<commit_before><robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="herb">
    <xacro:macro name="wam_bh280_manipulator" params="prefix">
        <group name="${prefix}">
            <chain base_link="/${prefix}/wam_base" tip_link="/${prefix}/wam7"/>
        </group>

        <group name="${prefix}_hand">
            <link name="/${prefix}/hand_base"/>
            <link name="/${prefix}/finger0_0"/>
            <link name="/${prefix}/finger0_1"/>
            <link name="/${prefix}/finger0_2"/>
            <link name="/${prefix}/finger1_0"/>
            <link name="/${prefix}/finger1_1"/>
            <link name="/${prefix}/finger1_2"/>
            <link name="/${prefix}/finger2_1"/>
            <link name="/${prefix}/finger2_2"/>
        </group>

        <end_effector name="${prefix}_hand" group="${prefix}_hand"
                      parent_link="/${prefix}/wam7" parent_group="${prefix}"/>

        <!-- Disable collisions between the fingers. -->
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger1_0"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger0_1"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger0_2"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger1_1"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger2_2"/>

        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger0_1"/>
        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger0_2"/>
        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger1_1"/>
        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger2_2"/>

        <disable_collisions link1="/${prefix}/finger0_1" link2="/${prefix}/finger0_2"/>
        <disable_collisions link1="/${prefix}/finger0_1" link2="/${prefix}/finger1_1"/>
        <disable_collisions link1="/${prefix}/finger0_1" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/finger0_1" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger0_1" link2="/${prefix}/finger2_2"/>

        <disable_collisions link1="/${prefix}/finger0_2" link2="/${prefix}/finger1_1"/>
        <disable_collisions link1="/${prefix}/finger0_2" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/finger0_2" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger0_2" link2="/${prefix}/finger2_2"/>

        <disable_collisions link1="/${prefix}/finger1_1" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/finger1_1" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger1_1" link2="/${prefix}/finger2_2"/>

        <disable_collisions link1="/${prefix}/finger1_2" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger1_2" link2="/${prefix}/finger2_2"/>
        <disable_collisions link1="/${prefix}/finger2_1" link2="/${prefix}/finger2_2"/>

        <!-- Disable collisions between the fingers and the palm. -->
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger1_0"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger0_1"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger0_2"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger1_1"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger2_2"/>

        <!-- Sphere representation for CHOMP -->
        <link_sphere_approximation link="/${prefix}/wam_base">
            <sphere center="0.0 0.0 0.0" radius="0.15"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam1">
            <sphere center="0 0 0" radius="0"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam2">
            <sphere center="0.0 -0.2 0.0" radius="0.06"/>
            <sphere center="0.0 -0.3 0.0" radius="0.06"/>
            <sphere center="0.0 -0.4 0.0" radius="0.06"/>
            <sphere center="0.0 -0.5 0.0" radius="0.06"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam3">
            <sphere center=" 0.045 0.0 0.55" radius="0.06"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam4">
            <sphere center="-0.045 -0.2  0.0" radius="0.06"/>
            <sphere center="-0.045 -0.1  0.0" radius="0.06"/>
            <sphere center="-0.045 -0.3  0.0" radius="0.06"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam5">
            <sphere center="0 0 0" radius="0"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam6">
            <sphere center="0.0 -0.1 0.0" radius="0.06"/>
        </link_sphere_approximation>

        <!-- FIXME: Shouldn't wam7 have a sphere? -->
        <link_sphere_approximation link="/${prefix}/wam7">
            <sphere center="0 0 0" radius="0"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger0_1">
            <sphere center="0.05 -0.01 0.0" radius="0.04"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger1_1">
            <sphere center="0.05 -0.01 0.0" radius="0.04"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger2_1">
            <sphere center="0.05 -0.01 0.0" radius="0.04"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger0_2">
            <sphere center="0.05 0.0 0.0" radius="0.04"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger1_2">
            <sphere center="0.05 0.0 0.0" radius="0.04"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger2_2">
            <sphere center="0.05 0.0 0.0" radius="0.04"/>
        </link_sphere_approximation>
    </xacro:macro>

    <xacro:macro name="pantilt" params="name">
        <group name="${name}">
            <link name="/herb_base"/>
            <link name="/${name}/wam1"/>
            <link name="/${name}/wam2"/>

            <link_sphere_approximation link="/${name}/wam1">
                <sphere center="0 0 0" radius="0.20"/>
            </link_sphere_approximation>

            <link_sphere_approximation link="/${name}/wam2">
                <sphere center="0 0 0" radius="0"/>
            </link_sphere_approximation>
        </group>

        <!-- Dummy group to make the head look like an end-effector; e.g. to
             run inverse kinematics. HERB doesn't actually have a gripper on
             his head (maybe on HERB3?). -->
        <group name="${name}_hand"/>

        <end_effector name="head" group="${name}_hand"
                      parent_link="/${name}/wam2" parent_group="${name}"/>
    </xacro:macro>

    <xacro:wam_bh280_manipulator prefix="left"/>
    <xacro:wam_bh280_manipulator prefix="right"/>
    <xacro:pantilt name="head"/>

    <passive_joint name="/segway_wheel_left"/>
    <passive_joint name="/segway_wheel_right"/>

    <disable_collisions link1="/left/wam_base" link2="/right/wam_base"/>
    <disable_collisions link1="/left/wam1" link2="/right/wam1"/>

    <!-- Automatically-generated by the MoveIt setup assistant. -->
    <!--
    <disable_collisions link1="/head/wam1" link2="/head/wam2" reason="Adjacent" />
    <disable_collisions link1="/head/wam1" link2="/herb_base" reason="Adjacent" />
    <disable_collisions link1="/head/wam1" link2="/left/wam1" reason="Never" /><commit_msg>Adding adjacency between herb-base and head/wam2<commit_after><robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="herb">
    <xacro:macro name="wam_bh280_manipulator" params="prefix">
        <group name="${prefix}">
            <chain base_link="/${prefix}/wam_base" tip_link="/${prefix}/wam7"/>
        </group>

        <group name="${prefix}_hand">
            <link name="/${prefix}/hand_base"/>
            <link name="/${prefix}/finger0_0"/>
            <link name="/${prefix}/finger0_1"/>
            <link name="/${prefix}/finger0_2"/>
            <link name="/${prefix}/finger1_0"/>
            <link name="/${prefix}/finger1_1"/>
            <link name="/${prefix}/finger1_2"/>
            <link name="/${prefix}/finger2_1"/>
            <link name="/${prefix}/finger2_2"/>
        </group>

        <end_effector name="${prefix}_hand" group="${prefix}_hand"
                      parent_link="/${prefix}/wam7" parent_group="${prefix}"/>

        <!-- Disable collisions between the fingers. -->
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger1_0"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger0_1"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger0_2"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger1_1"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger0_0" link2="/${prefix}/finger2_2"/>

        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger0_1"/>
        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger0_2"/>
        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger1_1"/>
        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger1_0" link2="/${prefix}/finger2_2"/>

        <disable_collisions link1="/${prefix}/finger0_1" link2="/${prefix}/finger0_2"/>
        <disable_collisions link1="/${prefix}/finger0_1" link2="/${prefix}/finger1_1"/>
        <disable_collisions link1="/${prefix}/finger0_1" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/finger0_1" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger0_1" link2="/${prefix}/finger2_2"/>

        <disable_collisions link1="/${prefix}/finger0_2" link2="/${prefix}/finger1_1"/>
        <disable_collisions link1="/${prefix}/finger0_2" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/finger0_2" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger0_2" link2="/${prefix}/finger2_2"/>

        <disable_collisions link1="/${prefix}/finger1_1" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/finger1_1" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger1_1" link2="/${prefix}/finger2_2"/>

        <disable_collisions link1="/${prefix}/finger1_2" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/finger1_2" link2="/${prefix}/finger2_2"/>
        <disable_collisions link1="/${prefix}/finger2_1" link2="/${prefix}/finger2_2"/>

        <!-- Disable collisions between the fingers and the palm. -->
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger1_0"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger0_1"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger0_2"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger1_1"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger1_2"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger2_1"/>
        <disable_collisions link1="/${prefix}/hand_base" link2="/${prefix}/finger2_2"/>

        <!-- Sphere representation for CHOMP -->
        <link_sphere_approximation link="/${prefix}/wam_base">
            <sphere center="0.0 0.0 0.0" radius="0.15"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam1">
            <sphere center="0 0 0" radius="0"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam2">
            <sphere center="0.0 -0.2 0.0" radius="0.06"/>
            <sphere center="0.0 -0.3 0.0" radius="0.06"/>
            <sphere center="0.0 -0.4 0.0" radius="0.06"/>
            <sphere center="0.0 -0.5 0.0" radius="0.06"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam3">
            <sphere center=" 0.045 0.0 0.55" radius="0.06"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam4">
            <sphere center="-0.045 -0.2  0.0" radius="0.06"/>
            <sphere center="-0.045 -0.1  0.0" radius="0.06"/>
            <sphere center="-0.045 -0.3  0.0" radius="0.06"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam5">
            <sphere center="0 0 0" radius="0"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/wam6">
            <sphere center="0.0 -0.1 0.0" radius="0.06"/>
        </link_sphere_approximation>

        <!-- FIXME: Shouldn't wam7 have a sphere? -->
        <link_sphere_approximation link="/${prefix}/wam7">
            <sphere center="0 0 0" radius="0"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger0_1">
            <sphere center="0.05 -0.01 0.0" radius="0.04"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger1_1">
            <sphere center="0.05 -0.01 0.0" radius="0.04"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger2_1">
            <sphere center="0.05 -0.01 0.0" radius="0.04"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger0_2">
            <sphere center="0.05 0.0 0.0" radius="0.04"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger1_2">
            <sphere center="0.05 0.0 0.0" radius="0.04"/>
        </link_sphere_approximation>

        <link_sphere_approximation link="/${prefix}/finger2_2">
            <sphere center="0.05 0.0 0.0" radius="0.04"/>
        </link_sphere_approximation>
    </xacro:macro>

    <xacro:macro name="pantilt" params="name">
        <group name="${name}">
            <link name="/herb_base"/>
            <link name="/${name}/wam1"/>
            <link name="/${name}/wam2"/>

            <link_sphere_approximation link="/${name}/wam1">
                <sphere center="0 0 0" radius="0.20"/>
            </link_sphere_approximation>

            <link_sphere_approximation link="/${name}/wam2">
                <sphere center="0 0 0" radius="0"/>
            </link_sphere_approximation>
        </group>

        <!-- Dummy group to make the head look like an end-effector; e.g. to
             run inverse kinematics. HERB doesn't actually have a gripper on
             his head (maybe on HERB3?). -->
        <group name="${name}_hand"/>

        <end_effector name="head" group="${name}_hand"
                      parent_link="/${name}/wam2" parent_group="${name}"/>
    </xacro:macro>

    <xacro:wam_bh280_manipulator prefix="left"/>
    <xacro:wam_bh280_manipulator prefix="right"/>
    <xacro:pantilt name="head"/>

    <passive_joint name="/segway_wheel_left"/>
    <passive_joint name="/segway_wheel_right"/>

    <disable_collisions link1="/left/wam_base" link2="/right/wam_base"/>
    <disable_collisions link1="/left/wam1" link2="/right/wam1"/>
    <disable_collisions link1="/herb_base" link2="/head/wam2" />

    <!-- Automatically-generated by the MoveIt setup assistant. -->
    <!--
    <disable_collisions link1="/head/wam1" link2="/head/wam2" reason="Adjacent" />
    <disable_collisions link1="/head/wam1" link2="/herb_base" reason="Adjacent" />
    <disable_collisions link1="/head/wam1" link2="/left/wam1" reason="Never" />
{'fraction_non_alphanumeric': 0.19151977131967604, 'fraction_numerical': 0.05383515959980943, 'mean_word_length': 2.955016486104569, 'pattern_counts': {'":': 0, '<': 268, '<?xml version=': 0, '>': 266, 'https://': 0, 'lorem ipsum': 0, 'www.': 2, 'xml': 2}, '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': '6163782', 'n_tokens_mistral': 5937, 'n_tokens_neox': 5434, 'n_words': 812}