Illegal unit of measure (pt inserted).

\protect l.1545 & [errormessage]#92;ang{40}$ & 0.52 & 0.44 & 0.27 & 0.10 & -0.01 \ Dimensions can be in units of em, ex, in, pt, pc, cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! I'll assume that you meant to say pt, for printer's points. To recover gracefully from this error, it's best to delete the erroneous units; e.g., type `2' to delete two letters. (See Chapter 27 of The TeXbook.)

! Illegal unit of measure (pt inserted). \protect l.1545 ... & [errormessage]#92;ang{40}$ & 0.52 & 0.44 & 0.27 & 0.10 & -0.01 \ Dimensions can be in units of em, ex, in, pt, pc, cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! I'll assume that you meant to say pt, for printer's points. To recover gracefully from this error, it's best to delete the erroneous units; e.g., type `2' to delete two letters. (See Chapter 27 of The TeXbook.)

\newcommand*{\MinNumber}{0}%
 \newcommand*{\MaxNumber}{1.2}%
 \pgfmathsetmacro{\MidNumber}{(0.8}%
 \def\test#1{\ifdim#1pt>\MidNumber\textcolor{gray!70}{#1}\else{#1}\fi}
 \newcommand{\ApplyGradient}[2]{\centering %
  \pgfmathsetmacro{\PercentColor}{100.0*(#1-\MinNumber)/(\MaxNumber-\MinNumber)}%
  \edef\x{\noexpand\cellcolor{black!\PercentColor}}\x\test{#1}
 }
 \newcolumntype{R}{>{\collectcell\ApplyGradient}p{1.1cm}<{\endcollectcell}}
 \newcolumntype{S}{>{\collectcell\ApplyGradient}p{0.6cm}<{\endcollectcell}}
 %
 \begin{table}[!ht]
 \centering
 \small
 % \renewcommand{\arraystretch}{0.9}
 % \begin{adjustbox}{width=0.8\textwidth}
 \begin{tabular}{>{\centering}p{1.3cm}|>{\centering}p{0.9cm}|R R R R R }
 \multicolumn{2}{c}{testing in[codesample]#92;rightarrow$}& \multicolumn{1}{c} {[codesample]#92;ang{40}$} & \multicolumn{1}{c} {[codesample]#92;ang{20}$} & \multicolumn{1}{c} {[codesample]#92;ang{0}$} & \multicolumn{1}{c} {$-\ang{20}$} & \multicolumn{1}{c} {$-\ang{40}$} \\ \midrule
  & [codesample]#92;ang{40}$ & 0.52 & 0.44 & 0.27 & 0.10 & -0.01 \\
  & [codesample]#92;ang{20}$ & 0.47 & 0.49 & 0.35 & 0.19 & 0.07 \\
 spider9 & [codesample]#92;ang{0}$ & 0.25 & 0.47 & 0.63 & 0.46 & 0.24 \\
  & $-\ang{20}$ & 0.05 & 0.17 & 0.35 & 0.55 & 0.54 \\
  & $-\ang{40}$ & 0.0 & 0.05 & 0.21 & 0.47 & 0.77 \\ 
 \midrule
  & [codesample]#92;ang{40}$ & 0.75 & 0.69 & 0.40 & 0.17 & 0.04 \\
  & [codesample]#92;ang{20}$ & 0.72 & 0.82 & 0.59 & 0.30 & 0.10 \\
 gecko7 & [codesample]#92;ang{0}$ & 0.31 & 0.65 & 1.06 & 0.96 & 0.56 \\
  & $-\ang{20}$ & 0.16 & 0.45 & 0.86 & 1.18 & 0.98 \\
  & $-\ang{40}$ & 0.03 & 0.15 & 0.40 & 0.74 & 0.96 \\ 
 \midrule
  & [codesample]#92;ang{40}$ & 1.09 & 0.75 & 0.39 & 0.14 & 0.02 \\
  & [codesample]#92;ang{20}$ & 0.54 & 0.55 & 0.33 & 0.15 & 0.04 \\
 babyA & [codesample]#92;ang{0}$ & 0.29 & 0.58 & 0.88 & 0.74 & 0.42 \\
  & $-\ang{20}$ & 0.18 & 0.47 & 0.85 & 1.09 & 0.71 \\
  & $-\ang{40}$ & 0.02 & 0.11 & 0.33 & 0.65 & 0.91 \\
 \bottomrule 
 \end{tabular}
 %
 \begin{tabular}{p{0.4cm} S}
 & 0.0 \\
 & 0.1 \\
 & 0.2 \\
 & 0.3 \\
 & 0.4 \\
 & 0.5 \\
 & 0.6 \\
 & 0.7 \\
 & 0.8 \\
 & 0.9 \\
 & 1.0 \\
 & 1.1 \\
 & 1.2 \\
 \end{tabular}
 % \end{adjustbox}
 \caption{Robustness of the top learned controllers for different directions in the real world. 
 The data shows the fitness that the top controllers of three robots in 5 directions (the second column) perform in another directions (the first row). 
 The fitness value in a cell is averaged over three controller and three repetitions for each controller. 
 The dark and light color represent the high and low fitness value respectively.}
 \label{tab:robustness}
 \end{table}