#!/usr/bin/env python3 """Validate MT and Isaac NPZ files produced by this repository.""" from __future__ import annotations import argparse from pathlib import Path import numpy as np from converter_common import MT_BODY_NAMES, MT_JOINT_NAMES MT_FIELDS = { "root_pos", "root_rot", "dof_pos", "local_body_pos", "joint_names", "body_names", "fps", } ISAAC_FIELDS = { "fps", "joint_pos", "joint_vel", "body_pos_w", "body_quat_w", "body_lin_vel_w", "body_ang_vel_w", } def infer_format(keys: set[str]) -> str: if MT_FIELDS.issubset(keys): return "mt" if ISAAC_FIELDS.issubset(keys): return "isaac" raise ValueError(f"Cannot infer format from fields: {sorted(keys)}") def require_shape( data: np.lib.npyio.NpzFile, name: str, expected: tuple[int, ...], ) -> None: actual = data[name].shape if actual != expected: raise ValueError(f"{name}: expected shape {expected}, found {actual}") def require_float32(data: np.lib.npyio.NpzFile, fields: list[str]) -> None: for name in fields: if data[name].dtype != np.float32: raise ValueError( f"{name}: expected dtype float32, found {data[name].dtype}" ) if not np.isfinite(data[name]).all(): raise ValueError(f"{name}: contains NaN or Inf") def validate_mt(data: np.lib.npyio.NpzFile) -> None: missing = MT_FIELDS - set(data.files) if missing: raise ValueError(f"Missing MT fields: {sorted(missing)}") frame_count = data["dof_pos"].shape[0] if frame_count < 1: raise ValueError("MT motion contains no frames") require_shape(data, "root_pos", (frame_count, 3)) require_shape(data, "root_rot", (frame_count, 4)) require_shape(data, "dof_pos", (frame_count, 29)) require_shape(data, "local_body_pos", (frame_count, 27, 3)) require_shape(data, "joint_names", (29,)) require_shape(data, "body_names", (27,)) require_shape(data, "fps", (1,)) require_float32( data, ["root_pos", "root_rot", "dof_pos", "local_body_pos"] ) if data["fps"].dtype != np.int64 or int(data["fps"][0]) <= 0: raise ValueError("fps must be a positive int64 array with shape (1,)") if data["joint_names"].tolist() != MT_JOINT_NAMES: raise ValueError("joint_names does not match the MT joint order") if data["body_names"].tolist() != MT_BODY_NAMES: raise ValueError("body_names does not match the MT body order") quat_norm = np.linalg.norm(data["root_rot"], axis=-1) if not np.allclose(quat_norm, 1.0, atol=1e-4): raise ValueError("root_rot contains non-unit quaternions") if not np.allclose(data["local_body_pos"][:, 0], 0.0, atol=1e-4): raise ValueError("pelvis local_body_pos is not approximately zero") def validate_isaac(data: np.lib.npyio.NpzFile) -> None: missing = ISAAC_FIELDS - set(data.files) if missing: raise ValueError(f"Missing Isaac fields: {sorted(missing)}") frame_count = data["joint_pos"].shape[0] if frame_count < 1: raise ValueError("Isaac motion contains no frames") require_shape(data, "fps", (1,)) require_shape(data, "joint_pos", (frame_count, 29)) require_shape(data, "joint_vel", (frame_count, 29)) require_shape(data, "body_pos_w", (frame_count, 30, 3)) require_shape(data, "body_quat_w", (frame_count, 30, 4)) require_shape(data, "body_lin_vel_w", (frame_count, 30, 3)) require_shape(data, "body_ang_vel_w", (frame_count, 30, 3)) require_float32( data, [ "joint_pos", "joint_vel", "body_pos_w", "body_quat_w", "body_lin_vel_w", "body_ang_vel_w", ], ) if data["fps"].dtype != np.int64 or int(data["fps"][0]) <= 0: raise ValueError("fps must be a positive int64 array with shape (1,)") quat_norm = np.linalg.norm(data["body_quat_w"], axis=-1) if not np.allclose(quat_norm, 1.0, atol=1e-4): raise ValueError("body_quat_w contains non-unit quaternions") if not np.allclose( data["body_pos_w"][:, 0], data["body_pos_w"][:, 3], atol=1e-6 ): raise ValueError("pelvis_contour_link must duplicate pelvis position") if not np.allclose( data["body_quat_w"][:, 0], data["body_quat_w"][:, 3], atol=1e-6 ): raise ValueError("pelvis_contour_link must duplicate pelvis rotation") def validate_file(path: Path, expected_format: str) -> str: with np.load(path, allow_pickle=False) as data: actual_format = infer_format(set(data.files)) if expected_format != "auto" and actual_format != expected_format: raise ValueError( f"expected {expected_format}, inferred {actual_format}" ) if actual_format == "mt": validate_mt(data) else: validate_isaac(data) return actual_format def parse_args() -> argparse.Namespace: parser = argparse.ArgumentParser(description="Validate MT/Isaac NPZ files") parser.add_argument("path", type=Path, help="NPZ file or directory") parser.add_argument( "--format", choices=("auto", "mt", "isaac"), default="auto" ) parser.add_argument( "--limit", type=int, help="Validate only the first N files" ) return parser.parse_args() def main() -> None: args = parse_args() target = args.path.expanduser().resolve() if target.is_file(): paths = [target] elif target.is_dir(): paths = sorted(target.rglob("*.npz")) else: raise SystemExit(f"Path not found: {target}") if args.limit is not None: if args.limit <= 0: raise SystemExit("--limit must be positive") paths = paths[: args.limit] if not paths: raise SystemExit(f"No NPZ files found: {target}") failures = [] counts = {"mt": 0, "isaac": 0} for path in paths: try: actual_format = validate_file(path, args.format) counts[actual_format] += 1 except Exception as error: failures.append((path, error)) print(f"FAIL\t{path}\t{error}") print( f"Validated {len(paths)} file(s): " f"mt={counts['mt']}, isaac={counts['isaac']}, " f"failed={len(failures)}" ) if failures: raise SystemExit(1) if __name__ == "__main__": main()