--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/dog3d.txt
--enable_char_soft_contact false
--fall_contact_bodies 0 1 2 3 4 5 6 7 9 10 11 13 14 15 17 18 19 21 22

--char_ctrls ct_pd
--char_ctrl_files data/controllers/dog3d_rot_ctrl.txt
--kin_ctrl motion
--motion_file data/motions/dog3d_trot.txt
--sync_char_root_pos true
--sync_char_root_rot false

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

--model_files data/policies/dog3d_amp/dog3d_amp_trot.ckpt