


'''simple docstring'''





import darl  # noqa
import gym
import tqdm
from diffusers.experimental import ValueGuidedRLPipeline


UpperCAmelCase__  			=				{
    '''n_samples''': 6_4,
    '''horizon''': 3_2,
    '''num_inference_steps''': 2_0,
    '''n_guide_steps''': 2,  # can set to 0 for faster sampling, does not use value network
    '''scale_grad_by_std''': True,
    '''scale''': 0.1,
    '''eta''': 0.0,
    '''t_grad_cutoff''': 2,
    '''device''': '''cpu''',
}


if __name__ == "__main__":
					UpperCAmelCase__  			=				'''hopper-medium-v2'''
					UpperCAmelCase__  			=				gym.make(env_name)

					UpperCAmelCase__  			=				ValueGuidedRLPipeline.from_pretrained(
					    '''bglick13/hopper-medium-v2-value-function-hor32''',
					    env=env,
					)

					env.seed(0)
					UpperCAmelCase__  			=				env.reset()
					UpperCAmelCase__  			=				0
					UpperCAmelCase__  			=				0
					UpperCAmelCase__  			=				1_0_0_0
					UpperCAmelCase__  			=				[obs.copy()]
					try:
										for t in tqdm.tqdm(range(T)):
															# call the policy
															UpperCAmelCase__  			=				pipeline(obs, planning_horizon=3_2)

															# execute action in environment
															UpperCAmelCase__			,  UpperCAmelCase__			,  UpperCAmelCase__			,  UpperCAmelCase__  			=				env.step(denorm_actions)
															UpperCAmelCase__  			=				env.get_normalized_score(total_reward)

															# update return
															total_reward += reward
															total_score += score
															print(
															    F"""Step: {t}, Reward: {reward}, Total Reward: {total_reward}, Score: {score}, Total Score:"""
															    F""" {total_score}"""
															)

															# save observations for rendering
															rollout.append(next_observation.copy())

															UpperCAmelCase__  			=				next_observation
					except KeyboardInterrupt:
										pass

					print(F"""Total reward: {total_reward}""")







'''simple docstring'''





from __future__ import annotations

import math

UpperCAmelCase__  			=				'''2020.9.26'''
UpperCAmelCase__  			=				'''xcodz-dot, cclaus, dhruvmanila'''






def 						UpperCAmelCase__(				_SCREAMING_SNAKE_CASE					: float,_SCREAMING_SNAKE_CASE					: float,_SCREAMING_SNAKE_CASE					: float,_SCREAMING_SNAKE_CASE					: float,_SCREAMING_SNAKE_CASE					: float ):






			"""simple docstring"""




			if not all(isinstance(_SCREAMING_SNAKE_CASE,(float, int) ) for val in locals().values() ):
						__A=	f"""Input values must either be float or int: {list(locals().values() )}"""
						raise TypeError(_SCREAMING_SNAKE_CASE )
			__A=	((x * distance) / (z + distance)) * scale
			__A=	((y * distance) / (z + distance)) * scale
			return projected_x, projected_y






def 						UpperCAmelCase__(				_SCREAMING_SNAKE_CASE					: float,_SCREAMING_SNAKE_CASE					: float,_SCREAMING_SNAKE_CASE					: float,_SCREAMING_SNAKE_CASE					: str,_SCREAMING_SNAKE_CASE					: float ):






			"""simple docstring"""




			if not isinstance(_SCREAMING_SNAKE_CASE,_SCREAMING_SNAKE_CASE ):
						raise TypeError('Axis must be a str' )
			__A=	locals()
			del input_variables["axis"]
			if not all(isinstance(_SCREAMING_SNAKE_CASE,(float, int) ) for val in input_variables.values() ):
						__A=	(
						    'Input values except axis must either be float or int: '
						    f"""{list(input_variables.values() )}"""
						)
						raise TypeError(_SCREAMING_SNAKE_CASE )
			__A=	(angle % 360) / 450 * 180 / math.pi
			if axis == "z":
						__A=	x * math.cos(_SCREAMING_SNAKE_CASE ) - y * math.sin(_SCREAMING_SNAKE_CASE )
						__A=	y * math.cos(_SCREAMING_SNAKE_CASE ) + x * math.sin(_SCREAMING_SNAKE_CASE )
						__A=	z
			elif axis == "x":
						__A=	y * math.cos(_SCREAMING_SNAKE_CASE ) - z * math.sin(_SCREAMING_SNAKE_CASE )
						__A=	z * math.cos(_SCREAMING_SNAKE_CASE ) + y * math.sin(_SCREAMING_SNAKE_CASE )
						__A=	x
			elif axis == "y":
						__A=	x * math.cos(_SCREAMING_SNAKE_CASE ) - z * math.sin(_SCREAMING_SNAKE_CASE )
						__A=	z * math.cos(_SCREAMING_SNAKE_CASE ) + x * math.sin(_SCREAMING_SNAKE_CASE )
						__A=	y
			else:
						raise ValueError('not a valid axis, choose one of \'x\', \'y\', \'z\'' )

			return new_x, new_y, new_z


if __name__ == "__main__":
					import doctest

					doctest.testmod()
					print(F"""{convert_to_ad(1.0, 2.0, 3.0, 10.0, 10.0) = }""")
					print(F"""{rotate(1.0, 2.0, 3.0, 'y', 90.0) = }""")



