configs/tasks/rearrange/pick.yaml [149:172]:
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    FORWARD_STEP_SIZE: 0.25

    # Grasping
    HOLD_THRESH: 0.09
    GRASP_IMPULSE: 1000.0

    DEFAULT_AGENT_ID: 0
    HABITAT_SIM_V0:
        ALLOW_SLIDING: True
        ENABLE_PHYSICS: True
        GPU_DEVICE_ID: 0
        GPU_GPU: False
        PHYSICS_CONFIG_FILE: ./data/default.physics_config.json
    SEED: 100
    SEMANTIC_SENSOR:
        HEIGHT: 480
        HFOV: 90
        ORIENTATION: [0.0, 0.0, 0.0]
        POSITION: [0, 1.25, 0]
        TYPE: HabitatSimSemanticSensor
        WIDTH: 640
    TILT_ANGLE: 15
    TURN_ANGLE: 10
    TYPE: RearrangeSim-v0
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configs/tasks/rearrange/pick_spa.yaml [155:178]:
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    FORWARD_STEP_SIZE: 0.25

    # Grasping
    HOLD_THRESH: 0.09
    GRASP_IMPULSE: 1000.0

    DEFAULT_AGENT_ID: 0
    HABITAT_SIM_V0:
        ALLOW_SLIDING: True
        ENABLE_PHYSICS: True
        GPU_DEVICE_ID: 0
        GPU_GPU: False
        PHYSICS_CONFIG_FILE: ./data/default.physics_config.json
    SEED: 100
    SEMANTIC_SENSOR:
        HEIGHT: 480
        HFOV: 90
        ORIENTATION: [0.0, 0.0, 0.0]
        POSITION: [0, 1.25, 0]
        TYPE: HabitatSimSemanticSensor
        WIDTH: 640
    TILT_ANGLE: 15
    TURN_ANGLE: 10
    TYPE: RearrangeSim-v0
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