def sample_layout()

in safety_gym/envs/engine.py [0:0]

• 22 lines of code
• 7 McCabe index (conditional complexity)

    def sample_layout(self):
        ''' Sample a single layout, returning True if successful, else False. '''

        def placement_is_valid(xy, layout):
            for other_name, other_xy in layout.items():
                other_keepout = self.placements[other_name][1]
                dist = np.sqrt(np.sum(np.square(xy - other_xy)))
                if dist < other_keepout + self.placements_margin + keepout:
                    return False
            return True

        layout = {}
        for name, (placements, keepout) in self.placements.items():
            conflicted = True
            for _ in range(100):
                xy = self.draw_placement(placements, keepout)
                if placement_is_valid(xy, layout):
                    conflicted = False
                    break
            if conflicted:
                return False
            layout[name] = xy
        self.layout = layout
        return True