--scene heading_amp

--time_lim_min 0.5
--time_lim_max 0.5
--time_lim_exp 0.2
--time_end_lim_min 20
--time_end_lim_max 20
--time_end_lim_exp 50
--anneal_samples 64000000

--num_update_substeps 10
--num_sim_substeps 2
--world_scale 4

--terrain_file data/terrain/plane.txt

--char_types general
--character_files data/characters/humanoid3d.txt
--enable_char_soft_contact false
--fall_contact_bodies 0 1 2 3 4 6 7 8 9 10 12 13 14

--char_ctrls ct_pd
--char_ctrl_files data/controllers/humanoid3d_ctrl.txt
--kin_ctrl clips
--motion_file data/datasets/humanoid3d_clips_stealthy.txt
--sync_char_root_pos true
--sync_char_root_rot false
--enable_rand_rot_reset false
--enable_amp_obs_local_root true

--rand_target_time_min 0.2
--rand_target_time_max 0.5
--max_heading_turn_rate 0.15
--sharp_turn_prob 0.01
--speed_change_prob 0.02
--tar_speed_min 1
--tar_speed_max 1
--tar_speed 1
--vel_reward_scale 1.0

--agent_files data/agents/ct_agent_humanoid_amp_tasks.txt

--output_path output
#--int_output_path output/intermediate