configs/tasks/rearrange/pick.yaml [117:145]:
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    AGENT_0:
        HEIGHT: 1.5
        IS_SET_START_STATE: False
        RADIUS: 0.1
        SENSORS: ['HEAD_RGB_SENSOR', 'HEAD_DEPTH_SENSOR', 'ARM_RGB_SENSOR', 'ARM_DEPTH_SENSOR']
        START_POSITION: [0, 0, 0]
        START_ROTATION: [0, 0, 0, 1]
    HEAD_RGB_SENSOR:
        WIDTH: 128
        HEIGHT: 128
    HEAD_DEPTH_SENSOR:
        WIDTH: 128
        HEIGHT: 128
        MIN_DEPTH: 0.0
        MAX_DEPTH: 10.0
        NORMALIZE_DEPTH: True
    ARM_DEPTH_SENSOR:
        HEIGHT: 128
        MAX_DEPTH: 10.0
        MIN_DEPTH: 0.0
        NORMALIZE_DEPTH: True
        WIDTH: 128
    ARM_RGB_SENSOR:
        HEIGHT: 128
        WIDTH: 128

    # Agent setup
    ARM_REST: [0.6, 0.0, 0.9]
    CTRL_FREQ: 120.0
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configs/tasks/rearrange/play.yaml [64:90]:
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    AGENT_0:
        HEIGHT: 1.5
        IS_SET_START_STATE: False
        RADIUS: 0.1
        SENSORS: ['HEAD_RGB_SENSOR', 'HEAD_DEPTH_SENSOR', 'ARM_RGB_SENSOR', 'ARM_DEPTH_SENSOR']
        START_POSITION: [0, 0, 0]
        START_ROTATION: [0, 0, 0, 1]
    HEAD_RGB_SENSOR:
        WIDTH: 128
        HEIGHT: 128
    HEAD_DEPTH_SENSOR:
        WIDTH: 128
        HEIGHT: 128
        MIN_DEPTH: 0.0
        MAX_DEPTH: 10.0
        NORMALIZE_DEPTH: True
    ARM_DEPTH_SENSOR:
        HEIGHT: 128
        MAX_DEPTH: 10.0
        MIN_DEPTH: 0.0
        NORMALIZE_DEPTH: True
        WIDTH: 128
    ARM_RGB_SENSOR:
        HEIGHT: 128
        WIDTH: 128
    ARM_REST: [0.6, 0.0, 0.9]
    CTRL_FREQ: 120.0
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