diff --git a/.gitignore b/.gitignore
index 16307bd39..6c7f516d7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,4 +49,5 @@ examples/train/models/
 log_*/
 monitor_*
 comparison/
-0.monitor.csv
\ No newline at end of file
+0.monitor.csvpaper/
+0.monitor.csv
diff --git a/realenv/configs.py b/realenv/configs.py
index 2e1217c01..927bb8fdc 100644
--- a/realenv/configs.py
+++ b/realenv/configs.py
@@ -1,13 +1,13 @@
 import numpy as np
 
 ## Randomize agent initial position & orientation
-RANDOM_INITIAL_POSE = True
-RANDOM_TARGET_POSE  = True
+RANDOM_INITIAL_POSE = False
+RANDOM_TARGET_POSE  = False
 
 CHOOSE_SMALL_RANDOM_RANGE = False
 CHOOSE_TINY_RANDOM_RANGE = False
 CHOOSE_MID_RANDOM_RANGE = False
-CHOOSE_MID_RANDOM_RANGE = False
+CHOOSE_LARGE_RANDOM_RANGE = False
 
 CHOOSE_SMALL_LEARNING_RATE = True
 
@@ -29,7 +29,7 @@ elif CHOOSE_MID_RANDOM_RANGE:
     RANDOM_INITIAL_RANGE_Y = [-0.1, 0.1]
     RANDOM_INITIAL_RANGE_Z = [0, 0.2]
     RANDOM_INITIAL_RANGE_DEG = [-np.pi/4, np.pi/4]
-elif CHOOSE_MID_RANDOM_RANGE:
+elif CHOOSE_LARGE_RANDOM_RANGE:
     RANDOM_TARGET_RANGE = 0.5
     RANDOM_INITIAL_RANGE_X = [-0.4, 0.1]
     RANDOM_INITIAL_RANGE_Y = [-0.1, 0.1]
@@ -64,7 +64,7 @@ USE_MJCF = True
 NAVIGATE_MODEL_ID = "11HB6XZSh1Q"
 FETCH_MODEL_ID = "11HB6XZSh1Q"
 
-USE_SENSOR_OUTPUT = True
+USE_SENSOR_OUTPUT = False
 
 
 HIST_MATCHING = False