<div><div dir="auto">I’m working on live motion captured HAnim, but the captured motions, particularly in the legs, are not stable, which is especially worrisome because the leg motions aren’t captured.</div></div><div><div dir="auto"><br></div><div dir="auto">What I will try to do is make poses from my mocap system to make use of Joe’s prototype.</div><div dir="auto"><br></div><div dir="auto">One concern is my naming scheme is way off, but I have data structures to do the conversion from l, r, p, then number (left, right, pose) to actual HAnim names. I just have to apply them in this case. Another worry is not using centers, but focusing on translations and rotations instead. Creating an initial baseline pose may be critical. I’m not sure what the software I am using does, and i do use transforms to make the figures fit on the screen.</div><div dir="auto"><br></div><div dir="auto">So sure, a variety of Poses defined in a standard might be useful. But remember that translating Joint names might be difficult, and a translation table in the prototype may be useful!</div><div dir="auto"><br></div><div dir="auto">John </div><div><br><div class="gmail_quote"><div dir="ltr" class="gmail_attr">On Sat, Apr 5, 2025 at 2:33 PM Brutzman, Donald (Don) (CIV) via x3d-public <<a href="mailto:x3d-public@web3d.org" target="_blank">x3d-public@web3d.org</a>> wrote:<br></div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
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[cc: HAnim and x3d-public mailing lists]<br>
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Joe, first: the demo model you are working on looks valuable and interesting, thanks for showing that. Please send a copy when you have a version you are willing to share, and I'll add that too.</div>
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Joe, next: thanks for the excellent design discussions on HAnimPose. Am really liking where we landed:</div>
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<div>Confirmation that specification defines one and only one allowed default pose for HAnimHumanoid</div>
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<div>Namely "I" pose, with corresponding skeletalConfiguration="BASIC"</div>
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<div>This remains true if an alternate model has a source pose other than "I" pose - the joint bindings bring it back to having all Joints with default values (zeroed positions and scales, zero-angle rotations),</div>
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<div>Knowing that a pose is applied against that initial I pose let's us design a repeatable reusable node,</div>
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<div>Only defining pose values for a short set of PoseJoints of interest (names, positions, rotations) keeps definitions very terse, and (if the author chooses joints wisely, sticking to LOA-1 joints) consistently animatable across all
LOAs also.</div>
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<div>Think of HAnimPose as a one-shot animation of the HAnimHumanoid skeleton</div>
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<div>Defer sequencing and transitions between multiple HAnimPose nodes for now, perhaps later designing something like a new "HAnimPoseInterpolator" node</div>
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<div>I added the ability to pose multiple HAnimHumanoid nodes by patterning after a Switch node</div>
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The example we crafted is now deployed online:</div>
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X3D Example Archives: Humanoid Animation, Pose, HAnimPose Prototype</div>
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<a href="https://www.web3d.org/x3d/content/examples/HumanoidAnimation/Pose" target="_blank">https://www.web3d.org/x3d/content/examples/HumanoidAnimation/Pose</a></div>
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<a href="https://www.web3d.org/x3d/content/examples/HumanoidAnimation/Pose/HAnimPosePrototypeIndex.html" target="_blank">https://www.web3d.org/x3d/content/examples/HumanoidAnimation/Pose/HAnimPosePrototypeIndex.html</a></div>
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HAnimPose : X3DGroupingNode {</div>
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SFBool [in, out] enabled TRUE</div>
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SFBool [in] setPose</div>
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SFString [in, out] name "" # required<br>
MFString [in, out] namesPoseJoints [] # triplets <i>only</i> for joints of interest<br>
MFVec3f [in, out] positionsPoseJoints [] # triplets <i>only</i> for joints of interest<br>
MFVec3f [in, out] rotationsPoseJoints [] # triplets <i>only</i> for joints of interest</div>
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MFNode [in, out] children [] [HAnimHumanoid] # typically USE nodes</div>
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MFNode [in] addChildren [HAnimHumanoid]</div>
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MFNode [in] removeChildren [HAnimHumanoid]</div>
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SFInt32 [in, out] whichChoice -1 [-1, infinity]</div>
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Current assessment:</div>
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<div style="margin:0px">The prototype declaration to define an instantiable node and corresponding fields looks helpful,</div>
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<div style="margin:0px">The embedded Script node has accessor methods for fields, and pseudocode outline of future functionality </div>
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<div style="margin:0px">including the two A and T poses as ProtoInstance examples gives us a target for simple development tests.</div>
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<div style="margin:0px">No blockers yet seen that might prevent full implementation and evaluations, though the embedded JavaScript code might require a SMOP or two...</div>
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<div style="margin:0px"><a href="https://en.wikipedia.org/wiki/Small_matter_of_programming" id="m_-212380045128377239m_4219006647024237133OWA6ce38a08-c4b2-e7d3-5e6e-abe78b3b24f8" target="_blank">https://en.wikipedia.org/wiki/Small_matter_of_programming</a></div>
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Implementation TODO:</div>
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<div>Implementation of HAnimPose script pseudocode in JavaScript,</div>
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<div>See if we can use X3D IMPORT/EXPORT statements for testing of various HAnimHumanoid models that are already in the archives,</div>
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<div>Revise the draft design notes, first attempt at</div>
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<div><a href="https://www.web3d.org/x3d/content/examples/HumanoidAnimation/Pose/HAnimPoseDesignNotes19MAR2025.pdf" id="m_-212380045128377239m_4219006647024237133OWA9cd9b783-d4f1-6a54-54eb-8f4ece3b70ef" target="_blank">https://www.web3d.org/x3d/content/examples/HumanoidAnimation/Pose/HAnimPoseDesignNotes19MAR2025.pdf</a></div>
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<div>Start collecting and archiving a set of actual interoperable poses for further evaluation,</div>
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<div>Draft prose for HAnim 2.1 and X3D Architecture 4.1 specifications.</div>
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<p style="margin:0in;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt">all the best, Don</span></p>
<p style="margin:0in;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt">--</span></p>
<p style="margin:0in;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt">Don Brutzman Naval Postgraduate School, Code USW/Br <a href="mailto:brutzman@nps.edu" target="_blank">brutzman@nps.edu</a></span></p>
<p style="margin:0in;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt">Watkins 270, MOVES Institute, Monterey CA 93943-5000 USA +1.831.656.2149</span></p>
<p style="margin:0in;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt">X3D graphics, virtual worlds, navy robotics <a href="https://faculty.nps.edu/brutzman" target="_blank">https://faculty.nps.edu/brutzman</a></span></p>
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<b>From:</b> Brutzman, Donald (Don) (CIV)<br>
<b>Sent:</b> Tuesday, March 25, 2025 7:48 AM<br>
<b>To:</b> Carol McDonald; Katy Schildmeyer KS APPAREL DESIGN<br>
<b>Cc:</b> Joseph D Williams; Myeong Won Lee; Nicholas Polys; <a href="mailto:puk@igraphics.com" target="_blank">puk@igraphics.com</a>; William Glascoe; Bill Benman<br>
<b>Subject:</b> HAnimPose notes, plans </div>
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Carol, ICYMI here are the notes that I sent to Joe and HAnim list about a week ago, which we briefly discussed last Friday.</div>
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Katy, apologies but my current responsibilities teaching one more course and preparing to retire on 30 JUN 2025 prevent me from participating in the MSF and IEEE groups related to avatars and clothing. I look forward to learning more, and hopefully participating,
by starting later in the coming months.</div>
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Joe and I have begun discussing this document and will continue. Summary of current thinking:</div>
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<div style="direction:ltr">HAnim 2.0 Architecture defines baseline requirement for any HAnimHumanoid to have</div>
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<div style="direction:ltr">Default pose in "I" pose with all HAnimJoint values zeroed.</div>
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<div style="direction:ltr"><span style="font-family:"Courier New",monospace;font-size:9pt">skeletalConfiguration="BASIC"</span> to confirm this.</div>
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<div style="direction:ltr">If geometry of original body is not in "I" pose then 5 fields can adjust it accordingly (<span style="font-family:"Courier New",monospace;font-size:9pt">jointBinding</span>* and
<span style="font-family:"Courier New",monospace;font-size:9pt">skinBinding</span>* fields)</div>
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<div style="direction:ltr">Given that common HAnimHumanoid baseline, all motion animations can start using a common configuration </div>
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<div style="direction:ltr">and are therefore repeatable across all BASIC HanimHumanoid models.</div>
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<div style="direction:ltr">This generality is super powerful! Animations become reusable.</div>
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<div style="direction:ltr">If we need to modify the HAnim and X3D specifications, we can. No specific problems encountered yet.</div>
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<div style="direction:ltr">HAnim 2.0 Architecture, <a href="https://www.web3d.org/documents/specifications/19774/V2.0/Architecture/concepts.html#ModellingOfHumanLikeHAnimFigures" id="m_-212380045128377239m_4219006647024237133OWAe45a46f7-eed4-807b-a056-6fdf4b017c21" target="_blank">
4.8.2 Modelling of human-like HAnim figures</a></div>
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<div style="direction:ltr">HAnim 2.0 Architecture, <a href="https://www.web3d.org/documents/specifications/19774/V2.0/Architecture/concepts.html#Poses" id="m_-212380045128377239m_4219006647024237133OWA719ddc53-6288-9f6d-9fdf-611dba3c52d9" title="https://www.web3d.org/documents/specifications/19774/V2.0/Architecture/concepts.html#Poses" target="_blank">
4.8.3 Poses</a></div>
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Next... how can we have a more-general pose capability?</div>
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<div style="direction:ltr">The attached notes define candidate design goals and corresponding fields.</div>
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<div style="direction:ltr">Am thinking that we should start simply at first. Perhaps we might think of a pose as sort of a "freeze frame" animation that zeroes all HAnimJoint values and then modifies only the joints needed to show that pose.</div>
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<div style="direction:ltr">Using the provided capabilities of X3D and HAnim, deliberately avoiding any need for changes by browsers, will help speed progress.</div>
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<div style="direction:ltr">Building an X3D prototype, with a Script node to first find and reset all LOA1 HAnimJoint nodes, seems like a good path to show some initial results.</div>
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Carol and Katy, looking past that, once we become competent at "striking a pose" then it will be good to look at use cases for expected coveroid activities. I think that once we have some simple working examples (such as "I", "A" and "T" poses, we will be
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<div style="direction:ltr">Are HAnimPose nodes independent of individual HAnimHumanoid bodies?</div>
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<div style="direction:ltr">Conversely, might an individual HAnimHumanoid include a set of embedded HAnimPose nodes that that can either activated one at a time, or deliberately animated from one to another?</div>
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Joe, looking forward to working further with you on this worthy challenge.</div>
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Having fun with HAnim! 🙂 🧜♂️🚶♀️🏃♂️🕴</div>
<div id="m_-212380045128377239m_4219006647024237133x_Signature">
<p style="margin:0px;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt"><br>
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<p style="margin:0px;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt">all the best, Don</span></p>
<p style="margin:0px;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt">--</span></p>
<p style="margin:0px;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt">Don Brutzman Naval Postgraduate School, Code USW/Br <a href="mailto:brutzman@nps.edu" target="_blank">brutzman@nps.edu</a></span></p>
<p style="margin:0px;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt">Watkins 270, MOVES Institute, Monterey CA 93943-5000 USA +1.831.656.2149</span></p>
<p style="margin:0px;font-family:Calibri,sans-serif;font-size:11pt"><span style="font-family:"Courier New";font-size:9pt">X3D graphics, virtual worlds, navy robotics <a href="https://faculty.nps.edu/brutzman" target="_blank">https://faculty.nps.edu/brutzman</a></span></p>
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