<commit_before><launch>
  <arg name="json" default="$(find jsk_2014_picking_challenge)/data/apc-a.json" />

  <!-- bin contents data -->
  <node pkg="jsk_2014_picking_challenge" type="bin_contents.py" name="bin_contents" respawn="true">
    <param name="json" value="$(arg json)" />
  </node>

  <!-- work order data -->
  <node pkg="jsk_2014_picking_challenge" type="work_order.py" name="work_order" respawn="true">
    <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="" />

  <!-- object verification -->
  <node ns="left_process" pkg="jsk_2014_picking_challenge" type="object_verification.py"
    name="object_verification" respawn="true">
    <param name="json" value="$(arg json)" />
    <remap from="~input" to="bof_object_matcher/output" />
  </node>
  <node ns="right_process" pkg="jsk_2014_picking_challenge" type="object_verification.py"
    name="object_verification" respawn="true">
    <param name="json" value="$(arg json)" />
    <remap from="~input" to="bof_object_matcher/output" />
  </node>

  <!-- setup params -->
  <node pkg="jsk_2014_picking_challenge" type="setup_params.py" name="setup_params">
    <param name="json" value="$(arg json)" />
  </node>

  <!-- robot main -->
  <node pkg="jsk_2014_picking_challenge" type="robot-main.l" name="challenge_main_left"
    args="&quot;(progn (apc-init :larm) (send *ri* :angle-vector (send *baxter* :fold-pose)) (main :larm))&quot;"
    respawn="true" output="screen" />
  <node pkg="jsk_2014_picking_challenge" type="robot-main.l" name="challenge_main_right"
    args="&quot;(progn (apc-init :rarm) (send *ri* :angle-vector (send *baxter* :fold-pose)) (main :rarm))&quot;"
    respawn="true" output="screen" />
</launch><commit_msg>[launch/main.launch] Add launch_main arg to main.launch<commit_after><launch>
  <arg name="launch_main" default="true" />
  <arg name="json" default="$(find jsk_2014_picking_challenge)/data/apc-a.json" />

  <!-- bin contents data -->
  <node pkg="jsk_2014_picking_challenge" type="bin_contents.py" name="bin_contents" respawn="true">
    <param name="json" value="$(arg json)" />
  </node>

  <!-- work order data -->
  <node pkg="jsk_2014_picking_challenge" type="work_order.py" name="work_order" respawn="true">
    <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="" />

  <!-- object verification -->
  <node ns="left_process" pkg="jsk_2014_picking_challenge" type="object_verification.py"
    name="object_verification" respawn="true">
    <param name="json" value="$(arg json)" />
    <remap from="~input" to="bof_object_matcher/output" />
  </node>
  <node ns="right_process" pkg="jsk_2014_picking_challenge" type="object_verification.py"
    name="object_verification" respawn="true">
    <param name="json" value="$(arg json)" />
    <remap from="~input" to="bof_object_matcher/output" />
  </node>

  <!-- setup params -->
  <node pkg="jsk_2014_picking_challenge" type="setup_params.py" name="setup_params">
    <param name="json" value="$(arg json)" />
  </node>

  <!-- robot main -->
  <node if="$(arg launch_main)" pkg="jsk_2014_picking_challenge" type="robot-main.l" name="challenge_main_left"
    args="&quot;(progn (apc-init :larm) (send *ri* :angle-vector (send *baxter* :fold-pose)) (main :larm))&quot;"
    respawn="true" output="screen" />
  <node if="$(arg launch_main)" pkg="jsk_2014_picking_challenge" type="robot-main.l" name="challenge_main_right"
    args="&quot;(progn (apc-init :rarm) (send *ri* :angle-vector (send *baxter* :fold-pose)) (main :rarm))&quot;"
    respawn="true" output="screen" />
</launch>
{'fraction_non_alphanumeric': 0.19858870967741934, 'fraction_numerical': 0.016129032258064516, 'mean_word_length': 4.941616766467066, 'pattern_counts': {'":': 0, '<': 68, '<?xml version=': 0, '>': 68, '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': '6070155', 'n_tokens_mistral': 1502, 'n_tokens_neox': 1364, 'n_words': 255}