def rescale_voxel_tensor(voxel_tensor):
    """Rescales all values (RGBA) in the voxel tensor from [0, 1] to [-1, 1].

    Args:
        voxel_tensor: A single voxel tensor.

    Returns:
        rescaled_voxel_tensor: A single voxel tensor after rescaling.
    """
    rescaled_voxel_tensor = voxel_tensor * 2. - 1.
    return rescaled_voxel_tensor