text: import numpy as np
  try:
      import rospy
  except ImportError as e:
      print("constants.py could not import rospy")
      rospy = None
  
  def GetColors():
      colors = ["red", "blue", "yellow", "green"]
      return colors
  
  def GetHomeJointSpace():
      """ Default home joint angle pose for the ur5 robot
      """
      # To change this also change ur5.launch in costar_stack
      # and update the hardcoded value below in GetHomePose()
      Q_HOME = [-0.202, -0.980, -1.800, -0.278, 1.460, 1.613]
      # TODO(ahundt) define and generate random valid home positions
      # Q_HOME[-1] += np.random.uniform(-np.pi, np.pi)
      # Q_HOME was formerly: 
      # Q_HOME = [0.3, -1.33, -1.8, -0.27, 1.5, 1.6]
      if rospy is not None:
          try:
              Q_HOME = rospy.get_param('/costar/robot/home')
          except KeyError as e:
              rospy.logwarn("CoSTAR home position not set, using default:" + str(Q_HOME))
      else:
          print("Warning: using hardcoded home joint angles because rospy is not available.")
  
      # [-0.202, -0.980, -1.800, -0.278, 1.460, 1.613]
      return Q_HOME
  
  def GetHomePose():
      """ Home Pose as a vector and quaternion
        data order: x y z qx qy qz qw
  
          Warning: this is currently fixed to a constant value
          and will be incorrect if the rosparam /costar/robot/home changes.
      """
      # TODO(ahundt) generate this value based on GetHomeJointSpace.
      vec_quat_home = [0.1762, -0.1558, 0.682, -0.7112, 0.1410, 0.0788, -0.6843]
      return vec_quat_home
  