
from __future__ import annotations


def 				A	( lowercase   ,	lowercase   ,	lowercase   ,	)       ->  tuple[str, float]:
		'''simple docstring'''

		if (stress, tangential_force, area).count(0			) != 1:
				raise ValueError('You cannot supply more or less than 2 values'			)
		elif stress < 0:
				raise ValueError('Stress cannot be negative'			)
		elif tangential_force < 0:
				raise ValueError('Tangential Force cannot be negative'			)
		elif area < 0:
				raise ValueError('Area cannot be negative'			)
		elif stress == 0:
				return (
				    "stress",
				    tangential_force / area,
				)
		elif tangential_force == 0:
				return (
				    "tangential_force",
				    stress * area,
				)
		else:
				return (
				    "area",
				    tangential_force / stress,
				)


if __name__ == "__main__":
					import doctest

					doctest.testmod()


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


_UpperCAmelCase :			Optional[Any]              =	{
    "n_samples": 64,
    "horizon": 32,
    "num_inference_steps": 20,
    "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 :			int              =	"hopper-medium-v2"
					_UpperCAmelCase :			Tuple              =	gym.make(env_name)

					_UpperCAmelCase :			Any              =	ValueGuidedRLPipeline.from_pretrained(
					    "bglick13/hopper-medium-v2-value-function-hor32",
					    env=env,
					)

					env.seed(0)
					_UpperCAmelCase :			Optional[Any]              =	env.reset()
					_UpperCAmelCase :			Union[str, Any]              =	0
					_UpperCAmelCase :			Union[str, Any]              =	0
					_UpperCAmelCase :			Dict              =	1_000
					_UpperCAmelCase :			Tuple              =	[obs.copy()]
					try:
										for t in tqdm.tqdm(range(T)):
															# call the policy
															_UpperCAmelCase :			int              =	pipeline(obs, planning_horizon=32)

															# execute action in environment
															_UpperCAmelCase       ,_UpperCAmelCase       ,_UpperCAmelCase       ,_UpperCAmelCase :			List[Any]              =	env.step(denorm_actions)
															_UpperCAmelCase :			int              =	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 :			Union[str, Any]              =	next_observation
					except KeyboardInterrupt:
										pass

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