configs/tasks/rearrange/pick_spa.yaml [56:100]:
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    ROBOT_FORCE:
        TYPE: "RobotForce"
        MIN_FORCE: 20.0
    ROBOT_COLLS:
      TYPE: "RobotCollisions"
    OBJECT_TO_GOAL_DISTANCE:
        TYPE: "ObjectToGoalDistance"
    END_EFFECTOR_TO_OBJECT_DISTANCE:
        TYPE: "EndEffectorToObjectDistance"
    END_EFFECTOR_TO_REST_DISTANCE:
        TYPE: "EndEffectorToRestDistance"
    EXCESSIVE_FORCE_SHOULD_END:
        TYPE: "ForceTerminate"
        MAX_ACCUM_FORCE: 0.0
    PICK_REWARD:
        TYPE: "RearrangePickReward"
        DIST_REWARD: 10.0
        PICK_REWARD: 5.0
        CONSTRAINT_VIOLATE_PEN: 10.0
        DROP_PEN: 5.0
        WRONG_PICK_PEN: 5.0
        COLLISION_PENALTY: 0.0
        ROBOT_OBJ_COLLISION_PENALTY: 0.0

        FORCE_PEN: 0.0
        MAX_FORCE_PEN: 0.0
        FORCE_END_PEN: 0.0
        USE_DIFF: True

        DROP_OBJ_SHOULD_END: False
        WRONG_PICK_SHOULD_END: False
    PICK_SUCCESS:
        TYPE: "RearrangePickSuccess"
        SUCC_THRESH: 0.15
    MEASUREMENTS:
        - "ROBOT_FORCE"
        - "ROBOT_COLLS"
        - "EXCESSIVE_FORCE_SHOULD_END"
        - "END_EFFECTOR_TO_REST_DISTANCE"
        - "END_EFFECTOR_TO_OBJECT_DISTANCE"
        - "PICK_SUCCESS"
        - "PICK_REWARD"
    ACTIONS:
        ARM_ACTION:
            TYPE: "ArmAction"
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configs/tasks/rearrange/pick_state.yaml [62:108]:
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    ROBOT_FORCE:
        TYPE: "RobotForce"
        MIN_FORCE: 20.0
    ROBOT_COLLS:
      TYPE: "RobotCollisions"
    OBJECT_TO_GOAL_DISTANCE:
        TYPE: "ObjectToGoalDistance"
    END_EFFECTOR_TO_OBJECT_DISTANCE:
        TYPE: "EndEffectorToObjectDistance"
    END_EFFECTOR_TO_REST_DISTANCE:
        TYPE: "EndEffectorToRestDistance"
    EXCESSIVE_FORCE_SHOULD_END:
        TYPE: "ForceTerminate"
        MAX_ACCUM_FORCE: 0.0
    PICK_REWARD:
        TYPE: "RearrangePickReward"
        DIST_REWARD: 10.0
        PICK_REWARD: 5.0
        CONSTRAINT_VIOLATE_PEN: 10.0
        DROP_PEN: 5.0
        WRONG_PICK_PEN: 5.0
        COLLISION_PENALTY: 0.0
        ROBOT_OBJ_COLLISION_PENALTY: 0.0

        FORCE_PEN: 0.0
        MAX_FORCE_PEN: 0.0
        FORCE_END_PEN: 0.0
        USE_DIFF: True

        DROP_OBJ_SHOULD_END: False
        WRONG_PICK_SHOULD_END: False

    PICK_SUCCESS:
        TYPE: "RearrangePickSuccess"
        SUCC_THRESH: 0.15

    MEASUREMENTS:
        - "ROBOT_FORCE"
        - "ROBOT_COLLS"
        - "EXCESSIVE_FORCE_SHOULD_END"
        - "END_EFFECTOR_TO_REST_DISTANCE"
        - "END_EFFECTOR_TO_OBJECT_DISTANCE"
        - "PICK_SUCCESS"
        - "PICK_REWARD"
    ACTIONS:
        ARM_ACTION:
            TYPE: "ArmAction"
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