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+# TopoSlots Unified Motion Dataset
+
+Multi-skeleton motion dataset for topology-agnostic motion tokenization research.
+
+## Overview
+
+| Dataset | Skeleton Type | Joints | Motions | Text | Source |
+|---------|:-------------|:------:|:-------:|:----:|--------|
+| `humanml3d/` | Human (SMPL) | 22 | 14,449 | 44K texts | AMASS MoCap |
+| `lafan1/` | Human (Ubisoft) | 22 | 77 | ✗ | Ubisoft La Forge |
+| `100style/` | Human (XSens) | 23 | 810 | style labels | 100Style (Zenodo) |
+| `bandai_namco/` | Human (BN) | 22 | 3,053 | ✗ | Bandai Namco Research |
+| `cmu_mocap/` | Human (CMU) | 31 | 2,496 | ✗ | CMU MoCap Database |
+| `mixamo/` | Human (Mixamo) | 67 | 2,453 | ✗ | Adobe Mixamo |
+| `truebones_zoo/` | 73 Animal Species | 9-145 | 1,110 | 888 captions | Truebones Zoo |
+| **Total** | **79 skeletons** | **9-145** | **24,448** | | |
+
+## Data Format (Scheme C)
+
+All datasets use a unified `.npz` format per motion clip:
+
+### Slot Token Input (cross-skeleton compatible)
+- `local_positions`: `[T, J, 3]` float32 — root-relative joint positions (meters)
+- `velocities`: `[T, J, 3]` float32 — joint velocities (m/s)
+
+### Root Track (separate)
+- `root_position`: `[T, 3]` float32 — global root position (meters)
+- `root_velocity`: `[T, 3]` float32 — root velocity (m/s)
+
+### Decoder Ground Truth (skeleton-specific)
+- `joint_positions`: `[T, J, 3]` float32 — global joint positions (meters)
+- `local_rotations_6d`: `[T, J-1, 6]` float32 — continuous 6D rotation representation
+- `accelerations`: `[T, J, 3]` float32 — joint accelerations
+- `bone_lengths`: `[T, J]` float32 — per-frame bone lengths (meters)
+
+### Auxiliary
+- `foot_contact`: `[T, 4]` float32 — [left_heel, left_toe, right_heel, right_toe] binary contact
+
+### Metadata
+- `num_frames`: int — actual frame count (before padding)
+- `fps`: float — frames per second (all resampled to 20 fps)
+- `skeleton_id`: str — dataset identifier
+- `texts`: str — text descriptions joined by `|||` (empty if unavailable)
+
+### Per-Dataset Files
+```
+{dataset}/
+├── skeleton.npz          # Skeleton graph (joint_names, parent_indices, rest_offsets, adjacency, geodesic_dist)
+├── stats.npz             # Normalization statistics (mean/std for positions and velocities)
+├── motions/              # Per-motion .npz files
+│   ├── 000000.npz
+│   ├── 000001.npz
+│   └── ...
+└── splits/               # Data splits
+    ├── train.txt
+    ├── val.txt
+    ├── test.txt
+    └── all.txt
+```
+
+### Truebones Zoo Additional
+```
+truebones_zoo/
+├── skeletons/            # Per-species skeleton graphs
+│   ├── Dog.npz
+│   ├── Cat.npz
+│   ├── Horse.npz
+│   └── ...  (73 species)
+└── motions/              # Named as {species}_{index}.npz
+    ├── Dog_0000.npz      # Extra fields: species, source_file
+    ├── Cat_0004.npz
+    └── ...
+```
+
+## Scale & Units
+- All positions in **meters**
+- BVH datasets auto-converted from centimeters (÷100)
+- CMU MoCap uses custom scale factor (×0.0685)
+- Truebones Zoo: natural animal scale preserved (Pigeon 0.13m, Horse 1.50m, Trex 6.06m)
+- All motions resampled to **20 fps**
+- Max frames: **196** (~10 seconds)
+
+## Skeleton Diversity
+
+| Category | Species Count | Joint Range | Examples |
+|----------|:------------:|:-----------:|---------|
+| Human (various rigs) | 6 | 22-67 | SMPL, LAFAN1, CMU, Mixamo (with fingers) |
+| Quadrupeds | ~25 | 18-79 | Dog, Cat, Horse, Bear, Elephant |
+| Flying | ~10 | 9-69 | Eagle, Bat, Buzzard, Pigeon |
+| Reptiles/Dinos | ~10 | 25-69 | Trex, Alligator, Crocodile |
+| Insects/Arachnids | ~10 | 41-84 | Ant, Spider, Scorpion, Centipede |
+| Snakes | ~3 | 19-27 | Anaconda, KingCobra |
+| Fantasy | ~5 | 32-143 | Dragon (143j), Mammoth |
+
+## Usage (PyTorch)
+
+```python
+from src.data.unified_dataset import UnifiedMotionDataset, collate_fn
+from torch.utils.data import DataLoader
+
+dataset = UnifiedMotionDataset(
+    data_dirs=['data/processed/humanml3d', 'data/processed/mixamo', 'data/processed/truebones_zoo'],
+    split='train',
+    max_joints=128,   # pad all skeletons to this
+    max_frames=196,
+)
+
+dataloader = DataLoader(dataset, batch_size=8, collate_fn=collate_fn, shuffle=True)
+batch = next(iter(dataloader))
+# batch['motion_features']:  [8, 196, 128, 6]  — per-joint position+velocity
+# batch['skeleton_features']: [8, 128, 9]       — joint graph features
+# batch['joint_mask']:        [8, 128]           — valid joint mask
+# batch['num_joints']:        [8]                — actual joint counts (22, 67, 31, ...)
+```
+
+## License
+- HumanML3D: See original AMASS license
+- LAFAN1: CC BY-NC-ND 4.0
+- 100Style: CC BY 4.0
+- Bandai Namco: CC BY-NC 4.0
+- CMU MoCap: Free for research
+- Mixamo: Adobe Mixamo Terms of Use
+- Truebones Zoo: Royalty-free