text: from minos.lib.util.measures import MeasureDistDirTime
  
  config = {
      'task': 'point_goal',
      'goal': {'type': 'position', 'position': 'random', 'radius': 0.25},
      'measure_fun': MeasureDistDirTime(goal_dist_threshold=0.4),
      'reward_type': 'dist_time',
      'agent': {'radialClearance': 0.2},
      'scene': {'dataset': 'mp3d'},
      'scenes_file': '../data/scenes.mp3d.csv',
      'states_file': '../data/episode_states.mp3d.csv.bz2',
      'num_episodes_per_scene': 100,
      'max_states_per_scene': 10,
      'scene_filter': lambda s: 2 < s['nrooms'] < 11,
      'episode_filter': lambda e: e['pathNumRooms'] > 0,
      'objective_size': 4 # For UNREAL
  }
  