Creating Motion Files for AMP training in Isaac Lab

[geoffreygao1]

Hi,

I'm interested in creating custom .npz files for AMP training in Isaac Lab.
There's some documentation in the Humanoid_AMP example about the file structure, but not so much information about how to create them.
https://github.com/isaac-sim/IsaacLab/tree/main/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/motions

I was doing some reading and found that in IsaacGym there was the use of poselib to convert fbx files into motion files for AMP training (they were .npy). It also provided support for retargeting which is very convenient for usage of mocap data. However, it seems now the file format is different and there's no direct support from poselib for AMP in Isaac Lab

https://github.com/isaac-sim/IsaacGymEnvs/tree/main/isaacgymenvs/tasks/amp/poselib

Has anyone had experience creating motion files for use in AMP training?