| # AMASS_NPZ / KUNGFU_NPZ / LAFAN1_NPZ — dof_pos Zero-Value Audit |
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| **Date:** 2026-09-08 |
| **Robot:** vr_m3 (27 DOF) |
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| **Schema (identical across all 3 folders):** |
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| | Key | Shape | Dtype | |
| |---|---|---| |
| | `fps` | `()` | float32 | |
| | `root_pos` | `(T, 3)` | float64 | |
| | `root_rot` | `(T, 4)` | float64 | |
| | `dof_pos` | `(T, 27)` | float64 | |
| | `local_body_pos` | `(T, 32, 3)` | float32 | |
| | `local_body_rot` | `(T, 32, 4)` | float32 | |
| | `body_names` | `(32,)` | `<U25` | |
| | `joint_names` | `(27,)` | `<U26` | |
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| **FPS:** 50.0 across all files, all three folders — no mismatches. |
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| All three folders were randomly spot-checked visually using `vr_m3_latest` with the robot shell mesh; results looked clean. |
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| ## File counts |
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| | Folder | Files | |
| |---|---| |
| | `AMASS_NPZ` | 22,835 | |
| | `KUNGFU_NPZ` | 996 | |
| | `LAFAN1_NPZ` | 77 | |
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| ## Zero-value findings (`dof_pos`) |
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| | Folder | Total frames | Zeros found | |
| |---|---|---| |
| | `KUNGFU_NPZ` | 356,205 | 0 | |
| | `LAFAN1_NPZ` | 827,724 | 0 | |
| | `AMASS_NPZ` | 11,799,453 | 26 total | |
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| ### Flagged joints (AMASS_NPZ only) |
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| | DOF idx | Joint name | Zero count | % of frames | |
| |---|---|---|---| |
| | 14 | `left_shoulder_roll_joint` | 7 | ~0.00% | |
| | 21 | `right_shoulder_roll_joint` | 19 | ~0.00% | |
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