How to use rosparam get in launch file? [closed]

edit

I would like to do something like this in my launch file:

<launch>
    <rosparam command="load" file="$(find project)/config/datasets/dataset1.yaml" />
    <node pkg="tf" type="static_transform_publisher" name="corner1_to_center" args="$(arg boxes[0][0].x)/2 $(arg boxes[0][0].y)/2 -$(arg boxes[0][0].z)/2 0 0 0 1 box_corner1 box1 5" />
</launch>

and my yaml looks like this:

num_boxes: 1
boxes: [[x: 0.349, y: 0.213, z: 0.117]]

How can I do this?