<commit_before><launch>
  <node name="object_singulation_perception" pkg="tabletop_pushing" type="object_singulation_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="use_displays" value="true" type="bool"/>
    <param name="display_wait_ms" value="3" type="int"/>
    <param name="autostart_pcl_segmentation" value="false" type="bool"/>
    <param name="use_guided_pushes" value="true" type="bool"/>
    <param name="write_to_disk" value="true" type="bool"/>

    <param name="crop_min_x" value="22" type="int"/>
    <param name="crop_max_x" value="593" type="int"/>
    <param name="crop_min_y" value="32" type="int"/>
    <param name="crop_max_y" value="469" type="int"/>

    <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="below_table_z" value="0.1" type="double"/>

    <param name="num_downsamples" value="1" type="int"/>

    <param name="pcl_cluster_tolerance" value="0.03" type="double"/>
    <param name="pcl_min_cluster_size" value="50" type="int"/>
    <param name="pcl_max_cluster_size" value="25000" type="int"/>
    <param name="pcl_voxel_downsample_res" value="0.005" type="double"/>
    <param name="pcl_cloud_intersect_thresh" value="0.0025" type="double"/>
    <param name="pcl_concave_hull_alpha" value="0.1" type="double"/>
    <param name="use_pcl_voxel_downsample" value="false" type="bool"/>
    <param name="table_ransac_thresh" value="0.015" type="double"/>
    <param name="table_ransac_angle_thresh" value="5.0" type="double"/>
    <param name="pcl_difference_thresh" value="0.0001" type="double"/>

    <param name="min_table_z" value="-1.0" type="double"/>
    <param name="max_table_z" value="1.0" type="double"/>
    <param name="min_pushing_y" value="-1.0" type="double"/>
    <param name="max_pushing_y" value="1.0" type="double"/>
    <param name="min_pushing_x" value="0.0" type="double"/>
    <param name="max_pushing_x" value="2.0" type="double"/>

    <param name="threshold_edges" value="true" type="bool"/>
    <param name="edge_weight_thresh" value="0.1" type="double"/>
    <param name="depth_edge_weight_thresh" value="0.05" type="double"/>
    <param name="depth_edge_weight" value="0.75" type="double"/>

    <param name="boundary_ransac_thresh" value="0.05" type="double"/>
    <param name="min_edge_length" value="4" type="int"/>
    <param name="os_min_cluster_size" value="1" type="int"/>
    <param name="os_min_boundary_length" value="4" type="int"/>
    <param name="os_hist_bin_width" value="5" type="int"/>
    <param name="os_hist_bin_height" value="15" type="int"/>

    <param name="num_anlge_bins" value="8" type="int"/>
    <param name="img_output_path" value="/u/thermans/data/new/" type="string"/>
  </node>
</launch><commit_msg>Up minimum cluster size for a split.<commit_after><launch>
  <node name="object_singulation_perception" pkg="tabletop_pushing" type="object_singulation_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="use_displays" value="true" type="bool"/>
    <param name="display_wait_ms" value="3" type="int"/>
    <param name="autostart_pcl_segmentation" value="false" type="bool"/>
    <param name="use_guided_pushes" value="true" type="bool"/>
    <param name="write_to_disk" value="true" type="bool"/>

    <param name="crop_min_x" value="22" type="int"/>
    <param name="crop_max_x" value="593" type="int"/>
    <param name="crop_min_y" value="32" type="int"/>
    <param name="crop_max_y" value="469" type="int"/>

    <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="below_table_z" value="0.1" type="double"/>

    <param name="num_downsamples" value="1" type="int"/>

    <param name="pcl_cluster_tolerance" value="0.03" type="double"/>
    <param name="pcl_min_cluster_size" value="50" type="int"/>
    <param name="pcl_max_cluster_size" value="25000" type="int"/>
    <param name="pcl_voxel_downsample_res" value="0.005" type="double"/>
    <param name="pcl_cloud_intersect_thresh" value="0.0025" type="double"/>
    <param name="pcl_concave_hull_alpha" value="0.1" type="double"/>
    <param name="use_pcl_voxel_downsample" value="false" type="bool"/>
    <param name="table_ransac_thresh" value="0.015" type="double"/>
    <param name="table_ransac_angle_thresh" value="5.0" type="double"/>
    <param name="pcl_difference_thresh" value="0.0001" type="double"/>

    <param name="min_table_z" value="-1.0" type="double"/>
    <param name="max_table_z" value="1.0" type="double"/>
    <param name="min_pushing_y" value="-1.0" type="double"/>
    <param name="max_pushing_y" value="1.0" type="double"/>
    <param name="min_pushing_x" value="0.0" type="double"/>
    <param name="max_pushing_x" value="2.0" type="double"/>

    <param name="threshold_edges" value="true" type="bool"/>
    <param name="edge_weight_thresh" value="0.1" type="double"/>
    <param name="depth_edge_weight_thresh" value="0.05" type="double"/>
    <param name="depth_edge_weight" value="0.75" type="double"/>

    <param name="boundary_ransac_thresh" value="0.05" type="double"/>
    <param name="min_edge_length" value="4" type="int"/>
    <param name="os_min_cluster_size" value="5" type="int"/>
    <param name="os_min_boundary_length" value="4" type="int"/>
    <param name="os_hist_bin_width" value="5" type="int"/>
    <param name="os_hist_bin_height" value="15" type="int"/>

    <param name="num_anlge_bins" value="8" type="int"/>
    <param name="img_output_path" value="/u/thermans/data/new/" type="string"/>
  </node>
</launch>
{'fraction_non_alphanumeric': 0.1953230400239844, 'fraction_numerical': 0.026682656273422277, 'mean_word_length': 5.554027504911591, 'pattern_counts': {'":': 0, '<': 109, '<?xml version=': 0, '>': 109, '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': '5043654', 'n_tokens_mistral': 2476, 'n_tokens_neox': 2375, 'n_words': 409}