import torch
def read_wei_course(epoch):
    if(epoch >=0):
        wei_anchors = torch.tensor(1.0)
        wei_arc = torch.tensor(0.0)
        wei_uni = torch.tensor(0.0)
        wei_pos = torch.tensor(5.0)
        wei_hol = torch.tensor(0.0)
        wei_rot = torch.tensor(5.0)
        wei_cur = torch.tensor(0.0)
        wei_safety = torch.tensor(0.0)
        wei_rsm = torch.tensor(0.0)
    if(epoch >=1):
        wei_anchors = torch.tensor(1.0)
        wei_arc = torch.tensor(0.05)
        wei_uni = torch.tensor(10.0)
        wei_pos = torch.tensor(5.0)
        wei_hol = torch.tensor(10.0)
        wei_rot = torch.tensor(5.0)
        wei_cur = torch.tensor(0.0)
        wei_safety = torch.tensor(0.0)
        wei_rsm = torch.tensor(0.0)
    if(epoch >=2):
        wei_anchors = torch.tensor(1.0)
        wei_arc = torch.tensor(0.5)
        wei_uni = torch.tensor(100.0)
        wei_pos = torch.tensor(5.0)
        wei_hol = torch.tensor(100.0)
        wei_rot = torch.tensor(5.0)
        wei_cur = torch.tensor(5.0)
        wei_safety = torch.tensor(0.0)
        wei_rsm = torch.tensor(0.5)
    if(epoch >=3):
        wei_anchors = torch.tensor(1.0)
        wei_arc = torch.tensor(0.5)
        wei_uni = torch.tensor(100.0)
        wei_pos = torch.tensor(5.0)
        wei_hol = torch.tensor(200.0)
        wei_rot = torch.tensor(5.0)
        wei_cur = torch.tensor(500.0)
        wei_safety = torch.tensor(0.0)
        wei_rsm = torch.tensor(0.25)
    if(epoch >=4):
        wei_anchors = torch.tensor(1.0)
        wei_arc = torch.tensor(0.5)
        wei_uni = torch.tensor(100.0)
        wei_pos = torch.tensor(5.0)
        wei_hol = torch.tensor(500.0)
        wei_rot = torch.tensor(5.0)
        wei_cur = torch.tensor(500.0)
        wei_safety = torch.tensor(500.0)
        wei_rsm = torch.tensor(0.5)
    return wei_anchors, wei_arc, wei_uni, wei_pos, wei_hol, wei_rot, wei_cur, wei_safety, wei_rsm