<commit_before><launch>
  <arg name="NODELET_MANAGER" />
  <arg name="NODELET_ID_0" />

  <arg name="INPUT_CLOUD"/>
  <arg name="INPUT_IMAGE"/>
  <arg name="HAND" />

  <group ns="$(arg NODELET_MANAGER)">
    <rosparam subst_value="true">
      $(arg NODELET_ID_0):
        - name: $(arg HAND)_in_tote_extract_pi
          type: jsk_pcl/ExtractIndices
          remappings:
            - from: ~input
              to: $(arg INPUT_CLOUD)
            - from: ~indices
              to: $(arg HAND)_in_tote_clipper/output/point_indices
        - name: $(arg HAND)_in_tote_euclid_clustering
          type: jsk_pcl/EuclideanClustering
          remappings:
            - from: ~input
              to: $(arg HAND)_in_tote_extract_pi/output
        - name: $(arg HAND)_in_tote_cpi_decomposer
          type: jsk_pcl/ClusterPointIndicesDecomposer
          remappings:
            - from: ~input
              to: $(arg HAND)_in_tote_extract_pi/output
            - from: ~target
              to: $(arg HAND)_in_tote_euclid_clustering/output
        - name: $(arg HAND)_in_tote_supervoxel
          type: jsk_pcl/SupervoxelSegmentation
          remappings:
            - from: ~input
              to: $(arg HAND)_in_tote_extract_pi/output
        - name: $(arg HAND)_in_tote_supervoxel_cpi_decomposer
          type: jsk_pcl/ClusterPointIndicesDecomposer
          remappings:
            - from: ~input
              to: $(arg HAND)_in_tote_supervoxel/output/cloud
            - from: ~target
              to: $(arg HAND)_in_tote_supervoxel/output/indices
    </rosparam>
  </group>
  <group ns="$(arg HAND)_in_tote_extract_pi">
    <rosparam>
      max_queue_size: 50
      keep_organized: true
    </rosparam>
  </group>
  <group ns="$(arg HAND)_in_tote_euclid_clustering">
    <rosparam>
      tolerance: 0.02
      min_size: 500
      max_size: 100000
    </rosparam>
  </group>
  <group ns="$(arg HAND)_in_tote_cpi_decomposer">
    <rosparam>
      queue_size: 50
    </rosparam>
  </group>
  <group ns="$(arg HAND)_in_tote_supervoxel">
    <rosparam>
      color_importance: 0.2
      spatial_importance: 0.4
      normal_importance: 1.0
      voxel_resolution: 0.01
      seed_resolution: 0.1
    </rosparam>
  </group>
  <group ns="$(arg HAND)_in_tote_supervoxel_cpi_decomposer">
    <rosparam>
      queue_size: 50
    </rosparam><commit_msg>remove unused nodes from segmentation_each_object_in_tote<commit_after><launch>
  <arg name="NODELET_MANAGER" />
  <arg name="NODELET_ID_0" />

  <arg name="INPUT_CLOUD"/>
  <arg name="INPUT_IMAGE"/>
  <arg name="HAND" />

  <group ns="$(arg NODELET_MANAGER)">
    <rosparam subst_value="true">
      $(arg NODELET_ID_0):
        - name: $(arg HAND)_in_tote_extract_pi
          type: jsk_pcl/ExtractIndices
          remappings:
            - from: ~input
              to: $(arg INPUT_CLOUD)
            - from: ~indices
              to: $(arg HAND)_in_tote_clipper/output/point_indices
        - name: $(arg HAND)_in_tote_supervoxel
          type: jsk_pcl/SupervoxelSegmentation
          remappings:
            - from: ~input
              to: $(arg HAND)_in_tote_extract_pi/output
        - name: $(arg HAND)_in_tote_supervoxel_cpi_decomposer
          type: jsk_pcl/ClusterPointIndicesDecomposer
          remappings:
            - from: ~input
              to: $(arg HAND)_in_tote_supervoxel/output/cloud
            - from: ~target
              to: $(arg HAND)_in_tote_supervoxel/output/indices
    </rosparam>
  </group>
  <group ns="$(arg HAND)_in_tote_extract_pi">
    <rosparam>
      max_queue_size: 50
      keep_organized: true
    </rosparam>
  </group>
  <group ns="$(arg HAND)_in_tote_supervoxel">
    <rosparam>
      color_importance: 0.2
      spatial_importance: 0.4
      normal_importance: 1.0
      voxel_resolution: 0.01
      seed_resolution: 0.1
    </rosparam>
  </group>
  <group ns="$(arg HAND)_in_tote_supervoxel_cpi_decomposer">
    <rosparam>
      queue_size: 50
    </rosparam>
{'fraction_non_alphanumeric': 0.1111111111111111, 'fraction_numerical': 0.012093726379440665, 'mean_word_length': 2.3417508417508417, 'pattern_counts': {'":': 0, '<': 53, '<?xml version=': 0, '>': 53, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, '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': '832564', 'n_tokens_mistral': 1479, 'n_tokens_neox': 1410, 'n_words': 242}