Spaces:
Build error
Build error
File size: 1,551 Bytes
9a40e4f |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 |
import numpy as np
# # Global constants: pick and place objects, colors, workspace bounds
COLORS = {
'blue': (78/255, 121/255, 167/255, 255/255),
'red': (255/255, 87/255, 89/255, 255/255),
'green': (89/255, 169/255, 79/255, 255/255),
'orange': (242/255, 142/255, 43/255, 255/255),
'yellow': (237/255, 201/255, 72/255, 255/255),
'purple': (176/255, 122/255, 161/255, 255/255),
'pink': (255/255, 157/255, 167/255, 255/255),
'cyan': (118/255, 183/255, 178/255, 255/255),
'brown': (156/255, 117/255, 95/255, 255/255),
'gray': (186/255, 176/255, 172/255, 255/255),
}
CORNER_POS = {
'top left corner': (-0.3 + 0.05, -0.2 - 0.05, 0),
'top side': (0, -0.2 - 0.05, 0),
'top right corner': (0.3 - 0.05, -0.2 - 0.05, 0),
'left side': (-0.3 + 0.05, -0.5, 0),
'middle': (0, -0.5, 0),
'right side': (0.3 - 0.05, -0.5, 0),
'bottom left corner': (-0.3 + 0.05, -0.8 + 0.05, 0),
'bottom side': (0, -0.8 + 0.05, 0),
'bottom right corner': (0.3 - 0.05, -0.8 + 0.05, 0),
}
ALL_BLOCKS = ['blue block', 'red block', 'green block', 'orange block', 'yellow block', 'purple block', 'pink block', 'cyan block', 'brown block', 'gray block']
ALL_BOWLS = ['blue bowl', 'red bowl', 'green bowl', 'orange bowl', 'yellow bowl', 'purple bowl', 'pink bowl', 'cyan bowl', 'brown bowl', 'gray bowl']
PIXEL_SIZE = 0.00267857
BOUNDS = np.float32([[-0.3, 0.3], [-0.8, -0.2], [0, 0.15]]) # X Y Z |