# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.

#

# Licensed under the NVIDIA Source Code License [see LICENSE for details].

from yacs.config import CfgNode as CN

_C = CN()

_C.depth = 8

_C.img_size = 220

_C.add_proprio = True

_C.proprio_dim = 4

_C.add_lang = True

_C.lang_dim = 512

_C.lang_len = 77

_C.img_feat_dim = 3

_C.feat_dim = (72 * 3) + 2 + 2

_C.im_channels = 64

_C.attn_dim = 512

_C.attn_heads = 8

_C.attn_dim_head = 64

_C.activation = "lrelu"

_C.weight_tie_layers = False

_C.attn_dropout = 0.1

_C.decoder_dropout = 0.0

_C.img_patch_size = 11

_C.final_dim = 64

_C.self_cross_ver = 1

_C.add_corr = True

_C.norm_corr = False

_C.add_pixel_loc = True

_C.add_depth = True

_C.rend_three_views = False

_C.use_point_renderer = False

_C.pe_fix = True

_C.feat_ver = 0

_C.wpt_img_aug = 0.01

_C.inp_pre_pro = True

_C.inp_pre_con = True

_C.cvx_up = False

_C.xops = False

_C.rot_ver = 0

_C.num_rot = 72

_C.stage_two = False

_C.st_sca = 4

_C.st_wpt_loc_aug = 0.05

_C.st_wpt_loc_inp_no_noise = False

_C.img_aug_2 = 0.0

def get_cfg_defaults():

"""Get a yacs CfgNode object with default values for my_project."""

return _C.clone()