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import os
from tqdm import tqdm
import numpy as np
data_root = "/home/thomas/dev/isaac_projects/AMASS_Retargeted_for_G1/g1"
def check_dof_positions_in_npz(root_folder):
"""
Recursively walk through 'root_folder', find each .npz file, and check whether
'dof_positions' values are all within [-π, π]. Log violations.
"""
files_to_process = []
for dirpath, _, filenames in os.walk(root_folder):
for filename in filenames:
if filename.endswith(".npz"):
files_to_process.append(os.path.join(dirpath, filename))
violating_files = []
for npz_path in tqdm(files_to_process, desc="Checking files for [-π, π] bounds"):
try:
data = np.load(npz_path)
data_dict = dict(data)
except Exception as e:
print(f"Error loading {npz_path}: {e}")
continue
if "dof_positions" in data_dict:
dof_positions = data_dict["dof_positions"]
if not np.all((dof_positions >= -np.pi) & (dof_positions <= np.pi)):
violating_files.append(npz_path)
if violating_files:
print("\nFiles with 'dof_positions' outside [-π, π]:")
for file in violating_files:
print(file)
else:
print("\n✅ All files are within [-π, π] bounds.")
if __name__ == "__main__":
check_dof_positions_in_npz(data_root)
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