def _get_pairwise_constraints()

in mujoco_worldgen/util/placement.py [0:0]

• 32 lines of code
• 10 McCabe index (conditional complexity)

def _get_pairwise_constraints(xy, boxes, placement_margin):
    a_pairwise = []
    b_pairwise = []
    violated = [0.0 for _ in range(len(boxes))]
    sizes = [box["size"] for box in boxes]
    for idx0, s0 in enumerate(sizes):
        for idx1, s1 in enumerate(sizes):
            if idx1 <= idx0:
                continue
            a_small = []
            b_small = []

            for axis in [0, 1]:
                # x0 >= x1 + s1[0] or y0 >= y1 + s1[1]
                a = np.zeros(2 * len(boxes))
                a[idx0 + axis * len(boxes)] = 1.0
                a[idx1 + axis * len(boxes)] = -1.0
                a_small.append(a)
                b_small.append(s1[axis] + placement_margin)

                # x1 >= x0 + s0[0] or y1 >= y0 + s0[1]
                a = np.zeros(2 * len(boxes))
                a[idx0 + axis * len(boxes)] = -1.0
                a[idx1 + axis * len(boxes)] = 1.0
                a_small.append(a)
                b_small.append(s0[axis] + placement_margin)

            a_small = np.stack(a_small)
            b_small = np.array(b_small)
            ret = np.matmul(a_small, xy) - b_small
            idx = np.argmax(ret)
            a_pairwise.append(a_small[idx])
            b_pairwise.append(b_small[idx])
            if ret[idx] <= -1e-4:
                violated[idx0] += ret[idx]
                violated[idx1] += ret[idx]
    return a_pairwise, b_pairwise, violated