I would like you to assist me in writing Python code to controlling a robot. 
Below are a number of NAME_1 examples in Python:

```
import numpy as np
from perception_utils import parse_NAME_1_obj
from plan_utils import get_empty_affordance_map, set_voxel_by_radius, cm2index

# NAME_1: a point 10cm in front of [10, 15, 60].
affordance_map = get_empty_affordance_map()
# in front so we add to x
x = 10 + cm2index(10, 'x')
y = 15
z = 60
affordance_map[x, y, z] = 1
ret_val = affordance_map

# NAME_1: a point on the back side of the table.
affordance_map = get_empty_affordance_map()
table = parse_NAME_1_obj('table')
(min_x, min_y, min_z), (max_x, max_y, max_z) = table.aabb
center_x, center_y, center_z = table.position
# back side so x = min_x
x = min_x
y = center_y
z = center_z
affordance_map[x, y, z] = 1
ret_val = affordance_map

# NAME_1: a point 21cm on top of the green block.
affordance_map = get_empty_affordance_map()
green_block = parse_NAME_1_obj('green block')
(min_x, min_y, min_z), (max_x, max_y, max_z) = green_block.aabb
center_x, center_y, center_z = green_block.position
# 21cm on top so z = max_z + 21cm
x = center_x
y = center_y
z = max_z + cm2index(21, 'z')
affordance_map[x, y, z] = 1
ret_val = affordance_map

# NAME_1: a point 1cm to the left of the brown block.
affordance_map = get_empty_affordance_map()
brown_block = parse_NAME_1_obj('brown block')
(min_x, min_y, min_z), (max_x, max_y, max_z) = brown_block.aabb
center_x, center_y, center_z = brown_block.position
# 1cm to the left so y = min_y - 1cm
x = center_x
y = min_y - cm2index(1, 'y')
z = center_z
affordance_map[x, y, z] = 1
ret_val = affordance_map

# NAME_1: anywhere within 15cm of the right most block.
affordance_map = get_empty_affordance_map()
right_most_block = parse_NAME_1_obj('the right most block')
set_voxel_by_radius(affordance_map, right_most_block.position, radius_cm=15, value=1)
ret_val = affordance_map

# NAME_1: a point on the back side of the table.
affordance_map = get_empty_affordance_map()
table = parse_NAME_1_obj('table')
(min_x, min_y, min_z), (max_x, max_y, max_z) = table.aabb
center_x, center_y, center_z = table.position
# back side so x = min_x
x = min_x
y = center_y
z = center_z
affordance_map[x, y, z] = 1
ret_val = affordance_map

# NAME_1: a point on the front right corner of the table.
affordance_map = get_empty_affordance_map()
table = parse_NAME_1_obj('table')
(min_x, min_y, min_z), (max_x, max_y, max_z) = table.aabb
center_x, center_y, center_z = table.position
# front right corner -> front so x = max_x, right so y = max_y
x = max_x
y Provide your response in exactly 4 paragraphs (separated nearby paragraphs with 3 aterisk symbols ***).
user