Tutorials

These tutorials walk through complete end-to-end workflows for common tasks.

Training Workflows

• SMPL Training on AMASS - Train SMPL humanoid on AMASS motion data

• Retargeting with PyRoki - Retarget motions to different robots

• Scene Workflow (Vaulting) - Scene interaction with vaulting motions

• Domain Randomization & Sim2Sim - Sim2sim transfer techniques

Robot & Environment Setup

• Adding a Custom Robot - Add your own robot morphology

Code Tutorials

For learning ProtoMotions internals from the ground up, see Code Tutorials (Progressive Series) - 8 progressive Python scripts in examples/tutorial/ that teach core concepts like simulators, terrain, robots, scenes, and environments.

Quick Reference

Workflow	Description	Prerequisites
SMPL Training on AMASS	Train SMPL on AMASS motions	AMASS data prepared
Retargeting with PyRoki	Retarget motions to robots	Keypoints extracted
Scene Workflow (Vaulting)	Full scene interaction workflow	Motion + scene data
Domain Randomization & Sim2Sim	Sim2sim transfer	Trained policy
Adding a Custom Robot	Add new robot morphology	MJCF file

Coming Soon

• MJCF to USD Conversion - Convert MuJoCo assets to USD for IsaacLab

• USD GS Backgrounds - Load Gaussian Splatting scenes in IsaacSim 5.0+

• Pure RL Training - Train without motion data (steering, locomotion)

• MaskedMimic / AMP / ASE - Generative policy training