--scene imitate_amp

--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_rot_ctrl.txt
--kin_ctrl motion
--motion_file data/motions/humanoid3d_run.txt
--sync_char_root_pos true
--sync_char_root_rot false

--agent_files data/agents/ct_agent_humanoid_amp.txt
--train_agents false

--model_files data/policies/humanoid3d_amp/humanoid3d_amp_run.ckpt