--scene target_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_ctrl.txt
--kin_ctrl clips
--motion_file data/datasets/humanoid3d_clips_locomotion.txt
--sync_char_root_pos true
--sync_char_root_rot false
--enable_rand_rot_reset true
--enable_amp_obs_local_root true

--rand_target_time_min 5
--rand_target_time_max 10
--max_target_dist 10
--target_succ_dist 0.5
--tar_fail_dist 15
--tar_speed 1
--enable_min_tar_vel true
--pos_reward_scale 0.5

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

--model_files data/policies/humanoid3d_amp/humanoid3d_amp_target_locomotion.ckpt