MobilityGen Recordings

Recordings made with Isaac Sim 5.x store robot state in state/common/*.npy files (pickled Python dicts). Starting with Isaac Sim 6.0, MobilityGen switched to state/common/*.npz (named NumPy arrays). The reader only supports the new format, so older recordings must be converted before replay.

To convert all recordings in a directory tree in-place, run:

./python.sh \
    standalone_examples/replicator/mobility_gen/migrate_recordings.py \
    ~/MobilityGenData/recordings --recursive

The script takes a positional recording path; pass --recursive when the path is a parent directory containing multiple recordings.

If a recording still uses the old format, the reader will log an error and produce zero steps — convert it with the script above before replaying.

For the MobilityGen tutorial, see Data Generation with MobilityGen.