configs/tasks/pointnav.yaml [6:25]:
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  HABITAT_SIM_V0:
    GPU_DEVICE_ID: 0
  RGB_SENSOR:
    WIDTH: 256
    HEIGHT: 256
  DEPTH_SENSOR:
    WIDTH: 256
    HEIGHT: 256
TASK:
  TYPE: Nav-v0

  SENSORS: ['POINTGOAL_WITH_GPS_COMPASS_SENSOR']
  POINTGOAL_WITH_GPS_COMPASS_SENSOR:
    GOAL_FORMAT: "POLAR"
    DIMENSIONALITY: 2
  GOAL_SENSOR_UUID: pointgoal_with_gps_compass

  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SUCCESS', 'SPL']
  SUCCESS:
    SUCCESS_DISTANCE: 0.2
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configs/tasks/pointnav_rgbd.yaml [6:25]:
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  HABITAT_SIM_V0:
    GPU_DEVICE_ID: 0
  RGB_SENSOR:
    WIDTH: 256
    HEIGHT: 256
  DEPTH_SENSOR:
    WIDTH: 256
    HEIGHT: 256
TASK:
  TYPE: Nav-v0

  SENSORS: ['POINTGOAL_WITH_GPS_COMPASS_SENSOR']
  POINTGOAL_WITH_GPS_COMPASS_SENSOR:
    GOAL_FORMAT: "POLAR"
    DIMENSIONALITY: 2
  GOAL_SENSOR_UUID: pointgoal_with_gps_compass

  MEASUREMENTS: ['DISTANCE_TO_GOAL', 'SUCCESS', 'SPL']
  SUCCESS:
    SUCCESS_DISTANCE: 0.2
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