<commit_before><launch>
  <node name="tabletop_pushing_perception" pkg="tabletop_pushing" type="tabletop_pushing_perception_node" respawn="false" output="screen">
    <remap from="color_image_topic" to="/kinect_head/rgb/image_color"/>
    <remap from="depth_image_topic" to="/kinect_head/depth/image"/>
    <remap from="point_cloud_topic" to="/kinect_head/depth/points"/>

    <param name="crop_min_x" value="15" type="int"/>
    <param name="crop_max_x" value="600" type="int"/>
    <param name="crop_min_y" value="30" type="int"/>
    <param name="crop_max_y" value="470" type="int"/>

    <param name="display_wait_ms" value="3" type="int"/>
    <param name="autostart_tracking" value="false" type="bool"/>

    <param name="workspace_frame" value="/torso_lift_link" type="string"/>
    <param name="min_workspace_x" value="-1.0" type="double"/>
    <param name="max_workspace_x" value="1.75" type="double"/>
    <param name="min_workspace_y" value="-1.2" type="double"/>
    <param name="max_workspace_y" value="1.2" type="double"/>
    <param name="min_workspace_z" value="-0.8" type="double"/>
    <param name="max_workspace_z" value="0.6" type="double"/>

    <param name="min_table_z" value="-1.0" type="double"/>
    <param name="max_table_z" value="1.0" type="double"/>

    <param name="num_hist_frames" value="15" type="int"/>
    <param name="T_in" value="1" type="double"/>
    <param name="T_out" value="8" type="double"/>
    <param name="erosion_size" value="3" type="int"/>

    <param name="mgc_w_f" value="1.0" type="double"/>
    <param name="mgc_w_b" value="0.5" type="double"/>
    <param name="mgc_w_n_f" value="0.25" type="double"/>
    <param name="mgc_w_n_b" value="0.5" type="double"/>
    <param name="mgc_w_w_b" value="1.0" type="double"/>
    <param name="mgc_u_b" value="0.5" type="double"/>
    <param name="mgc_u_f" value="0.5" type="double"/>
    <param name="mgc_eigen_ratio" value="5.0" type="double"/>
    <param name="mgc_magnitude_thresh" value="0.5" type="double"/>

    <param name="lk_win_size" value="5" type="int"/>
    <param name="lk_num_levels" value="1" type="int"/>

  </node>
</launch><commit_msg>Changed weights for the graphcut a bit, so that not moving things are slightly biased towards background.<commit_after><launch>
  <node name="tabletop_pushing_perception" pkg="tabletop_pushing" type="tabletop_pushing_perception_node" respawn="false" output="screen">
    <remap from="color_image_topic" to="/kinect_head/rgb/image_color"/>
    <remap from="depth_image_topic" to="/kinect_head/depth/image"/>
    <remap from="point_cloud_topic" to="/kinect_head/depth/points"/>

    <param name="crop_min_x" value="15" type="int"/>
    <param name="crop_max_x" value="600" type="int"/>
    <param name="crop_min_y" value="30" type="int"/>
    <param name="crop_max_y" value="470" type="int"/>

    <param name="display_wait_ms" value="3" type="int"/>
    <param name="autostart_tracking" value="false" type="bool"/>

    <param name="workspace_frame" value="/torso_lift_link" type="string"/>
    <param name="min_workspace_x" value="-1.0" type="double"/>
    <param name="max_workspace_x" value="1.75" type="double"/>
    <param name="min_workspace_y" value="-1.2" type="double"/>
    <param name="max_workspace_y" value="1.2" type="double"/>
    <param name="min_workspace_z" value="-0.8" type="double"/>
    <param name="max_workspace_z" value="0.6" type="double"/>

    <param name="min_table_z" value="-1.0" type="double"/>
    <param name="max_table_z" value="1.0" type="double"/>

    <param name="num_hist_frames" value="15" type="int"/>
    <param name="T_in" value="1" type="double"/>
    <param name="T_out" value="8" type="double"/>
    <param name="erosion_size" value="3" type="int"/>

    <param name="mgc_w_f" value="1.0" type="double"/>
    <param name="mgc_w_b" value="0.505" type="double"/>
    <param name="mgc_w_n_f" value="0.25" type="double"/>
    <param name="mgc_w_n_b" value="0.5" type="double"/>
    <param name="mgc_w_w_b" value="1.0" type="double"/>
    <param name="mgc_u_b" value="0.5" type="double"/>
    <param name="mgc_u_f" value="0.5" type="double"/>
    <param name="mgc_eigen_ratio" value="5.0" type="double"/>
    <param name="mgc_magnitude_thresh" value="0.5" type="double"/>

    <param name="lk_win_size" value="5" type="int"/>
    <param name="lk_num_levels" value="1" type="int"/>

  </node>
</launch>
{'fraction_non_alphanumeric': 0.20364464692482917, 'fraction_numerical': 0.025056947608200455, 'mean_word_length': 5.167134831460674, 'pattern_counts': {'":': 0, '<': 77, '<?xml version=': 0, '>': 77, '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': '3520939', 'n_tokens_mistral': 1677, 'n_tokens_neox': 1621, 'n_words': 291}