constraint_functions.py

from copy import copy

def get_on_constraint(obj_A, obj_B, is_adjacent, is_on_floor, room_dimensions, cot_data):
    """
    obj_A is on obj_B
    """
    size_A = copy(obj_A["size_in_meters"])
    pos_B = obj_B["position"]
    size_B = copy(obj_B["size_in_meters"])
    cot_data.append(f"The size of {obj_A['new_object_id']} is {size_A}. The size and position of {obj_B['new_object_id']} are {size_B} and {pos_B}.")
    cot_data.append(f"The room dimension is {room_dimensions}.")

    if obj_A["rotation"]["z_angle"] in [90.0, 270.0]:
        size_A["length"], size_A["width"] = size_A["width"], size_A["length"]
        cot_data.append(f"The z-axis rotation angle of {obj_A['new_object_id']} is 90° or 270°, swap the length and width of {obj_A['new_object_id']}.")
    if obj_B["rotation"]["z_angle"] in [90.0, 270.0]:
        size_B["length"], size_B["width"] = size_B["width"], size_B["length"]
        cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90° or 270°, swap the length and width of {obj_B['new_object_id']}.")

    if obj_B["new_object_id"] not in ["south_wall", "north_wall", "east_wall", "west_wall", "ceiling"]:
        z_min = pos_B["z"] + size_B["height"] / 2 + size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2
        z_max = pos_B["z"] + size_B["height"] / 2 + size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2
        x_min = pos_B["x"] - size_B["length"] / 2 + size_A["length"] / 2
        x_max = pos_B["x"] + size_B["length"] / 2 - size_A["length"] / 2
        y_min = pos_B["y"] - size_B["width"] / 2 + size_A["width"] / 2
        y_max = pos_B["y"] + size_B["width"] / 2 - size_A["width"] / 2
        if not is_on_floor:
            cot_data.append(f"{obj_B['new_object_id']} is not a wall or ceiling. {obj_A['new_object_id']} is not on the floor. z_min = {pos_B['z']} + {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {pos_B['z']} + {size_B['height']} / 2 + {size_A['height']} / 2 = {z_max}, x_min = {pos_B['x']} - {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {pos_B['x']} + {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {pos_B['y']} - {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {pos_B['y']} + {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
        else:
            cot_data.append(f"{obj_B['new_object_id']} is not a wall or ceiling. {obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {pos_B['x']} - {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {pos_B['x']} + {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {pos_B['y']} - {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {pos_B['y']} + {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
    elif obj_B["new_object_id"] == "ceiling":
        z_min = pos_B["z"] - size_B["height"] / 2 - size_A["height"] / 2
        z_max = pos_B["z"] - size_B["height"] / 2 - size_A["height"] / 2
        x_min = pos_B["x"] - size_B["length"] / 2 + size_A["length"] / 2
        x_max = pos_B["x"] + size_B["length"] / 2 - size_A["length"] / 2
        y_min = pos_B["y"] - size_B["width"] / 2 + size_A["width"] / 2
        y_max = pos_B["y"] + size_B["width"] / 2 - size_A["width"] / 2
        cot_data.append(f"{obj_B['new_object_id']} is a ceiling. z_min = {pos_B['z']} - {size_B['height']} / 2 - {size_A['height']} / 2 = {z_min}, z_max = {pos_B['z']} - {size_B['height']} / 2 - {size_A['height']} / 2 = {z_max}, x_min = {pos_B['x']} - {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {pos_B['x']} + {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {pos_B['y']} - {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {pos_B['y']} + {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
    elif obj_B["new_object_id"] == "middle of the room":
        z_min = pos_B["z"] + size_B["height"] / 2 + size_A["height"] / 2
        z_max = pos_B["z"] + size_B["height"] / 2 + size_A["height"] / 2
        x_min = pos_B["x"] - size_B["length"] / 2 + size_A["length"] / 2
        x_max = pos_B["x"] + size_B["length"] / 2 - size_A["length"] / 2
        y_min = pos_B["y"] - size_B["width"] / 2 + size_A["width"] / 2
        y_max = pos_B["y"] + size_B["width"] / 2 - size_A["width"] / 2
        cot_data.append(f"{obj_B['new_object_id']} is middle of the room. z_min = {pos_B['z']} + {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {pos_B['z']} + {size_B['height']} / 2 + {size_A['height']} / 2 = {z_max}, x_min = {pos_B['x']} - {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {pos_B['x']} + {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {pos_B['y']} - {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {pos_B['y']} + {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
    else:
        z_min = pos_B["z"] - size_B["height"] / 2 + size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2
        z_max = pos_B["z"] + size_B["height"] / 2 - size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2
        sign_map = {
            "west_wall" : (+1, +1, -1, +1, +1, +1, +1, -1),
            "east_wall" : (-1, -1, -1, +1, -1, -1, +1, -1),
            "north_wall" : (-1, +1, -1, -1, +1, -1, -1, -1),
            "south_wall" : (-1, +1, +1, +1, +1, -1, +1, +1),
        }
        x_min = pos_B["x"] + sign_map[obj_B["new_object_id"]][0] * size_B["length"] / 2 + sign_map[obj_B["new_object_id"]][4] * size_A["length"] / 2
        x_max = pos_B["x"] + sign_map[obj_B["new_object_id"]][1] * size_B["length"] / 2 + sign_map[obj_B["new_object_id"]][5] * size_A["length"] / 2
        y_min = pos_B["y"] + sign_map[obj_B["new_object_id"]][2] * size_B["width"] / 2 + sign_map[obj_B["new_object_id"]][6] * size_A["width"] / 2
        y_max = pos_B["y"] + sign_map[obj_B["new_object_id"]][3] * size_B["width"] / 2 + sign_map[obj_B["new_object_id"]][7] * size_A["width"] / 2
        if not is_on_floor:
            cot_data.append(f"{obj_B['new_object_id']} is a wall. {obj_A['new_object_id']} is not on the floor. z_min = {pos_B['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {pos_B['z']} + {size_B['height']} / 2 - {size_A['height']} / 2 = {z_max}, x_min = {pos_B['x']} + {sign_map[obj_B['new_object_id']][0]} * {size_B['length']} / 2 + {sign_map[obj_B['new_object_id']][4]} * {size_A['length']} / 2 = {x_min}, x_max = {pos_B['x']} + {sign_map[obj_B['new_object_id']][1]} * {size_B['length']} / 2 + {sign_map[obj_B['new_object_id']][5]} * {size_A['length']} / 2 = {x_max}, y_min = {pos_B['y']} + {sign_map[obj_B['new_object_id']][2]} * {size_B['width']} / 2 + {sign_map[obj_B['new_object_id']][6]} * {size_A['width']} / 2 = {y_min}, y_max = {pos_B['y']} + {sign_map[obj_B['new_object_id']][3]} * {size_B['width']} / 2 + {sign_map[obj_B['new_object_id']][7]} * {size_A['width']} / 2 = {y_max}.")
        else:
            cot_data.append(f"{obj_B['new_object_id']} is a wall. {obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {pos_B['x']} + {sign_map[obj_B['new_object_id']][0]} * {size_B['length']} / 2 + {sign_map[obj_B['new_object_id']][4]} * {size_A['length']} / 2 = {x_min}, x_max = {pos_B['x']} + {sign_map[obj_B['new_object_id']][1]} * {size_B['length']} / 2 + {sign_map[obj_B['new_object_id']][5]} * {size_A['length']} / 2 = {x_max}, y_min = {pos_B['y']} + {sign_map[obj_B['new_object_id']][2]} * {size_B['width']} / 2 + {sign_map[obj_B['new_object_id']][6]} * {size_A['width']} / 2 = {y_min}, y_max = {pos_B['y']} + {sign_map[obj_B['new_object_id']][3]} * {size_B['width']} / 2 + {sign_map[obj_B['new_object_id']][7]} * {size_A['width']} / 2 = {y_max}.")

    if x_min > x_max:
        x_min, x_max = x_max, x_min
    if y_min > y_max:
        y_min, y_max = y_max, y_min
    if z_min > z_max:
        z_min, z_max = z_max, z_min
    cot_data.append(f"Swap x, y, z if 'min' > 'max'. x_min, x_max, y_min, y_max, z_min, z_max = {x_min}, {x_max}, {y_min}, {y_max}, {z_min}, {z_max}.")

    x_max = max(size_A["length"] / 2, min(x_max, room_dimensions[0] - size_A["length"] / 2))
    x_min = max(x_min, 0.0 + size_A["length"] / 2)
    y_max = max(size_A["width"] / 2, min(y_max, room_dimensions[1] - size_A["width"] / 2))
    y_min = max(y_min, 0.0 + size_A["width"] / 2)
    z_max = max(size_A["height"] / 2, min(z_max, room_dimensions[2] - size_A["height"] / 2))
    z_min = max(z_min, 0.0 + size_A["height"] / 2)

    cot_data.append(f"The possible position: x_min = max({x_min}, 0.0 + {size_A['length']} / 2), x_max = max({size_A['length']} / 2, min({x_max}, {room_dimensions[0]} - {size_A['length']} / 2)), y_min = max({y_min}, 0.0 + {size_A['width']} / 2), y_max = max({size_A['width']} / 2, min({y_max}, {room_dimensions[1]} - {size_A['width']} / 2)), z_min = max({z_min}, 0.0 + {size_A['height']} / 2), z_max = max({size_A['height']} / 2, min({z_max}, {room_dimensions[2]} - {size_A['height']} / 2)).")
    return (x_min, x_max, y_min, y_max, z_min, z_max)

def get_under_contraint(obj_A, obj_B, is_adjacent, is_on_floor, room_dimensions, cot_data):
    """
    obj_A is under obj_B
    """
    size_A = copy(obj_A["size_in_meters"])
    pos_B = obj_B["position"]
    size_B = copy(obj_B["size_in_meters"])
    cot_data.append(f"The size of {obj_A['new_object_id']} is {size_A}. The size and position of {obj_B['new_object_id']} are {size_B} and {pos_B}.")
    cot_data.append(f"The room dimension is {room_dimensions}.")

    if obj_A["rotation"]["z_angle"] in [90.0, 270.0]:
        size_A["length"], size_A["width"] = size_A["width"], size_A["length"]
        cot_data.append(f"The z-axis rotation angle of {obj_A['new_object_id']} is 90° or 270°, swap the length and width of {obj_A['new_object_id']}.")
    if obj_B["rotation"]["z_angle"] in [90.0, 270.0]:
        size_B["length"], size_B["width"] = size_B["width"], size_B["length"]
        cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90° or 270°, swap the length and width of {obj_B['new_object_id']}.")

    z_min = size_A["height"] / 2
    z_max = pos_B["z"] - size_B["height"] / 2 - size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2
    x_min = pos_B["x"] - size_B["length"] / 2 - size_A["length"] / 2
    x_max = pos_B["x"] + size_B["length"] / 2 + size_A["length"] / 2
    y_min = pos_B["y"] - size_B["width"] / 2 - size_A["width"] / 2
    y_max = pos_B["y"] + size_B["width"] / 2 + size_A["width"] / 2
    if not is_on_floor:
        cot_data.append(f"{obj_A['new_object_id']} is not on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {pos_B['z']} - {size_B['height']} / 2 - {size_A['height']} / 2 = {z_max}, x_min = {pos_B['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {pos_B['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {pos_B['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {pos_B['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_max}.")
    else:
        cot_data.append(f"{obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {pos_B['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {pos_B['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {pos_B['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {pos_B['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_max}.")

    if x_min > x_max:
        x_min, x_max = x_max, x_min
    if y_min > y_max:
        y_min, y_max = y_max, y_min
    if z_min > z_max:
        z_min, z_max = z_max, z_min
    cot_data.append(f"Swap x, y, z if 'min' > 'max'. x_min, x_max, y_min, y_max, z_min, z_max = {x_min}, {x_max}, {y_min}, {y_max}, {z_min}, {z_max}.")

    x_max = max(size_A["length"] / 2, min(x_max, room_dimensions[0] - size_A["length"] / 2))
    x_min = max(x_min, 0.0 + size_A["length"] / 2)
    y_max = max(size_A["width"] / 2, min(y_max, room_dimensions[1] - size_A["width"] / 2))
    y_min = max(y_min, 0.0 + size_A["width"] / 2)
    z_max = max(size_A["height"] / 2, min(z_max, room_dimensions[2] - size_A["height"] / 2))
    z_min = max(z_min, 0.0 + size_A["height"] / 2)

    cot_data.append(f"The possible position: x_min = max({x_min}, 0.0 + {size_A['length']} / 2), x_max = max({size_A['length']} / 2, min({x_max}, {room_dimensions[0]} - {size_A['length']} / 2)), y_min = max({y_min}, 0.0 + {size_A['width']} / 2), y_max = max({size_A['width']} / 2, min({y_max}, {room_dimensions[1]} - {size_A['width']} / 2)), z_min = max({z_min}, 0.0 + {size_A['height']} / 2), z_max = max({size_A['height']} / 2, min({z_max}, {room_dimensions[2]} - {size_A['height']} / 2)).")
    return (x_min, x_max, y_min, y_max, z_min, z_max)

def get_left_of_constraint(obj_A, obj_B, is_adjacent, is_on_floor, room_dimensions, cot_data):
    """
    obj_A is left of obj_B
    """
    size_A = copy(obj_A["size_in_meters"])
    size_B = copy(obj_B["size_in_meters"])
    cot_data.append(f"The size of {obj_A['new_object_id']} is {size_A}. The size of {obj_B['new_object_id']} is {size_B}.")
    cot_data.append(f"The room dimension is {room_dimensions}.")

    if obj_A["rotation"]["z_angle"] in [90.0, 270.0]:
        size_A["length"], size_A["width"] = size_A["width"], size_A["length"]
        cot_data.append(f"The z-axis rotation angle of {obj_A['new_object_id']} is 90° or 270°, swap the length and width of {obj_A['new_object_id']}.")

    z_min = obj_B["position"]["z"] - size_B["height"] / 2 + size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2
    z_max = room_dimensions[2] - size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2

    if obj_B["rotation"]["z_angle"] == 0.0:
        x_min = obj_B["position"]["x"] - size_B["length"] / 2 - size_A["length"] / 2 if is_adjacent else size_A["length"] / 2
        x_max = obj_B["position"]["x"] - size_B["length"] / 2 - size_A["length"] / 2
        y_min = obj_B["position"]["y"] - size_B["width"] / 2 + ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        y_max = obj_B["position"]["y"] + size_B["width"] / 2 - ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 90.0:
        x_min = obj_B["position"]["x"] - size_B["width"] / 2 + ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        x_max = obj_B["position"]["x"] + size_B["width"] / 2 - ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        y_min = obj_B["position"]["y"] + size_B["length"] / 2 + size_A["width"] / 2
        y_max = obj_B["position"]["y"] + size_B["length"] / 2 + size_A["width"] / 2 if is_adjacent else room_dimensions[1] - size_A["width"] / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {room_dimensions[1]} - {size_A['width']} / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {room_dimensions[1]} - {size_A['width']} / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 180.0:
        x_min = obj_B["position"]["x"] + size_B["length"] / 2 + size_A["length"] / 2
        x_max = obj_B["position"]["x"] + size_B["length"] / 2 + size_A["length"] / 2 if is_adjacent else room_dimensions[0] - size_A["length"] / 2
        y_min = obj_B["position"]["y"] - size_B["width"] / 2 + ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        y_max = obj_B["position"]["y"] + size_B["width"] / 2 - ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {room_dimensions[0]} - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {room_dimensions[0]} - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 270.0:
        x_min = obj_B["position"]["x"] - size_B["width"] / 2 + ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        x_max = obj_B["position"]["x"] + size_B["width"] / 2 - ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        y_min = obj_B["position"]["y"] - size_B["length"] / 2 - size_A["width"] / 2 if is_adjacent else size_A["width"] / 2
        y_max = obj_B["position"]["y"] - size_B["length"] / 2 - size_A["width"] / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_max}.")

    if x_min > x_max:
        x_min, x_max = x_max, x_min
    if y_min > y_max:
        y_min, y_max = y_max, y_min
    cot_data.append(f"Swap x, y, z if 'min' > 'max'. x_min, x_max, y_min, y_max, z_min, z_max = {x_min}, {x_max}, {y_min}, {y_max}, {z_min}, {z_max}.")

    x_max = max(size_A["length"] / 2, min(x_max, room_dimensions[0] - size_A["length"] / 2))
    x_min = max(x_min, 0.0 + size_A["length"] / 2)
    y_max = max(size_A["width"] / 2, min(y_max, room_dimensions[1] - size_A["width"] / 2))
    y_min = max(y_min, 0.0 + size_A["width"] / 2)

    cot_data.append(f"The possible position: x_min = max({x_min}, 0.0 + {size_A['length']} / 2), x_max = max({size_A['length']} / 2, min({x_max}, {room_dimensions[0]} - {size_A['length']} / 2)), y_min = max({y_min}, 0.0 + {size_A['width']} / 2), y_max = max({size_A['width']} / 2, min({y_max}, {room_dimensions[1]} - {size_A['width']} / 2)), z_min = {z_min}, z_max = {z_max}.")
    return (x_min, x_max, y_min, y_max, z_min, z_max)

def get_right_of_constraint(obj_A, obj_B, is_adjacent, is_on_floor, room_dimensions, cot_data):
    """
    obj_A is right of obj_B
    """
    size_A = copy(obj_A["size_in_meters"])
    size_B = copy(obj_B["size_in_meters"])
    cot_data.append(f"The size of {obj_A['new_object_id']} is {size_A}. The size of {obj_B['new_object_id']} is {size_B}.")
    cot_data.append(f"The room dimension is {room_dimensions}.")

    if obj_A["rotation"]["z_angle"] in [90.0, 270.0]:
        size_A["length"], size_A["width"] = size_A["width"], size_A["length"]
        cot_data.append(f"The z-axis rotation angle of {obj_A['new_object_id']} is 90° or 270°, swap the length and width of {obj_A['new_object_id']}.")

    z_min = obj_B["position"]["z"] - size_B["height"] / 2 + size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2
    z_max = room_dimensions[2] - size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2

    if obj_B["rotation"]["z_angle"] == 0.0:
        x_min = obj_B["position"]["x"] + size_B["length"] / 2 + size_A["length"] / 2
        x_max = obj_B["position"]["x"] + size_B["length"] / 2 + size_A["length"] / 2 if is_adjacent else room_dimensions[0] - size_A["length"] / 2
        y_min = obj_B["position"]["y"] - size_B["width"] / 2 + ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        y_max = obj_B["position"]["y"] + size_B["width"] / 2 - ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {room_dimensions[0]} - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {room_dimensions[0]} - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 90.0:
        x_min = obj_B["position"]["x"] - size_B["width"] / 2 + ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        x_max = obj_B["position"]["x"] + size_B["width"] / 2 - ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        y_min = obj_B["position"]["y"] - size_B["length"] / 2 - size_A["width"] / 2
        y_max = obj_B["position"]["y"] - size_B["length"] / 2 - size_A["width"] / 2 if is_adjacent else size_A["width"] / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {size_A['width']} / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {size_A['width']} / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 180.0:
        x_min = obj_B["position"]["x"] - size_B["length"] / 2 - size_A["length"] / 2 if is_adjacent else size_A["length"] / 2
        x_max = obj_B["position"]["x"] - size_B["length"] / 2 - size_A["length"] / 2
        y_min = obj_B["position"]["y"] + size_B["width"] / 2 - ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        y_max = obj_B["position"]["y"] - size_B["width"] / 2 + ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 270.0:
        x_min = obj_B["position"]["x"] + size_B["width"] / 2 - ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        x_max = obj_B["position"]["x"] - size_B["width"] / 2 + ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        y_min = obj_B["position"]["y"] + size_B["length"] / 2 + size_A["width"] / 2
        y_max = obj_B["position"]["y"] + size_B["length"] / 2 + size_A["width"] / 2 if is_adjacent else room_dimensions[1] - size_A["width"] / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {room_dimensions[1]} - {size_A['width']} / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {room_dimensions[1]} - {size_A['width']} / 2 = {y_max}.")

    if x_min > x_max:
        x_min, x_max = x_max, x_min
    if y_min > y_max:
        y_min, y_max = y_max, y_min
    cot_data.append(f"Swap x, y, z if 'min' > 'max'. x_min, x_max, y_min, y_max, z_min, z_max = {x_min}, {x_max}, {y_min}, {y_max}, {z_min}, {z_max}.")

    x_max = max(size_A["length"] / 2, min(x_max, room_dimensions[0] - size_A["length"] / 2))
    x_min = max(x_min, 0.0 + size_A["length"] / 2)
    y_max = max(size_A["width"] / 2, min(y_max, room_dimensions[1] - size_A["width"] / 2))
    y_min = max(y_min, 0.0 + size_A["width"] / 2)

    cot_data.append(f"The possible position: x_min = max({x_min}, 0.0 + {size_A['length']} / 2), x_max = max({size_A['length']} / 2, min({x_max}, {room_dimensions[0]} - {size_A['length']} / 2)), y_min = max({y_min}, 0.0 + {size_A['width']} / 2), y_max = max({size_A['width']} / 2, min({y_max}, {room_dimensions[1]} - {size_A['width']} / 2)), z_min = {z_min}, z_max = {z_max}.")
    return (x_min, x_max, y_min, y_max, z_min, z_max)

def get_in_front_constraint(obj_A, obj_B, is_adjacent, is_on_floor, room_dimensions, cot_data):
    """
    obj_A is in front of obj_B
    """
    size_A = copy(obj_A["size_in_meters"])
    size_B = copy(obj_B["size_in_meters"])
    cot_data.append(f"The size of {obj_A['new_object_id']} is {size_A}. The size of {obj_B['new_object_id']} is {size_B}.")
    cot_data.append(f"The room dimension is {room_dimensions}.")

    if obj_A["rotation"]["z_angle"] in [90.0, 270.0]:
        size_A["length"], size_A["width"] = size_A["width"], size_A["length"]
        cot_data.append(f"The z-axis rotation angle of {obj_A['new_object_id']} is 90° or 270°, swap the length and width of {obj_A['new_object_id']}.")

    z_min = obj_B["position"]["z"] - size_B["height"] / 2 + size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2
    z_max = room_dimensions[2] - size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2

    if obj_B["rotation"]["z_angle"] == 0.0:
        x_min = obj_B["position"]["x"] - size_B["length"] / 2 + ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        x_max = obj_B["position"]["x"] + size_B["length"] / 2 - ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        y_min = obj_B["position"]["y"] + size_B["width"] / 2 + size_A["width"] / 2
        y_max = obj_B["position"]["y"] + size_B["width"] / 2 + size_A["width"] / 2 if is_adjacent else room_dimensions[1] - size_A["width"] / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {room_dimensions[1]} - {size_A['width']} / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {room_dimensions[1]} - {size_A['width']} / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 90.0:
        x_min = obj_B["position"]["x"] + size_B["width"] / 2 + size_A["length"] / 2
        x_max = obj_B["position"]["x"] + size_B["width"] / 2 + size_A["length"] / 2 if is_adjacent else room_dimensions[0] - size_A["length"] / 2
        y_min = obj_B["position"]["y"] - size_B["length"] / 2 + ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        y_max = obj_B["position"]["y"] + size_B["length"] / 2 - ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {room_dimensions[0]} - {size_A['length'] / 2} = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {room_dimensions[0]} - {size_A['length'] / 2} = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 180.0:
        x_min = obj_B["position"]["x"] - size_B["length"] / 2 + ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        x_max = obj_B["position"]["x"] + size_B["length"] / 2 - ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        y_min = obj_B["position"]["y"] - size_B["width"] / 2 - size_A["width"] / 2 if is_adjacent else size_A["width"] / 2
        y_max = obj_B["position"]["y"] - size_B["width"] / 2 - size_A["width"] / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 270.0:
        x_min = obj_B["position"]["x"] - size_B["width"] / 2 - size_A["length"] / 2 if is_adjacent else size_A["length"] / 2
        x_max = obj_B["position"]["x"] - size_B["width"] / 2 - size_A["length"] / 2
        y_min = obj_B["position"]["y"] - size_B["length"] / 2 + ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        y_max = obj_B["position"]["y"] + size_B["length"] / 2 - ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")

    if x_min > x_max:
        x_min, x_max = x_max, x_min
    if y_min > y_max:
        y_min, y_max = y_max, y_min
    cot_data.append(f"Swap x, y, z if 'min' > 'max'. x_min, x_max, y_min, y_max, z_min, z_max = {x_min}, {x_max}, {y_min}, {y_max}, {z_min}, {z_max}.")

    x_max = max(size_A["length"] / 2, min(x_max, room_dimensions[0] - size_A["length"] / 2))
    x_min = max(x_min, 0.0 + size_A["length"] / 2)
    y_max = max(size_A["width"] / 2, min(y_max, room_dimensions[1] - size_A["width"] / 2))
    y_min = max(y_min, 0.0 + size_A["width"] / 2)

    cot_data.append(f"The possible position: x_min = max({x_min}, 0.0 + {size_A['length']} / 2), x_max = max({size_A['length']} / 2, min({x_max}, {room_dimensions[0]} - {size_A['length']} / 2)), y_min = max({y_min}, 0.0 + {size_A['width']} / 2), y_max = max({size_A['width']} / 2, min({y_max}, {room_dimensions[1]} - {size_A['width']} / 2)), z_min = {z_min}, z_max = {z_max}.")
    return (x_min, x_max, y_min, y_max, z_min, z_max)

def get_behind_constraint(obj_A, obj_B, is_adjacent, is_on_floor, room_dimensions, cot_data):
    """
    obj_A is behind obj_B
    """
    size_A = copy(obj_A["size_in_meters"])
    size_B = copy(obj_B["size_in_meters"])
    cot_data.append(f"The size of {obj_A['new_object_id']} is {size_A}. The size of {obj_B['new_object_id']} is {size_B}.")
    cot_data.append(f"The room dimension is {room_dimensions}.")

    if obj_A["rotation"]["z_angle"] in [90.0, 270.0]:
        size_A["length"], size_A["width"] = size_A["width"], size_A["length"]
        cot_data.append(f"The z-axis rotation angle of {obj_A['new_object_id']} is 90° or 270°, swap the length and width of {obj_A['new_object_id']}.")

    z_min = obj_B["position"]["z"] - size_B["height"] / 2 + size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2
    z_max = room_dimensions[2] - size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2

    if obj_B["rotation"]["z_angle"] == 0.0:
        x_min = obj_B["position"]["x"] - size_B["length"] / 2 + ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        x_max = obj_B["position"]["x"] + size_B["length"] / 2 - ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        y_min = obj_B["position"]["y"] - size_B["width"] / 2 - size_A["width"] / 2 if is_adjacent else size_A["width"] / 2
        y_max = obj_B["position"]["y"] - size_B["width"] / 2 - size_A["width"] / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 90.0:
        x_min = obj_B["position"]["x"] - size_B["width"] / 2 - size_A["length"] / 2 if is_adjacent else size_A["length"] / 2
        x_max = obj_B["position"]["x"] - size_B["width"] / 2 - size_A["length"] / 2
        y_min = obj_B["position"]["y"] - size_B["length"] / 2 + ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        y_max = obj_B["position"]["y"] + size_B["length"] / 2 - ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 180.0:
        x_min = obj_B["position"]["x"] - size_B["length"] / 2 + ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        x_max = obj_B["position"]["x"] + size_B["length"] / 2 - ((is_adjacent * size_A["length"]) - (not is_adjacent * size_A["length"])) / 2
        y_min = obj_B["position"]["y"] + size_B["width"] / 2 + size_A["width"] / 2
        y_max = obj_B["position"]["y"] + size_B["width"] / 2 + size_A["width"] / 2 if is_adjacent else room_dimensions[1] - size_A["width"] / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {room_dimensions[1]} - {size_A['width']} / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['length']}) - ({int(not is_adjacent)} * {size_A['length']})) / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_min}, y_max = {room_dimensions[1]} - {size_A['width']} / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 270.0:
        x_min = obj_B["position"]["x"] + size_B["width"] / 2 + size_A["length"] / 2
        x_max = obj_B["position"]["x"] + size_B["width"] / 2 + size_A["length"] / 2 if is_adjacent else room_dimensions[0] - size_A["length"] / 2
        y_min = obj_B["position"]["y"] + size_B["length"] / 2 - ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        y_max = obj_B["position"]["y"] - size_B["length"] / 2 + ((is_adjacent * size_A["width"]) - (not is_adjacent * size_A["width"])) / 2
        if not is_on_floor:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is not on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} - {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {room_dimensions[0]} - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
        else:
            if is_adjacent:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")
            else:
                cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is on the floor. {obj_B['new_object_id']} and {obj_A['new_object_id']} are not adjacent. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_min}, x_max = {room_dimensions[0]} - {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} + {size_B['length']} / 2 - (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_min}, y_max = {obj_B['position']['y']} - {size_B['length']} / 2 + (({int(is_adjacent)} * {size_A['width']}) - ({int(not is_adjacent)} * {size_A['width']})) / 2 = {y_max}.")

    if x_min > x_max:
        x_min, x_max = x_max, x_min
    if y_min > y_max:
        y_min, y_max = y_max, y_min
    cot_data.append(f"Swap x, y, z if 'min' > 'max'. x_min, x_max, y_min, y_max, z_min, z_max = {x_min}, {x_max}, {y_min}, {y_max}, {z_min}, {z_max}.")

    x_max = max(size_A["length"] / 2, min(x_max, room_dimensions[0] - size_A["length"] / 2))
    x_min = max(x_min, 0.0 + size_A["length"] / 2)
    y_max = max(size_A["width"] / 2, min(y_max, room_dimensions[1] - size_A["width"] / 2))
    y_min = max(y_min, 0.0 + size_A["width"] / 2)

    cot_data.append(f"The possible position: x_min = max({x_min}, 0.0 + {size_A['length']} / 2), x_max = max({size_A['length']} / 2, min({x_max}, {room_dimensions[0]} - {size_A['length']} / 2)), y_min = max({y_min}, 0.0 + {size_A['width']} / 2), y_max = max({size_A['width']} / 2, min({y_max}, {room_dimensions[1]} - {size_A['width']} / 2)), z_min = {z_min}, z_max = {z_max}.")
    return (x_min, x_max, y_min, y_max, z_min, z_max)

def get_above_constraint(obj_A, obj_B, is_adjacent, is_on_floor, room_dimensions, cot_data):
    """
    obj_A is above obj_B
    """
    size_A = copy(obj_A["size_in_meters"])
    size_B = copy(obj_B["size_in_meters"])
    cot_data.append(f"The size of {obj_A['new_object_id']} is {size_A}. The size of {obj_B['new_object_id']} is {size_B}.")
    cot_data.append(f"The room dimension is {room_dimensions}.")

    if obj_A["rotation"]["z_angle"] in [90.0, 270.0]:
        size_A["length"], size_A["width"] = size_A["width"], size_A["length"]
        cot_data.append(f"The z-axis rotation angle of {obj_A['new_object_id']} is 90° or 270°, swap the length and width of {obj_A['new_object_id']}.")

    z_min = obj_B["position"]["z"] + size_B["height"] / 2 + size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2
    z_max = room_dimensions[2] if not is_on_floor else size_A["height"] / 2

    if obj_B["rotation"]["z_angle"] == 0.0:
        x_min = obj_B["position"]["x"] - size_B["length"] / 2 - size_A["length"] / 2
        x_max = obj_B["position"]["x"] + size_B["length"] / 2 + size_A["length"] / 2
        y_min = obj_B["position"]["y"] - size_B["width"] / 2 - size_A["width"] / 2
        y_max = obj_B["position"]["y"] + size_B["width"] / 2 + size_A["width"] / 2
        if not is_on_floor:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is not on the floor. z_min = {obj_B['position']['z']} + {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_max}.")
        else:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 90.0:
        x_min = obj_B["position"]["x"] - size_B["width"] / 2 - size_A["length"] / 2
        x_max = obj_B["position"]["x"] + size_B["width"] / 2 + size_A["length"] / 2
        y_min = obj_B["position"]["y"] - size_B["length"] / 2 - size_A["width"] / 2
        y_max = obj_B["position"]["y"] + size_B["length"] / 2 + size_A["width"] / 2
        if not is_on_floor:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is not on the floor. z_min = {obj_B['position']['z']} + {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_max}.")
        else:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 180.0:
        x_min = obj_B["position"]["x"] - size_B["length"] / 2 - size_A["length"] / 2
        x_max = obj_B["position"]["x"] + size_B["length"] / 2 + size_A["length"] / 2
        y_min = obj_B["position"]["y"] - size_B["width"] / 2 - size_A["width"] / 2
        y_max = obj_B["position"]["y"] + size_B["width"] / 2 + size_A["width"] / 2
        if not is_on_floor:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is not on the floor. z_min = {obj_B['position']['z']} + {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_max}.")
        else:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_max}.")
    elif obj_B["rotation"]["z_angle"] == 270.0:
        x_min = obj_B["position"]["x"] - size_B["width"] / 2 - size_A["length"] / 2
        x_max = obj_B["position"]["x"] + size_B["width"] / 2 + size_A["length"] / 2
        y_min = obj_B["position"]["y"] - size_B["length"] / 2 - size_A["width"] / 2
        y_max = obj_B["position"]["y"] + size_B["length"] / 2 + size_A["width"] / 2
        if not is_on_floor:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is not on the floor. z_min = {obj_B['position']['z']} + {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {room_dimensions[2]} = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_max}.")
        else:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_max}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_min}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_max}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 - {size_A['width']} / 2 = {y_min}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 + {size_A['width']} / 2 = {y_max}.")

    if x_min > x_max:
        x_min, x_max = x_max, x_min
    if y_min > y_max:
        y_min, y_max = y_max, y_min
    cot_data.append(f"Swap x, y, z if 'min' > 'max'. x_min, x_max, y_min, y_max, z_min, z_max = {x_min}, {x_max}, {y_min}, {y_max}, {z_min}, {z_max}.")

    x_max = max(size_A["length"] / 2, min(x_max, room_dimensions[0] - size_A["length"] / 2))
    x_min = max(x_min, 0.0 + size_A["length"] / 2)
    y_max = max(size_A["width"] / 2, min(y_max, room_dimensions[1] - size_A["width"] / 2))
    y_min = max(y_min, 0.0 + size_A["width"] / 2)
    z_max = max(size_A["height"] / 2, min(z_max, room_dimensions[2] - size_A["height"] / 2))
    z_min = max(z_min, 0.0 + size_A["height"] / 2)

    cot_data.append(f"The possible position: x_min = max({x_min}, 0.0 + {size_A['length']} / 2), x_max = max({size_A['length']} / 2, min({x_max}, {room_dimensions[0]} - {size_A['length']} / 2)), y_min = max({y_min}, 0.0 + {size_A['width']} / 2), y_max = max({size_A['width']} / 2, min({y_max}, {room_dimensions[1]} - {size_A['width']} / 2)), z_min = max({z_min}, 0.0 + {size_A['height']} / 2), z_max = max({size_A['height']} / 2, min({z_max}, {room_dimensions[2]} - {size_A['height']} / 2)).")
    return (x_min, x_max, y_min, y_max, z_min, z_max)

def get_in_corner_constraint(obj_A, obj_B, is_adjacent, is_on_floor, room_dimensions, cot_data):
    """
    obj_A is in the corner of obj_B
    """
    size_A = copy(obj_A["size_in_meters"])
    size_B = copy(obj_B["size_in_meters"])
    cot_data.append(f"The size of {obj_A['new_object_id']} is {size_A}. The size of {obj_B['new_object_id']} is {size_B}.")
    cot_data.append(f"The room dimension is {room_dimensions}.")

    if obj_A["rotation"]["z_angle"] in [90.0, 270.0]:
        size_A["length"], size_A["width"] = size_A["width"], size_A["length"]
        cot_data.append(f"The z-axis rotation angle of {obj_A['new_object_id']} is 90° or 270°, swap the length and width of {obj_A['new_object_id']}.")

    z_min = obj_B["position"]["z"] - size_B["height"] / 2 + size_A["height"] / 2 if not is_on_floor else size_A["height"] / 2

    if obj_B["rotation"]["z_angle"] == 0.0:
        x_1 = obj_B["position"]["x"] - size_B["length"] / 2 + size_A["length"] / 2
        x_2 = obj_B["position"]["x"] + size_B["length"] / 2 - size_A["length"] / 2
        y_1 = obj_B["position"]["y"] + size_B["width"] / 2 + size_A["width"] / 2
        y_2 = obj_B["position"]["y"] + size_B["width"] / 2 + size_A["width"] / 2
        if not is_on_floor:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is not on the floor. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + {size_A['length']} / 2 = {x_1}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - {size_A['length']} / 2 = {x_2}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_1}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_2}.")
        else:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 0°. {obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_min}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + {size_A['length']} / 2 = {x_1}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - {size_A['length']} / 2 = {x_2}, y_min = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_1}, y_max = {obj_B['position']['y']} + {size_B['width']} / 2 + {size_A['width']} / 2 = {y_2}.")
    elif obj_B["rotation"]["z_angle"] == 90.0:
        x_1 = obj_B["position"]["x"] + size_B["width"] / 2 + size_A["length"] / 2
        x_2 = obj_B["position"]["x"] + size_B["width"] / 2 + size_A["length"] / 2
        y_1 = obj_B["position"]["y"] - size_B["length"] / 2 + size_A["width"] / 2
        y_2 = obj_B["position"]["y"] + size_B["length"] / 2 - size_A["width"] / 2
        if not is_on_floor:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is not on the floor. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_1}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_2}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + {size_A['width']} / 2 = {y_1}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - {size_A['width']} / 2 = {y_2}.")
        else:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 90°. {obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_min}, x_min = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_1}, x_max = {obj_B['position']['x']} + {size_B['width']} / 2 + {size_A['length']} / 2 = {x_2}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + {size_A['width']} / 2 = {y_1}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - {size_A['width']} / 2 = {y_2}.")
    elif obj_B["rotation"]["z_angle"] == 180.0:
        x_1 = obj_B["position"]["x"] - size_B["length"] / 2 + size_A["length"] / 2
        x_2 = obj_B["position"]["x"] + size_B["length"] / 2 - size_A["length"] / 2
        y_1 = obj_B["position"]["y"] - size_B["width"] / 2 - size_A["width"] / 2
        y_2 = obj_B["position"]["y"] - size_B["width"] / 2 - size_A["width"] / 2
        if not is_on_floor:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is not on the floor. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + {size_A['length']} / 2 = {x_1}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - {size_A['length']} / 2 = {x_2}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_1}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_2}.")
        else:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 180°. {obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_min}, x_min = {obj_B['position']['x']} - {size_B['length']} / 2 + {size_A['length']} / 2 = {x_1}, x_max = {obj_B['position']['x']} + {size_B['length']} / 2 - {size_A['length']} / 2 = {x_2}, y_min = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_1}, y_max = {obj_B['position']['y']} - {size_B['width']} / 2 - {size_A['width']} / 2 = {y_2}.")
    elif obj_B["rotation"]["z_angle"] == 270.0:
        x_1 = obj_B["position"]["x"] - size_B["width"] / 2 - size_A["length"] / 2
        x_2 = obj_B["position"]["x"] - size_B["width"] / 2 - size_A["length"] / 2
        y_1 = obj_B["position"]["y"] - size_B["length"] / 2 + size_A["width"] / 2
        y_2 = obj_B["position"]["y"] + size_B["length"] / 2 - size_A["width"] / 2
        if not is_on_floor:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is not on the floor. z_min = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, z_max = {obj_B['position']['z']} - {size_B['height']} / 2 + {size_A['height']} / 2 = {z_min}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_1}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_2}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + {size_A['width']} / 2 = {y_1}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - {size_A['width']} / 2 = {y_2}.")
        else:
            cot_data.append(f"The z-axis rotation angle of {obj_B['new_object_id']} is 270°. {obj_A['new_object_id']} is on the floor. z_min = {size_A['height']} / 2 = {z_min}, z_max = {size_A['height']} / 2 = {z_min}, x_min = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_1}, x_max = {obj_B['position']['x']} - {size_B['width']} / 2 - {size_A['length']} / 2 = {x_2}, y_min = {obj_B['position']['y']} - {size_B['length']} / 2 + {size_A['width']} / 2 = {y_1}, y_max = {obj_B['position']['y']} + {size_B['length']} / 2 - {size_A['width']} / 2 = {y_2}.")

    return (x_1, x_2, y_1, y_2, z_min, z_min)