[x3d-public] HAnim2 LOA4 Hierarchy from X3DUOM: sleuthing to resolve anHAnimJoint validation error
Joseph D Williams
joedwil at earthlink.net
Sat Feb 11 12:30:59 PST 2023
Thanks Don, I will look and read related messages soon.
Joe
From: Brutzman, Donald (Don) (CIV)
Sent: Friday, February 10, 2023 8:14 AM
To: Joseph D Williams; John Carlson
Cc: X3D Graphics public mailing list; Brutzman, Donald (Don) (CIV)
Subject: RE: HAnim2 LOA4 Hierarchy from X3DUOM: sleuthing to resolve anHAnimJoint validation error
Wondering who might be willing to check that the autogenerated table correctly matches the specification?
• https://www.web3d.org/x3d/stylesheets/HAnimLOA4HierarchyTable.txt
It will be excellent one we are confident that our autogenerated validation checks are 100% consistent with the X3D4 and HAnim2 architecture specifications.
all the best, Don
--
Don Brutzman Naval Postgraduate School, Code USW/Br brutzman at nps.edu
Watkins 270, MOVES Institute, Monterey CA 93943-5000 USA +1.831.656.2149
X3D graphics, virtual worlds, Navy robotics https:// faculty.nps.edu/brutzman
From: Brutzman, Donald (Don) (CIV)
Sent: Sunday, January 29, 2023 10:19 AM
To: Joseph D Williams <joedwil at earthlink.net>; John Carlson <yottzumm at gmail.com>
Cc: X3D Graphics public mailing list <x3d-public at web3d.org>; brutzman at nps.edu
Subject: RE: HAnim2 LOA4 Hierarchy from X3DUOM: sleuthing to resolve an HAnimJoint validation error
While testing for deployment, found another glaring error. From recently adjusted JoeKick.x3d model:
• https://www.web3d.org/x3d/content/examples/HumanoidAnimation/Skin/JoeKickIndex.html
<HAnimJoint DEF='Joe_skullbase' center='0 1.63 -0.01' name='skullbase' skinCoordIndex='0 1 2 3 4 5 6 7 8 9' skinCoordWeight='1 1 1 1 1 1 1 1 1 1'>
<HAnimDisplacer DEF='Joe_skull_tip_raiser_action' coordIndex='0 1 2 3 4 5 6 7 8 9' displacements='0 0.15 0 0 0 0.15 -0.1 0 0.15 0.1 0 0.05 0 -0.02 0.05 -0.15 0 0 -0.05 0 0 0.15 0 0 0.05 0 0 0 0 -0.15' name='skull_tip_raiser_action'/>
<HAnimJoint DEF='Joe_l_eyelid_joint' center='0.034 1.659 0.06' name='l_eyelid_joint'/>
<HAnimJoint DEF='Joe_l_eyeball_joint' center='0.034 1.659 0.06' name='l_eyeball_joint'/>
<HAnimJoint DEF='Joe_l_eyebrow_joint' center='0.034 1.659 0.06' name='l_eyebrow_joint'/>
<HAnimJoint DEF='Joe_r_eyelid_joint' center='-0.034 1.659 0.06' name='r_eyelid_joint'/>
<HAnimJoint DEF='Joe_r_eyeball_joint' center='-0.034 1.659 0.06' name='r_eyeball_joint'/>
<HAnimJoint DEF='Joe_r_eyebrow_joint' center='-0.034 1.659 0.06' name='r_eyebrow_joint'/>
<HAnimJoint DEF='Joe_temporomandibular' center='0.034 1.659 0.06' name='temporomandibular'/>
</HAnimJoint>
Which certainly looks legal according to the two governing specifications, which both state that HAnimJoint can contain multiple HAnimDisplacer, HAnimJoint and HAnimSegment nodes.
• X3D4 Architecture, HAnim component, 26.3.3 HAnimJoint
• https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-DIS/Part01/components/hanim.html#HAnimJoint
• HAnim2 part 1, 6 Object interfaces, 6.3 Joint
• https://www.web3d.org/documents/specifications/19774/V2.0/Architecture/ObjectInterfaces.html#Joint
HOWEVER, this block produces obscure X3D XML DTD and X3D XML Schema errors such as
Performing DTD validation...
Checking file:/C:/x3d-code/www.web3d.org/x3d/content/examples/HumanoidAnimation/Skin/JoeKick.x3d...
The content of element type "HAnimJoint" must match "(IS?,(MetadataBoolean|MetadataDouble|MetadataFloat|MetadataInteger|MetadataSet|MetadataString|ProtoInstance)?,(HAnimJoint|HAnimSegment|ProtoInstance)*)".
XML DTD validation: fail!
XML validation started.
Checking file:/C:/x3d-code/www.web3d.org/x3d/content/examples/HumanoidAnimation/Skin/JoeKick.x3d...
cvc-complex-type.2.4.a: Invalid content was found starting with element 'HAnimDisplacer'. One of '{IS, MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataSet, MetadataString, HAnimJoint, HAnimSegment, ProtoInstance}' is expected. [101]
The content of element type "HAnimJoint" must match "(IS?,(MetadataBoolean|MetadataDouble|MetadataFloat|MetadataInteger|MetadataSet|MetadataString|ProtoInstance)?,(HAnimJoint|HAnimSegment|ProtoInstance)*)". [109]
XML validation finished.
Quiz question: what are these cryptic errors telling us? Look carefully, try to understand what these XML tools are saying…
Quiz hint, found in those diagnostic reports: Invalid content was found starting with element 'HAnimDisplacer'
Quiz answer: neither validation tool is allowing the HAnimJoint content model of contained nodes to include HAnimDisplacer… which is a mistake by each tool! The X3D4 and HAnim2 specifications are authoritative, and they say OK.
Therefore, good news: our relentless testing found another validation error. I’ve applied the correction and updated X3D XML DTD, X3D XML Schema and corresponding documentation. These corrections help us with all of our other model testing, now and in the future.
Five-star surprise: this error has persisted through X3D 3.0, 3.1, 3.2, 3.3 and 4.0. Oh my goodness… we are still learning, and we certainly don’t have enough models using HAnimDisplacer to force exposure of such an issue. Thanks Joe for continuing with your JoeKick model and other examples.
The journey continues… updates checked in and deployed. JoeKick.x3d now validates without complaint. Am restarting the test and deployment cycle, onward we go.
all the best, Don
--
Don Brutzman Naval Postgraduate School, Code USW/Br brutzman at nps.edu
Watkins 270, MOVES Institute, Monterey CA 93943-5000 USA +1.831.656.2149
X3D graphics, virtual worlds, Navy robotics https:// faculty.nps.edu/brutzman
From: Brutzman, Donald (Don) (CIV) <brutzman at nps.edu>
Sent: Saturday, January 28, 2023 1:19 PM
To: Joseph D Williams <joedwil at earthlink.net>; John Carlson <yottzumm at gmail.com>
Cc: X3D Graphics public mailing list <x3d-public at web3d.org>; Brutzman, Donald (Don) (CIV) <brutzman at nps.edu>
Subject: HAnim2 LOA4 Hierarchy from X3DUOM
As part of followup actions from yesterday’s three specific parent-child relationship corrections, am now autogenerating the following table using X3DUOM. It should match the international-standard hand-generated HAnim2 specification for LOA-4 Hierarchy.
Spot check:
a. Joint vl5 has parent humanoid_root
b. Joint l_sternoclavicular has parent vt1
c. Joint r_sternoclavicular has parent vt1
Am hoping that someone can check that everything matches correctly -- hey, this should match your body too! Any remaining parent-child relationship errors that are similar to yesterday’s errors should stand out. All corrections are most welcome.
This is another great confirmation test to continue improving our confidence when producing and diagnosing the correctness of HAnim models. The autogeneration stylesheet and these results are all checked into version control, and they are now part of our production chain for X3D4 validation. I will continue work on various other autogenerated diagnostics (X3D Schematron, X3D Validator, X3D-Edit etc.) and report when everything is ready.
Thanks again to Joe and John for dogged persistence tracking down the errors in the first place. Essential work.
Have fun with HAnim and X3D! 8)
HAnim2 LOA4 Hierarchy from X3DUOM
https://www.web3d.org/x3d/stylesheets/HAnimLOA4HierarchyTable.txt
Authoritative reference: HAnim version 2, Part 1: Humanoid animation (HAnim) architecture,
clause 4 Concepts, section 4.9.6.4 LOA
4 hierarchy
https://www.web3d.org/documents/specifications/19774/V2.0/Architecture/concepts.html#Hierarchy4
clause 4 Concepts, Figure 4.7 — LOA
4 joints
https://www.web3d.org/documents/specifications/19774/V2.0/Architecture/concepts.html#f-LOA4Joints
humanoid_root : sacrum
sacroiliac : pelvis
| l_hip : l_thigh
| | l_knee : l_calf
| | l_talocrural : l_talus
| | l_talocalcaneonavicular : l_navicular
| | | l_cuneonavicular_1 : l_cuneiform_1
| | | | l_tarsometatarsal_1 : l_metatarsal_1
| | | | l_metatarsophalangeal_1 : l_tarsal_proximal_phalanx_1
| | | | l_tarsal_interphalangeal_1 : l_tarsal_distal_phalanx_1
| | | l_cuneonavicular_2 : l_cuneiform_2
| | | | l_tarsometatarsal_2 : l_metatarsal_2
| | | | l_metatarsophalangeal_2 : l_tarsal_proximal_phalanx_2
| | | | l_tarsal_proximal_interphalangeal_2 : l_tarsal_middle_phalanx_2
| | | | l_tarsal_distal_interphalangeal_2 : l_tarsal_distal_phalanx_2
| | | l_cuneonavicular_3 : l_cuneiform_3
| | | l_tarsometatarsal_3 : l_metatarsal_3
| | | l_metatarsophalangeal_3 : l_tarsal_proximal_phalanx_3
| | | l_tarsal_proximal_interphalangeal_3 : l_tarsal_middle_phalanx_3
| | | l_tarsal_distal_interphalangeal_3 : l_tarsal_distal_phalanx_3
| | l_calcaneocuboid : l_calcaneus
| | l_transversetarsal : l_cuboid
| | l_tarsometatarsal_4 : l_metatarsal_4
| | | l_metatarsophalangeal_4 : l_tarsal_proximal_phalanx_4
| | | l_tarsal_proximal_interphalangeal_4 : l_tarsal_middle_phalanx_4
| | | l_tarsal_distal_interphalangeal_4 : l_tarsal_distal_phalanx_4
| | l_tarsometatarsal_5 : l_metatarsal_5
| | l_metatarsophalangeal_5 : l_tarsal_proximal_phalanx_5
| | l_tarsal_proximal_interphalangeal_5 : l_tarsal_middle_phalanx_5
| | l_tarsal_distal_interphalangeal_5 : l_tarsal_distal_phalanx_5
| r_hip : r_thigh
| r_knee : r_calf
| r_talocrural : r_talus
| r_talocalcaneonavicular : r_navicular
| | r_cuneonavicular_1 : r_cuneiform_1
| | | r_tarsometatarsal_1 : r_metatarsal_1
| | | r_metatarsophalangeal_1 : r_tarsal_proximal_phalanx_1
| | | r_tarsal_interphalangeal_1 : r_tarsal_distal_phalanx_1
| | r_cuneonavicular_2 : r_cuneiform_2
| | | r_tarsometatarsal_2 : r_metatarsal_2
| | | r_metatarsophalangeal_2 : r_tarsal_proximal_phalanx_2
| | | r_tarsal_proximal_interphalangeal_2 : r_tarsal_middle_phalanx_2
| | | r_tarsal_distal_interphalangeal_2 : r_tarsal_distal_phalanx_2
| | r_cuneonavicular_3 : r_cuneiform_3
| | r_tarsometatarsal_3 : r_metatarsal_3
| | r_metatarsophalangeal_3 : r_tarsal_proximal_phalanx_3
| | r_tarsal_proximal_interphalangeal_3 : r_tarsal_middle_phalanx_3
| | r_tarsal_distal_interphalangeal_3 : r_tarsal_distal_phalanx_3
| r_calcaneocuboid : r_calcaneus
| r_transversetarsal : r_cuboid
| r_tarsometatarsal_4 : r_metatarsal_4
| | r_metatarsophalangeal_4 : r_tarsal_proximal_phalanx_4
| | r_tarsal_proximal_interphalangeal_4 : r_tarsal_middle_phalanx_4
| | r_tarsal_distal_interphalangeal_4 : r_tarsal_distal_phalanx_4
| r_tarsometatarsal_5 : r_metatarsal_5
| r_metatarsophalangeal_5 : r_tarsal_proximal_phalanx_5
| r_tarsal_proximal_interphalangeal_5 : r_tarsal_middle_phalanx_5
| r_tarsal_distal_interphalangeal_5 : r_tarsal_distal_phalanx_5
vl5 : l5
vl4 : l4
vl3 : l3
vl2 : l2
vl1 : l1
vt12 : t12
vt11 : t11
vt10 : t10
vt9 : t9
vt8 : t8
vt7 : t7
vt6 : t6
vt5 : t5
vt4 : t4
vt3 : t3
vt2 : t2
vt1 : t1
vc7 : c7
| vc6 : c6
| vc5 : c5
| vc4 : c4
| vc3 : c3
| vc2 : c2
| vc1 : c1
| skullbase : skull
| l_eyelid_joint : l_eyelid
| r_eyelid_joint : r_eyelid
| l_eyeball_joint : l_eyeball
| r_eyeball_joint : r_eyeball
| l_eyebrow_joint : l_eyebrow
| r_eyebrow_joint : r_eyebrow
| temporomandibular : jaw
l_sternoclavicular : l_clavicle
| l_acromioclavicular : l_scapula
| l_shoulder : l_upperarm
| l_elbow : l_forearm
| l_radiocarpal : l_carpal
| l_midcarpal_1 : l_trapezium
| | l_carpometacarpal_1 : l_metacarpal_1
| | l_metacarpophalangeal_1 : l_carpal_proximal_phalanx_1
| | l_carpal_interphalangeal_1 : l_carpal_distal_phalanx_1
| l_midcarpal_2 : l_trapezoid
| | l_carpometacarpal_2 : l_metacarpal_2
| | l_metacarpophalangeal_2 : l_carpal_proximal_phalanx_2
| | l_carpal_proximal_interphalangeal_2 : l_carpal_middle_phalanx_2
| | l_carpal_distal_interphalangeal_2 : l_carpal_distal_phalanx_2
| l_midcarpal_3 : l_capitate
| | l_carpometacarpal_3 : l_metacarpal_3
| | l_metacarpophalangeal_3 : l_carpal_proximal_phalanx_3
| | l_carpal_proximal_interphalangeal_3 : l_carpal_middle_phalanx_3
| | l_carpal_distal_interphalangeal_3 : l_carpal_distal_phalanx_3
| l_midcarpal_4_5 : l_hamate
| l_carpometacarpal_4 : l_metacarpal_4
| | l_metacarpophalangeal_4 : l_carpal_proximal_phalanx_4
| | l_carpal_proximal_interphalangeal_4 : l_carpal_middle_phalanx_4
| | l_carpal_distal_interphalangeal_4 : l_carpal_distal_phalanx_4
| l_carpometacarpal_5 : l_metacarpal_5
| l_metacarpophalangeal_5 : l_carpal_proximal_phalanx_5
| l_carpal_proximal_interphalangeal_5 : l_carpal_middle_phalanx_5
| l_carpal_distal_interphalangeal_5 : l_carpal_distal_phalanx_5
r_sternoclavicular : r_clavicle
r_acromioclavicular : r_scapula
r_shoulder : r_upperarm
r_elbow : r_forearm
r_radiocarpal : r_carpal
r_midcarpal_1 : r_trapezium
| r_carpometacarpal_1 : r_metacarpal_1
| r_metacarpophalangeal_1 : r_carpal_proximal_phalanx_1
| r_carpal_interphalangeal_1 : r_carpal_distal_phalanx_1
r_midcarpal_2 : r_trapezoid
| r_carpometacarpal_2 : r_metacarpal_2
| r_metacarpophalangeal_2 : r_carpal_proximal_phalanx_2
| r_carpal_proximal_interphalangeal_2 : r_carpal_middle_phalanx_2
| r_carpal_distal_interphalangeal_2 : r_carpal_distal_phalanx_2
r_midcarpal_3 : r_capitate
| r_carpometacarpal_3 : r_metacarpal_3
| r_metacarpophalangeal_3 : r_carpal_proximal_phalanx_3
| r_carpal_proximal_interphalangeal_3 : r_carpal_middle_phalanx_3
| r_carpal_distal_interphalangeal_3 : r_carpal_distal_phalanx_3
r_midcarpal_4_5 : r_hamate
r_carpometacarpal_4 : r_metacarpal_4
| r_metacarpophalangeal_4 : r_carpal_proximal_phalanx_4
| r_carpal_proximal_interphalangeal_4 : r_carpal_middle_phalanx_4
| r_carpal_distal_interphalangeal_4 : r_carpal_distal_phalanx_4
r_carpometacarpal_5 : r_metacarpal_5
r_metacarpophalangeal_5 : r_carpal_proximal_phalanx_5
r_carpal_proximal_interphalangeal_5 : r_carpal_middle_phalanx_5
r_carpal_distal_interphalangeal_5 : r_carpal_distal_phalanx_5
all the best, Don
--
Don Brutzman Naval Postgraduate School, Code USW/Br brutzman at nps.edu
Watkins 270, MOVES Institute, Monterey CA 93943-5000 USA +1.831.656.2149
X3D graphics, virtual worlds, Navy robotics https:// faculty.nps.edu/brutzman
From: Brutzman, Donald (Don) (CIV)
Sent: Friday, January 27, 2023 7:02 PM
To: Joseph D Williams <joedwil at earthlink.net>; John Carlson <yottzumm at gmail.com>
Cc: X3D Graphics public mailing list <x3d-public at web3d.org>; brutzman at nps.edu
Subject: RE: HAnim Schematron output sampled
Thanks for discussion Joe, really helpful. We definitely have had some mixed signals here.
Summary of changes we applied to HAnim schema relationships:
a. Joint vl5 has parent humanoid_root
b. Joint l_sternoclavicular has parent vt1
c. Joint r_sternoclavicular has parent vt1
I will work on updating these corrections into all the tools accordingly – X3DUOM, X3D Schematron, X3DJSAIL Java, X3DPSAIL Python, and X3D-Edit..
Thanks too for fixing multiple models together.
Awesome work, sincere thanks, take care.
all the best, Don
--
Don Brutzman Naval Postgraduate School, Code USW/Br brutzman at nps.edu
Watkins 270, MOVES Institute, Monterey CA 93943-5000 USA +1.831.656.2149
X3D graphics, virtual worlds, Navy robotics https:// faculty.nps.edu/brutzman
From: Joseph D Williams <joedwil at earthlink.net>
Sent: Sunday, January 22, 2023 11:53 AM
To: Brutzman, Donald (Don) (CIV) <brutzman at nps.edu>; John Carlson <yottzumm at gmail.com>
Cc: X3D Graphics public mailing list <x3d-public at web3d.org>
Subject: RE: HAnim Schematron output sampled
• vl5 has parent humanoid_root rather than expected sacroiliac
• l_sternoclavicular has parent vt1 rather than expected vc7
• r_sternoclavicular has parent vt1 rather than expected vc7
Don, these three items serve as a summary when processing a model that is correct according to the diagram.
Much to discuss regarding some existing examples.
Joe
From: Brutzman, Donald (Don) (CIV)
Sent: Sunday, January 22, 2023 10:09 AM
To: Joseph D Williams; John Carlson
Cc: X3D Graphics public mailing list
Subject: Re: HAnim Schematron output sampled
Sounds like progress, but not quite focused enough to make any fixes yet…. Clarity his critical.
Hopefully you guys can create a simple list consisting of simple triplets:
• suspect joint or segment name,
• the incorrect parent described in the X3D XML schema,, and
• the correct parent shown by the diagrams in the specifications.
If there is such a simple list of a few names/errors/corrections available, I hope to have some time Monday or Tuesday afternoon to work on it together. Onward…
v/r Don
From: Joseph D Williams <joedwil at earthlink.net>
Sent: Saturday, January 21, 2023 11:07:06 PM
To: John Carlson <yottzumm at gmail.com>; Brutzman, Donald (Don) (CIV) <brutzman at nps.edu>; X3D Graphics public mailing list <x3d-public at web3d.org>
Subject: RE: HAnim Schematron output sampled
Hi,
The expected ones are not correct. Vl5 is a child of root and sternos and vc7 are childs of vt1. The schematron claims are wrong.
The schematron is wrong according to the Concepts 4 diagrams for loa3 and loa4.
• Yes, vl5 is a child of sacroiliac, according to Joe. X3DUOM/schematron wins!
No, vl5 is a child of root. Schematron is wrong.
The diagrams are correct.
Joe
From: John Carlson
Sent: Sunday, January 15, 2023 5:46 PM
To: Joe D Williams; Don Brutzman; X3D Graphics public mailing list
Subject: Re: HAnim Schematron output sampled
vl5 has parent humanoid_root rather than expected sacroiliac. Yes, vl5 is a child of sacroiliac, according to Joe. X3DUOM/schematron wins!
l_sternoclavicular has parent vt1 rather than expected vc7. Please confirm.
r_sternoclavicular has parent vt1 rather than expected vc7. Please confirm.
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