200167504187604, 'fraction_numerical': 0.05562534896705751, 'mean_word_length': 2.5930290872617854, 'pattern_counts': {'":': 0, '<': 563, '<?xml version=': 2, '>': 563, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 2}, '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': '1119366', 'n_tokens_mistral': 5847, 'n_tokens_neox': 5284, 'n_words': 870}