# AMASS_NPZ / KUNGFU_NPZ / LAFAN1_NPZ — dof_pos Zero-Value Audit

**Date:** 2026-09-08
**Robot:** vr_m3 (27 DOF)

**Schema (identical across all 3 folders):**

| 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` |

**FPS:** 50.0 across all files, all three folders — no mismatches.

All three folders were randomly spot-checked visually using `vr_m3_latest` with the robot shell mesh; results looked clean.

## File counts

| Folder | Files |
|---|---|
| `AMASS_NPZ` | 22,835 |
| `KUNGFU_NPZ` | 996 |
| `LAFAN1_NPZ` | 77 |


## Zero-value findings (`dof_pos`)

| Folder | Total frames | Zeros found |
|---|---|---|
| `KUNGFU_NPZ` | 356,205 | 0 |
| `LAFAN1_NPZ` | 827,724 | 0 |
| `AMASS_NPZ` | 11,799,453 | 26 total |

### Flagged joints (AMASS_NPZ only)

| DOF idx | Joint name | Zero count | % of frames |
|---|---|---|---|
| 14 | `left_shoulder_roll_joint` | 7 | ~0.00% |
| 21 | `right_shoulder_roll_joint` | 19 | ~0.00% |