from utils import binarize_rating, exp_to_imp, binarize_spmat, \
next_batch, create_argparser, set_params, load_prefit_pfcau, \
create_metric_holders, wg_eval_acc_metrics_update_i, \
sg_eval_acc_metrics_update_i, save_eval_metrics
randseed = int(time.time())
print("random seed: ", randseed)
random.seed(randseed)
npr.seed(randseed)
ed.set_seed(randseed)
tf.set_random_seed(randseed)
if __name__ == '__main__':
parser = create_argparser()
args = parser.parse_args()
all_params = set_params(args)
DATA_DIR, CAUSEFIT_DIR, OUT_DATA_DIR, \
outdim, caudim, thold, M, n_iter, binary, \
pri_U, pri_V, alpha = all_params
print("setting params....")
print("data/cause/out directories", DATA_DIR, CAUSEFIT_DIR, OUT_DATA_DIR)
print("relevance thold", thold)
print("batch size", M, "n_iter", n_iter)
print("outdim", outdim)
print("caudim", caudim)
print("prior sd on U", pri_U, "prior sd on V", pri_V)
print("alpha", alpha)
import utils
from utils import Transition
parser = utils.create_argparser()
args = parser.parse_args()
utils.show_args(args)
testing, run, use_cpu, model_str, epsilon, port, buffer_size, learning_freq, updating_freq, mini_batch_size, save_every, learning_rate, run_episode, densenet_lr, specific_tool, suction_1_memory, suction_2_memory, gripper_memory = utils.parse_input(
args)
import os
import sys
import cv2
import time
import numpy as np
import torch
import rospy
import rospkg
import serial
from trainer import Trainer
from prioritized_memory import Memory
# srv
from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse, \
Empty, EmptyRequest, EmptyResponse
from arm_operation.srv import agent_abb_action, agent_abb_actionRequest, agent_abb_actionResponse, \
publish_info, publish_infoRequest, publish_infoResponse
from visual_system.srv import get_pc, get_pcRequest, get_pcResponse, \
pc_is_empty, pc_is_emptyRequest, pc_is_emptyResponse, \
check_grasp_success, check_grasp_successRequest, check_grasp_successResponse
from visualization.srv import viz_marker, viz_markerRequest, viz_markerResponse
from grasp_suck.srv import recorder, recorderRequest, recorderResponse