Custom Motion File for AMP Training

Omniverse Isaac Sim
1

Hi All,

I’ve been playing around with Isaac Lab, more specifically using AMP for stylized motion reinforcement learning. I’ve run through the Humanoid_AMP example and was quite impressed with the results and workflow. I’m now trying to adapt this process for my own custom humanoid robot model.

One thing I’ve been stuck on is the motion files. There is some limited documentation here:

However, it doesn’t seem to me like there’s any way to generate these .npz files. Has anyone had any experience creating custom .npz files for motion training? Is it possible to export directly from Isaac Sim?

2

Thank you for your interest in Isaac Lab. To ensure efficient support and collaboration, please submit your topic to its GitHub repo following the instructions provided on Isaac Lab’s Contributing Guidelines regarding discussions, submitting issues, feature requests, and contributing to the project.

We appreciate your understanding and look forward to assisting you.