<commit_before><launch>
  <!-- args -->
  <arg name="custom" default="true"/>
  <arg name="bof" default="true"/>
  <arg name="rosserial" default="true"/>
  <arg name="launch_main" default="false"/>
  <arg name="json" default="$(find jsk_2014_picking_challenge)/data/apc-a.json" />
  <arg name="passthrough" default="false" />

  <!-- tf of baxter's footprint -->
  <node pkg="tf" type="static_transform_publisher" name="base_footprint" args="0 0 -0.95 0 0 0 base base_footprint 100"/>

  <!-- custom vacuum link -->
  <include file="$(find jsk_2014_picking_challenge)/launch/upload_baxter.launch">
    <arg name="custom" value="$(arg custom)"/>
  </include>

  <!-- tf of kinect2 -->
  <include file="$(find jsk_2014_picking_challenge)/launch/kinect2_tf.launch"></include>

  <!-- rosserial -->
  <include if="$(arg rosserial)" file="$(find jsk_2014_picking_challenge)/launch/rosserial.launch" />

  <!-- bin contents data -->
  <node pkg="jsk_2014_picking_challenge" type="bin_contents.py" name="bin_contents" output="log">
    <param name="json" value="$(arg json)" />
  </node>
  <!-- work order data -->
  <node pkg="jsk_2014_picking_challenge" type="work_order.py" name="work_order" output="log">
    <param name="json" value="$(arg json)" />
  </node>

  <!-- parameter -->
  <param name="/left_process/target" value="" />
  <param name="/right_process/target" value="" />
  <param name="/left_process/state" value="" />
  <param name="/right_process/state" value="" />
  <node pkg="jsk_2014_picking_challenge" type="setup_target.py" name="setup_target" output="log">
    <param name="json" value="$(arg json)" />
  </node>

  <!-- main -->
  <node if="$(arg launch_main)" pkg="jsk_2014_picking_challenge" type="robot-main.l" name="challenge_main_left"
        args="&quot;(progn (apc-init :larm) (main :larm))&quot;" respawn="true" output="screen" />
  <node if="$(arg launch_main)" pkg="jsk_2014_picking_challenge" type="robot-main.l" name="challenge_main_right"
        args="&quot;(progn (apc-init :rarm) (main :rarm))&quot;" respawn="true" output="screen" />

  <!-- recognition -->
  <group if="$(arg passthrough)">
    <include file="$(find jsk_2014_picking_challenge)/launch/passthrough_image.launch"/>
    <include file="$(find jsk_2014_picking_challenge)/launch/bof_object_matcher.launch">
      <arg name="input_image" value="/apply_mask/output" />
      <arg name="input_info" value="/kinect2/rgb/camera_info" />
    </include>
    <node pkg="jsk_2014_picking_challenge" type="object_verification.py" name="object_verification">
      <param name="json" value="$(arg json)" />
      <remap from="~input" to="bof_object_matcher/output" />
    </node>
  </group>
  <group unless="$(arg passthrough)"><commit_msg>[challenge.launch] fix wrong file name setup_params.py<commit_after><launch>
  <!-- args -->
  <arg name="custom" default="true"/>
  <arg name="bof" default="true"/>
  <arg name="rosserial" default="true"/>
  <arg name="launch_main" default="false"/>
  <arg name="json" default="$(find jsk_2014_picking_challenge)/data/apc-a.json" />
  <arg name="passthrough" default="false" />

  <!-- tf of baxter's footprint -->
  <node pkg="tf" type="static_transform_publisher" name="base_footprint" args="0 0 -0.95 0 0 0 base base_footprint 100"/>

  <!-- custom vacuum link -->
  <include file="$(find jsk_2014_picking_challenge)/launch/upload_baxter.launch">
    <arg name="custom" value="$(arg custom)"/>
  </include>

  <!-- tf of kinect2 -->
  <include file="$(find jsk_2014_picking_challenge)/launch/kinect2_tf.launch"></include>

  <!-- rosserial -->
  <include if="$(arg rosserial)" file="$(find jsk_2014_picking_challenge)/launch/rosserial.launch" />

  <!-- bin contents data -->
  <node pkg="jsk_2014_picking_challenge" type="bin_contents.py" name="bin_contents" output="log">
    <param name="json" value="$(arg json)" />
  </node>
  <!-- work order data -->
  <node pkg="jsk_2014_picking_challenge" type="work_order.py" name="work_order" output="log">
    <param name="json" value="$(arg json)" />
  </node>

  <!-- parameter -->
  <param name="/left_process/target" value="" />
  <param name="/right_process/target" value="" />
  <param name="/left_process/state" value="" />
  <param name="/right_process/state" value="" />
  <node pkg="jsk_2014_picking_challenge" type="setup_params.py" name="setup_params" output="log">
    <param name="json" value="$(arg json)" />
  </node>

  <!-- main -->
  <node if="$(arg launch_main)" pkg="jsk_2014_picking_challenge" type="robot-main.l" name="challenge_main_left"
        args="&quot;(progn (apc-init :larm) (main :larm))&quot;" respawn="true" output="screen" />
  <node if="$(arg launch_main)" pkg="jsk_2014_picking_challenge" type="robot-main.l" name="challenge_main_right"
        args="&quot;(progn (apc-init :rarm) (main :rarm))&quot;" respawn="true" output="screen" />

  <!-- recognition -->
  <group if="$(arg passthrough)">
    <include file="$(find jsk_2014_picking_challenge)/launch/passthrough_image.launch"/>
    <include file="$(find jsk_2014_picking_challenge)/launch/bof_object_matcher.launch">
      <arg name="input_image" value="/apply_mask/output" />
      <arg name="input_info" value="/kinect2/rgb/camera_info" />
    </include>
    <node pkg="jsk_2014_picking_challenge" type="object_verification.py" name="object_verification">
      <param name="json" value="$(arg json)" />
      <remap from="~input" to="bof_object_matcher/output" />
    </node>
  </group>
  <group unless="$(arg passthrough)">
{'fraction_non_alphanumeric': 0.19574313261779153, 'fraction_numerical': 0.022557758777515008, 'mean_word_length': 4.715176715176715, 'pattern_counts': {'":': 0, '<': 105, '<?xml version=': 0, '>': 105, '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': '125790', 'n_tokens_mistral': 2076, 'n_tokens_neox': 1834, 'n_words': 344}