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org.eclipse.swtbot.releng/readme.txt lists the required tools for building SWTBot at the cmdline. It fails to indicate that ant-contrib is required. The lack of it results in obscure build failures.
The user need not download the file. Run 'ant materialize-workspace' to download all dependencies. This target is documented. Marking as wontfix.
I assure you 'ant materialize-workspace' failed without ant-contrib. It worked only after I manually installed ant-contrib. This is on a Windows XP machine.
I ran the ant build on another machine and that succeeded without having to manually install ant-contrib, so confirming that this is likely user error (mine).