what should I do if I have my own reference motion data that doesn't fit Amass format？

[bbh-huyufeng]

Thanks for your great project and commitment! I want train my own robot to learn task of Instinct-Parkour-Amp. But my own npz file do not fit the Amassmotion format,I dont know what to do.

Should I make my own code of motion files configuration based on amass_motion.py and amass_motion_cfg.py?
Or,is there any other code can fit my own npz file
Or should I write a scirpt to convert my npz file to the desired format(Amass)

below is the npz file that I want to use to train my own robot

[ZiwenZhuang]

Hi,

Since the critical information of a robot's motion reference is just base position + velocity, each joints' position + velocity (in the correct order) and frame rate. The image you provided above is just enough.

Just make sure you are on the right joint order.

You may refer to AmassMotion to check how it natively support the motion file definition, or check emberUcb.py to learn about how to inherit the class and implement your own loading implementation in your own project.