



from __future__ import annotations

import random

from matplotlib import animation
from matplotlib import pyplot as plt

# Frame rate of the animation
A__  :  Union[str, Any]       = 20

# Time between time steps in seconds
A__  :  Any       = INTERVAL / 1000



class     __snake_case						:




							def __init__(	self					:	int    ,    A_					:	float    ,    A_					:	float    ,    A_					:	float    ,    A_					:	float    ,    A_					:	float = 1.0    ,    A_					:	float = 1.0    ,    A_					:	str = "blue"    ,    ):
									lowerCAmelCase_      :					Dict     =			position_x
									lowerCAmelCase_      :					List[str]     =			position_y
									lowerCAmelCase_      :					str     =			velocity_x
									lowerCAmelCase_      :					Optional[Any]     =			velocity_y
									lowerCAmelCase_      :					Tuple     =			mass
									lowerCAmelCase_      :					Dict     =			size
									lowerCAmelCase_      :					List[str]     =			color




							@property
							def        UpperCAmelCase__      (	self					:	Union[str, Any]):
									return self.position_x, self.position_y




							@property
							def        UpperCAmelCase__      (	self					:	str):
									return self.velocity_x, self.velocity_y




							def        UpperCAmelCase__      (	self					:	str    ,    A_					:	float    ,    A_					:	float    ,    A_					:	float):
									self.velocity_x += force_x * delta_time
									self.velocity_y += force_y * delta_time







							def        UpperCAmelCase__      (	self					:	str    ,    A_					:	float):
									self.position_x += self.velocity_x * delta_time
									self.position_y += self.velocity_y * delta_time





class     __snake_case						:




							def __init__(	self					:	Dict    ,    A_					:	list[Body]    ,    A_					:	float = 1.0    ,    A_					:	float = 1.0    ,    A_					:	float = 0.0    ,    ):
									lowerCAmelCase_      :					Any     =			bodies
									lowerCAmelCase_      :					Optional[Any]     =			gravitation_constant
									lowerCAmelCase_      :					Dict     =			time_factor
									lowerCAmelCase_      :					Any     =			softening_factor




							def __len__(	self					:	str):
									return len(self.bodies)







							def        UpperCAmelCase__      (	self					:	Optional[Any]    ,    A_					:	float):
									for bodya in self.bodies:
											lowerCAmelCase_      :					Tuple     =			0.0
											lowerCAmelCase_      :					Optional[Any]     =			0.0
											for bodya in self.bodies:
													if bodya != bodya:
															lowerCAmelCase_      :					Optional[Any]     =			bodya.position_x - bodya.position_x
															lowerCAmelCase_      :					Tuple     =			bodya.position_y - bodya.position_y

															# Calculation of the distance using Pythagoras's theorem
															# Extra factor due to the softening technique
															lowerCAmelCase_      :					List[str]     =			(dif_x**2 + dif_y**2 + self.softening_factor) ** (
															    1 / 2
															)

															# Newton's law of universal gravitation.
															force_x += (
															    self.gravitation_constant * bodya.mass * dif_x / distance**3
															)
															force_y += (
															    self.gravitation_constant * bodya.mass * dif_y / distance**3
															)

            # Update the body's velocity once all the force components have been added
											bodya.update_velocity(A_    ,    A_    ,    delta_time * self.time_factor)

									# Update the positions only after all the velocities have been updated
									for body in self.bodies:
											body.update_position(delta_time * self.time_factor)





def       UpperCamelCase(  __UpperCamelCase							:		BodySystem					,__UpperCamelCase							:		float					,__UpperCamelCase							:		list[plt.Circle]			):
		body_system.update_system(__UpperCamelCase			)

		# Update the positions of the patches
		for patch, body in zip(__UpperCamelCase					,body_system.bodies			):
				lowerCAmelCase_      :					Optional[int]     =			(body.position_x, body.position_y)


def       UpperCamelCase(  __UpperCamelCase							:		str					,__UpperCamelCase							:		BodySystem					,__UpperCamelCase							:		float = -1					,__UpperCamelCase							:		float = 1					,__UpperCamelCase							:		float = -1					,__UpperCamelCase							:		float = 1					,):
		lowerCAmelCase_      :					str     =			plt.figure()
		fig.canvas.set_window_title(__UpperCamelCase			)
		lowerCAmelCase_      :					Optional[int]     =			plt.axes(
		    xlim=(x_start, x_end)					,ylim=(y_start, y_end)			)  # Set section to be plotted
		plt.gca().set_aspect('''equal'''			)  # Fix aspect ratio

		# Each body is drawn as a patch by the plt-function
		lowerCAmelCase_      :					Tuple     =			[
		    plt.Circle((body.position_x, body.position_y)					,body.size					,fc=body.color			)
		    for body in body_system.bodies
		]

		for patch in patches:
				ax.add_patch(__UpperCamelCase			)

		# Function called at each step of the animation
		def update(__UpperCamelCase							:		int			) -> list[plt.Circle]:
				update_step(__UpperCamelCase					,__UpperCamelCase					,__UpperCamelCase			)
				return patches

		lowerCAmelCase_      :					Dict     =			animation.FuncAnimation(  # noqa: F841
		    __UpperCamelCase					,__UpperCamelCase					,interval=__UpperCamelCase					,blit=__UpperCamelCase			)

		plt.show()


def       UpperCamelCase(  ):
		lowerCAmelCase_      :					Tuple     =			0.9_7_0_0_4_3_6
		lowerCAmelCase_      :					Optional[int]     =			-0.2_4_3_0_8_7_5_3
		lowerCAmelCase_      :					List[Any]     =			0.4_6_6_2_0_3_6_8_5
		lowerCAmelCase_      :					str     =			0.4_3_2_3_6_5_7_3

		lowerCAmelCase_      :					List[Any]     =			[
		    Body(__UpperCamelCase					,__UpperCamelCase					,__UpperCamelCase					,__UpperCamelCase					,size=0.2					,color='''red'''			),
		    Body(-position_x					,-position_y					,__UpperCamelCase					,__UpperCamelCase					,size=0.2					,color='''green'''			),
		    Body(0					,0					,-2 * velocity_x					,-2 * velocity_y					,size=0.2					,color='''blue'''			),
		]
		return BodySystem(__UpperCamelCase					,time_factor=3			)


def       UpperCamelCase(  ):
		lowerCAmelCase_      :					List[str]     =			7.3_4_7_6e2_2
		lowerCAmelCase_      :					str     =			5.9_7_2e2_4
		lowerCAmelCase_      :					Optional[int]     =			1022
		lowerCAmelCase_      :					Dict     =			384399000
		lowerCAmelCase_      :					List[str]     =			6.6_7_4e-1_1

		# Calculation of the respective velocities so that total impulse is zero,
		# i.e. the two bodies together don't move
		lowerCAmelCase_      :					List[Any]     =			earth_mass * velocity_dif / (earth_mass + moon_mass)
		lowerCAmelCase_      :					List[Any]     =			moon_velocity - velocity_dif

		lowerCAmelCase_      :					Union[str, Any]     =			Body(-earth_moon_distance					,0					,0					,__UpperCamelCase					,__UpperCamelCase					,10000000					,'''grey'''			)
		lowerCAmelCase_      :					List[Any]     =			Body(0					,0					,0					,__UpperCamelCase					,__UpperCamelCase					,50000000					,'''blue'''			)
		return BodySystem([earth, moon]					,__UpperCamelCase					,time_factor=1000000			)


def       UpperCamelCase(  ):
		lowerCAmelCase_      :					List[Any]     =			[]
		for _ in range(10			):
				lowerCAmelCase_      :					str     =			random.uniform(-0.5					,0.5			)
				lowerCAmelCase_      :					Any     =			random.uniform(-0.5					,0.5			)

				# Bodies are created pairwise with opposite velocities so that the
				# total impulse remains zero
				bodies.append(
				    Body(
				        random.uniform(-0.5					,0.5			)					,random.uniform(-0.5					,0.5			)					,__UpperCamelCase					,__UpperCamelCase					,size=0.0_5					,)			)
				bodies.append(
				    Body(
				        random.uniform(-0.5					,0.5			)					,random.uniform(-0.5					,0.5			)					,-velocity_x					,-velocity_y					,size=0.0_5					,)			)
		return BodySystem(__UpperCamelCase					,0.0_1					,10					,0.1			)


if __name__ == "__main__":
						plot('''Figure-8 solution to the 3-body-problem''', example_a(), -2, 2, -2, 2)
						plot(
						    '''Moon\'s orbit around the earth''',
						    example_a(),
						    -4_3000_0000,
						    4_3000_0000,
						    -4_3000_0000,
						    4_3000_0000,
						)
						plot('''Random system with many bodies''', example_a(), -1.5, 1.5, -1.5, 1.5)










import torch
import trajectory.utils as utils

from transformers import TrajectoryTransformerModel



class     __snake_case						(					utils.Parser						):
							_a      				=			"halfcheetah-medium-expert-v2"
							_a      				=			"config.offline"





def       UpperCamelCase(  __UpperCamelCase							:		List[Any]					,__UpperCamelCase							:		Any					,__UpperCamelCase							:		Tuple					,__UpperCamelCase							:		Optional[Any]					,__UpperCamelCase							:		List[Any]			):
		lowerCAmelCase_ ,  lowerCAmelCase_      :					Optional[Any]     =			utils.load_model(__UpperCamelCase					,__UpperCamelCase					,__UpperCamelCase					,epoch=__UpperCamelCase					,device=__UpperCamelCase			)
		lowerCAmelCase_      :					List[str]     =			TrajectoryTransformerModel(gpt.config			)

		trajectory_transformer.tok_emb.load_state_dict(gpt.tok_emb.state_dict()			)
		lowerCAmelCase_      :					str     =			gpt.pos_emb
		trajectory_transformer.drop.load_state_dict(gpt.drop.state_dict()			)
		trajectory_transformer.ln_f.load_state_dict(gpt.ln_f.state_dict()			)
		trajectory_transformer.head.load_state_dict(gpt.head.state_dict()			)

		for i, block in enumerate(gpt.blocks			):
				trajectory_transformer.blocks[i].lna.load_state_dict(gpt.blocks[i].lna.state_dict()			)
				trajectory_transformer.blocks[i].lna.load_state_dict(gpt.blocks[i].lna.state_dict()			)
				trajectory_transformer.blocks[i].attn.load_state_dict(gpt.blocks[i].attn.state_dict()			)

				trajectory_transformer.blocks[i].la.load_state_dict(gpt.blocks[i].mlp[0].state_dict()			)
				trajectory_transformer.blocks[i].act.load_state_dict(gpt.blocks[i].mlp[1].state_dict()			)
				trajectory_transformer.blocks[i].la.load_state_dict(gpt.blocks[i].mlp[2].state_dict()			)
				trajectory_transformer.blocks[i].drop.load_state_dict(gpt.blocks[i].mlp[3].state_dict()			)

		torch.save(trajectory_transformer.state_dict()					,'''pytorch_model.bin'''			)


if __name__ == "__main__":
						A__  :  Any       = Parser().parse_args('''plan''')
						convert_trajectory_transformer_original_pytorch_checkpoint_to_pytorch(
						    args.logbase, args.dataset, args.gpt_loadpath, args.gpt_epoch, args.device
						)





