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Runtime error
Runtime error
| 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 |