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912c7e2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 | import torch
import random
import pathlib
import numpy as np
from dataclasses import dataclass
@dataclass
class DATA_DIRS:
ROOT = pathlib.Path(__file__).parents[1] / "demos"
PFP = ROOT / "sim"
PFP_REAL = ROOT / "real"
@dataclass
class REPO_DIRS:
ROOT = pathlib.Path(__file__).parents[1]
CKPT = ROOT / "ckpt"
URDFS = ROOT / "urdfs"
DEVICE = torch.device("cuda" if torch.cuda.is_available() else "cpu")
def set_seeds(seed=0):
"""Sets all seeds."""
torch.manual_seed(seed)
torch.cuda.manual_seed_all(seed)
np.random.seed(seed)
random.seed(seed)
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