Humanoid Animation Working Group

Appendices for the Specification for a Standard Humanoid

Version 1.1


Appendix A: Suggested Body Dimensions and Levels of Articulation

Some types of humanoid animation are independent of the body's actual dimensions. For example, tilting the head to a specific angle will have the same effect on any humanoid that has a skullbase Joint.

However, some animations will be dependent on the lengths of individual segments or on the ratios of the segment lengths. For example, touching the tip of the finger to the tip of the nose will require a knowledge of the body's dimensions.

The following tables provide suggested placements for the joint centers for each Joint, and for the placement of Sites that are used as end effectors. Any humanoid that is built to these dimensions will be able to share animations with any other humanoid built to these dimensions. Humanoids that are sized differently, but which use the same ratios of segment lengths, may be able to share certain animations provided that the application adjusts the animation values accordingly.

Since many applications may not need the full set of joints, the following tables have been arranged into four "Levels of Articulation". Building to a particular Level of Articulation will ensure that the humanoid will be compatable with animations and other humanoids built to the same (or higher) Level of Articulation.

Suggested body dimensions and levels of articulation are provided for information only and are not required by the H-Anim specification.

The source examples of each Level of Articulation that are listed after the tables contain no actual geometry, except for diamonds at the Joint centers in some examples. They are provided as sample source code only.

Level of Articulation Zero

HumanoidRoot Only. This is the minimum legal H-Anim humanoid.
LOA 0 - Default Joint Center
Joint center
HumanoidRoot 0.0000 0.8240 0.0277

LOA 0 - Default Site Translations

Site translation
skull_tip 0.0050 1.7504 0.0055
sellion 0.0058 1.6316 0.0852
r_infraorbitale -0.0237 1.6171 0.0752
l_infraorbitale 0.0341 1.6171 0.0752
supramenton 0.0061 1.5410 0.0805
r_tragion -0.0646 1.6347 0.0302
r_gonion -0.0520 1.5529 0.0347
l_tragion 0.0739 1.6348 0.0282
l_gonion 0.0631 1.5530 0.0330
nuchale 0.0039 1.5972 -0.0796
r_clavicale -0.0115 1.4943 0.0400
suprasternale 0.0084 1.4714 0.0551
l_clavicale 0.0271 1.4943 0.0394
r_thelion -0.0736 1.3385 0.1217
l_thelion 0.0918 1.3382 0.1192
substernale 0.0085 1.2995 0.1147
r_rib10 -0.0711 1.1941 0.1016
r_asis -0.0887 1.0021 0.1112
l_rib10 0.0871 1.1925 0.0992
l_asis 0.0925 0.9983 0.1052
r_iliocristale -0.1525 1.0628 0.0035
r_trochanterion -0.1689 0.8419 0.0352
l_iliocristale 0.1612 1.0537 0.0008
l_trochanterion 0.1677 0.8336 0.0303
cervicale 0.0064 1.520 -0.0815
rib10_midspine 0.0049 1.1908 -0.1113
r_psis -0.0716 1.0190 -0.1138
l_psis 0.0774 1.0190 -0.1151
waist_preferred_post 0.0049 1.0915 -0.1091
r_acromion -0.1905 1.4791 -0.0431
r_axilla_ant -0.1626 1.4072 -0.0031
r_radial_styloid -0.1884 0.8676 -0.0360
r_axilla_post -0.1603 1.4098 -0.0826
r_olecranon -0.1907 1.1405 -0.1065
r_humeral_lateral_epicn -0.2224 1.1517 -0.1033
r_humeral_medial_epicn -0.1680 1.1298 -0.1062
r_radiale -0.2130 1.1305 -0.1091
r_metacarpal_pha2 -0.1977 0.8169 -0.0177
r_dactylion -0.1941 0.6772 -0.0423
r_ulnar_styloid -0.2117 0.8562 -0.0584
r_metacarpal_pha5 -0.1929 0.7890 -0.1064
l_acromion 0.2032 1.4760 -0.0490
l_axilla_ant 0.1777 1.4065 -0.0075
l_radial_styloid 0.1901 0.8645 -0.0415
l_axilla_post 0.1706 1.4072 -0.0875
l_olecranon 0.1962 1.1375 -0.1123
l_humeral_lateral_epicn 0.2280 1.1482 -0.1100
l_humeral_medial_epicn 0.1735 1.1272 -0.1113
l_radiale 0.2182 1.1212 -0.1167
l_metacarpal_pha2 0.2009 0.8139 -0.0237
l_dactylion 0.2056 0.6743 -0.0482
l_ulnar_styloid 0.2142 0.8529 -0.0648
l_metacarpal_pha5 0.1929 0.7860 -0.1122
r_knee_crease -0.0825 0.4932 -0.0326
r_femoral_lateral_epicn -0.1421 0.4992 0.0310
r_femoral_medial_epicn -0.0221 0.5014 0.0289
r_metatarsal_pha5 -0.1523 0.0166 0.0895
r_lateral_malleolus -0.1006 0.0658 -0.1075
r_medial_malleolus -0.0591 0.0760 -0.0928
r_sphyrion -0.0603 0.0610 -0.1002
r_metatarsal_pha1 -0.0521 0.0260 0.0127
r_calcaneous_post -0.0692 0.0297 -0.1221
r_digit2 -0.0883 0.0134 0.1383
l_knee_crease 0.0993 0.4881 -0.0309
l_femoral_lateral_epicn 0.1598 0.4967 0.0297
l_femoral_medial_epicn 0.0398 0.4946 0.0303
l_metatarsal_pha5 0.1825 0.0070 0.0928
l_lateral_malleolus 0.1308 0.0597 -0.1032
l_medial_malleolus 0.0890 0.0716 -0.0881
l_sphyrion 0.0890 0.0575 -0.0943
l_metatarsal_pha1 0.0816 0.0232 0.0106
l_calcaneous_post 0.0974 0.0259 -0.1171
l_digit2 0.1195 0.0079 0.1433
crotch 0.0034 0.8266 0.0257
r_neck_base -0.0419 1.5149 -0.0220
l_neck_base 0.0646 1.5141 -0.0380
navel 0.0069 1.0966 0.1017
LOA 0 - example source in VRML
LOA 0 - example source in VRML - diamonds at Joint centers

Level of Articulation One

Typical low-end real-time 3D hierarchy.
LOA 1 - Default Joint Centers
Joint center
HumanoidRoot 0.0000 0.8240 0.0277
sacroiliac 0.0000 0.9149 0.0016
l_hip 0.0961 0.9124 -0.0001
l_knee 0.1040 0.4867 0.0308
l_ankle 0.1101 0.0656 -0.0736
l_midtarsal 0.1086 0.0001 0.0368
r_hip -0.0950 0.9171 0.0029
r_knee -0.0867 0.4913 0.0318
r_ankle -0.0801 0.0712 -0.0766
r_midtarsal -0.0801 0.0000 0.0368
vl5 0.0028 1.0568 -0.0776
skullbase 0.0044 1.6209 0.0236
l_shoulder 0.2029 1.4376 -0.0387
l_elbow 0.2014 1.1357 -0.0682
l_wrist 0.1984 0.8663 -0.0583
r_shoulder -0.1907 1.4407 -0.0325
r_elbow -0.1949 1.1388 -0.0620
r_wrist -0.1959 0.8694 -0.0521

LOA 1 - Default Site Translations

Site translation
l_middistal_tip 0.1354 0.0016 0.1476
l_metatarsal_pha5 0.1825 0.0070 0.0928
l_metatarsal_pha1 0.0816 0.0232 0.0106
l_digit2 0.1195 0.0079 0.1433
l_lateral_malleolus 0.1308 0.0597 -0.1032
l_medial_malleolus 0.0890 0.0716 -0.0881
l_sphyrion 0.0890 0.0575 -0.0943
l_calcaneous_post 0.0974 0.0259 -0.1171
l_knee_crease 0.0993 0.4881 -0.0309
l_femoral_lateral_epicn 0.1598 0.4967 0.0297
l_femoral_medial_epicn 0.0398 0.4946 0.0303
r_middistal_tip -0.1043 -0.0227 0.1450
r_metatarsal_pha5 -0.1523 0.0166 0.0895
r_metatarsal_pha1 -0.0521 0.0260 0.0127
r_digit2 -0.0883 0.0134 0.1383
r_lateral_malleolus -0.1006 0.0658 -0.1075
r_medial_malleolus -0.0591 0.0760 -0.0928
r_sphyrion -0.0603 0.0610 -0.1002
r_calcaneous_post -0.0692 0.0297 -0.1221
r_knee_crease -0.0825 0.4932 -0.0326
r_femoral_lateral_epicn -0.1421 0.4992 0.0310
r_femoral_medial_epicn -0.0221 0.5014 0.0289
skull_tip 0.0050 1.7504 0.0055
sellion 0.0058 1.6316 0.0852
r_infraorbitale -0.0237 1.6171 0.0752
l_infraorbitale 0.0341 1.6171 0.0752
supramenton 0.0061 1.5410 0.0805
r_tragion -0.0646 1.6347 0.0302
r_gonion -0.0520 1.5529 0.0347
l_tragion 0.0739 1.6348 0.0282
l_gonion 0.0631 1.5530 0.0330
nuchale 0.0039 1.5972 -0.0796
l_hand_tip 0.2080 0.6731 -0.0491
l_metacarpal_pha2 0.2009 0.8139 -0.0237
l_dactylion 0.2056 0.6743 -0.0482
l_ulnar_styloid 0.2142 0.8529 -0.0648
l_metacarpal_pha5 0.1929 0.7860 -0.1122
l_radial_styloid 0.1901 0.8645 -0.0415
l_olecranon 0.1962 1.1375 -0.1123
l_humeral_medial_epicn 0.1735 1.1272 -0.1113
l_radiale 0.2182 1.1212 -0.1167
l_humeral_lateral_epicn 0.2280 1.1482 -0.1100
r_hand_tip -0.1969 0.6758 -0.0427
r_metacarpal_pha2 -0.1977 0.8169 -0.0177
r_dactylion -0.1941 0.6772 -0.0423
r_ulnar_styloid -0.2117 0.8562 -0.0584
r_metacarpal_pha5 -0.1929 0.7890 -0.1064
r_radial_styloid -0.1884 0.8676 -0.0360
r_olecranon -0.1907 1.1405 -0.1065
r_humeral_medial_epicn -0.1680 1.1298 -0.1062
r_radiale -0.2130 1.1305 -0.1091
r_humeral_lateral_epicn -0.2224 1.1517 -0.1033
r_clavicale -0.0115 1.4943 0.0400
suprasternale 0.0084 1.4714 0.0551
l_clavicale 0.0271 1.4943 0.0394
r_thelion -0.0736 1.3385 0.1217
l_thelion 0.0918 1.3382 0.1192
substernale 0.0085 1.2995 0.1147
r_rib10 -0.0711 1.1941 0.1016
l_rib10 0.0871 1.1925 0.0992
cervicale 0.0064 1.520 -0.0815
rib10_midspine 0.0049 1.1908 -0.1113
waist_preferred_post 0.0049 1.0915 -0.1091
r_acromion -0.1905 1.4791 -0.0431
r_axilla_ant -0.1626 1.4072 -0.0031
r_axilla_post -0.1603 1.4098 -0.0826
l_acromion 0.2032 1.4760 -0.0490
l_axilla_ant 0.1777 1.4065 -0.0075
l_axilla_post 0.1706 1.4072 -0.0875
r_neck_base -0.0419 1.5149 -0.0220
l_neck_base 0.0646 1.5141 -0.0380
navel 0.0069 1.0966 0.1017
r_asis -0.0887 1.0021 0.1112
l_asis 0.0925 0.9983 0.1052
r_iliocristale -0.1525 1.0628 0.0035
r_trochanterion -0.1689 0.8419 0.0352
l_iliocristale 0.1612 1.0537 0.0008
l_trochanterion 0.1677 0.8336 0.0303
r_psis -0.0716 1.0190 -0.1138
l_psis 0.0774 1.0190 -0.1151
crotch 0.0034 0.8266 0.0257
LOA 1 - example source in VRML
LOA 1 - example source in VRML - diamonds at Joint centers

Level of Articulation Two

Body with simplified spine (taken loosely from the MPEG-4 w2229 document).
LOA 2 - Default Joint Centers
Joint center
HumanoidRoot 0.0000 0.8240 0.0277
sacroiliac 0.0000 0.9149 0.0016
l_hip 0.0961 0.9124 -0.0001
l_knee 0.1040 0.4867 0.0308
l_ankle 0.1101 0.0656 -0.0736
l_subtalar 0.1086 0.0001 -0.0368
l_midtarsal 0.1086 0.0001 0.0368
l_metatarsal 0.1086 0.0000 0.0762
r_hip -0.0950 0.9171 0.0029
r_knee -0.0867 0.4913 0.0318
r_ankle -0.0801 0.0712 -0.0766
r_subtalar -0.0801 0.0000 -0.0368
r_midtarsal -0.0801 0.0000 0.0368
r_metatarsal -0.0801 0.0039 0.0732
vl5 0.0028 1.0568 -0.0776
vl3 0.0041 1.1276 -0.0796
vl1 0.0048 1.1912 -0.0805
vt10 0.0056 1.2848 -0.0822
vt6 0.0059 1.3866 -0.0800
vt1 0.0065 1.4951 -0.0387
vc4 0.0066 1.5662 -0.0084
vc2 0.0066 1.5928 -0.0103
skullbase 0.0044 1.6209 0.0236
l_sternoclavicular 0.0820 1.4488 -0.0353
l_acromioclavicular 0.0962 1.4269 -0.0424
l_shoulder 0.2029 1.4376 -0.0387
l_elbow 0.2014 1.1357 -0.0682
l_wrist 0.1984 0.8663 -0.0583
l_thumb1 0.1924 0.8472 -0.0534
l_thumb2 0.1951 0.8226 0.0246
l_thumb3 0.1955 0.8159 0.0464
l_index0 0.1983 0.8024 -0.0280
l_index1 0.1983 0.7815 -0.0280
l_index2 0.2017 0.7363 -0.0248
l_index3 0.2028 0.7139 -0.0236
l_middle0 0.1987 0.8029 -0.0530
l_middle1 0.1987 0.7818 -0.0530
l_middle2 0.2013 0.7273 -0.0503
l_middle3 0.2026 0.7011 -0.0494
l_ring0 0.1956 0.8019 -0.0794
l_ring1 0.1956 0.7815 -0.0794
l_ring2 0.1973 0.7287 -0.0777
l_ring3 0.1983 0.7045 -0.0767
l_pinky0 0.1925 0.8066 -0.1036
l_pinky1 0.1925 0.7866 -0.1036
l_pinky2 0.1938 0.7452 -0.1024
l_pinky3 0.1948 0.7277 -0.1017
r_sternoclavicular -0.0694 1.4600 -0.0330
r_acromioclavicular -0.0836 1.4281 -0.0401
r_shoulder -0.1907 1.4407 -0.0325
r_elbow -0.1949 1.1388 -0.0620
r_wrist -0.1959 0.8694 -0.0521
r_thumb1 -0.1899 0.8502 -0.0473
r_thumb2 -0.1874 0.8256 0.0306
r_thumb3 -0.1864 0.8190 0.0506
r_index0 -0.1961 0.8055 -0.0218
r_index1 -0.1961 0.7846 -0.0218
r_index2 -0.1954 0.7393 -0.0185
r_index3 -0.1945 0.7169 -0.0173
r_middle0 -0.1972 0.8060 -0.0468
r_middle1 -0.1972 0.7849 -0.0468
r_middle2 -0.1950 0.7304 -0.0441
r_middle3 -0.1939 0.7042 -0.0432
r_ring0 -0.1951 0.8049 -0.0732
r_ring1 -0.1951 0.7845 -0.0732
r_ring2 -0.1920 0.7318 -0.0716
r_ring3 -0.1908 0.7077 -0.0706
r_pinky0 -0.1926 0.8096 -0.0975
r_pinky1 -0.1926 0.7896 -0.0975
r_pinky2 -0.1902 0.7483 -0.0963
r_pinky3 -0.1908 0.7540 -0.0960

LOA 2 - Default Site Translations

Site translation
l_forefoot_tip 0.1354 0.0016 0.1476
l_metatarsal_pha5 0.1825 0.0070 0.0928
l_digit2 0.1195 0.0079 0.1433
l_metatarsal_pha1 0.0816 0.0232 0.0106
l_lateral_malleolus 0.1308 0.0597 -0.1032
l_medial_malleolus 0.0890 0.0716 -0.0881
l_sphyrion 0.0890 0.0575 -0.0943
l_calcaneous_post 0.0974 0.0259 -0.1171
l_knee_crease 0.0993 0.4881 -0.0309
l_femoral_lateral_epicn 0.1598 0.4967 0.0297
l_femoral_medial_epicn 0.0398 0.4946 0.0303
r_forefoot_tip -0.1043 -0.0227 0.1450
r_metatarsal_pha5 -0.1523 0.0166 0.0895
r_digit2 -0.0883 0.0134 0.1383
r_metatarsal_pha1 -0.0521 0.0260 0.0127
r_lateral_malleolus -0.1006 0.0658 -0.1075
r_medial_malleolus -0.0591 0.0760 -0.0928
r_sphyrion -0.0603 0.0610 -0.1002
r_calcaneous_post -0.0692 0.0297 -0.1221
r_knee_crease -0.0825 0.4932 -0.0326
r_femoral_lateral_epicn -0.1421 0.4992 0.0310
r_femoral_medial_epicn -0.0221 0.5014 0.0289
r_iliocristale -0.1525 1.0628 0.0035
r_trochanterion -0.1689 0.8419 0.0352
l_iliocristale 0.1612 1.0537 0.0008
l_trochanterion 0.1677 0.8336 0.0303
r_asis -0.0887 1.0021 0.1112
l_asis 0.0925 0.9983 0.1052
r_psis -0.0716 1.0190 -0.1138
l_psis 0.0774 1.0190 -0.1151
crotch 0.0034 0.8266 0.0257
skull_tip 0.0050 1.7504 0.0055
sellion 0.0058 1.6316 0.0852
r_infraorbitale -0.0237 1.6171 0.0752
l_infraorbitale 0.0341 1.6171 0.0752
supramenton 0.0061 1.5410 0.0805
r_tragion -0.0646 1.6347 0.0302
r_gonion -0.0520 1.5529 0.0347
l_tragion 0.0739 1.6348 0.0282
l_gonion 0.0631 1.5530 0.0330
nuchale 0.0039 1.5972 -0.0796
l_thumb_distal_tip 0.1982 0.8061 0.0759
l_index_distal_tip 0.2089 0.6858 -0.0245
l_dactylion 0.2056 0.6743 -0.0482
l_middle_distal_tip 0.2080 0.6731 -0.0491
l_ring_distal_tip 0.2035 0.6750 -0.0756
l_pinky_distal_tip 0.2014 0.7009 -0.1012
l_metacarpal_pha2 0.2009 0.8139 -0.0237
l_ulnar_styloid 0.2142 0.8529 -0.0648
l_metacarpal_pha5 0.1929 0.7860 -0.1122
l_radial_styloid 0.1901 0.8645 -0.0415
l_olecranon 0.1962 1.1375 -0.1123
l_humeral_medial_epicn 0.1735 1.1272 -0.1113
l_radiale 0.2182 1.1212 -0.1167
l_humeral_lateral_epicn 0.2280 1.1482 -0.1100
l_clavicale 0.0271 1.4943 0.0394
l_acromion 0.2032 1.4760 -0.0490
l_axilla_ant 0.1777 1.4065 -0.0075
l_axilla_post 0.1706 1.4072 -0.0875
r_thumb_distal_tip -0.1869 0.8090 0.0820
r_index_distal_tip -0.1980 0.6883 -0.0180
r_dactylion -0.1941 0.6772 -0.0423
r_middle_distal_tip -0.1969 0.6758 -0.0427
r_ring_distal_tip -0.1934 0.6778 -0.0693
r_pinky_distal_tip -0.1938 0.7035 -0.0949
r_metacarpal_pha2 -0.1977 0.8169 -0.0177
r_ulnar_styloid -0.2117 0.8562 -0.0584
r_metacarpal_pha5 -0.1929 0.7890 -0.1064
r_radial_styloid -0.1884 0.8676 -0.0360
r_olecranon -0.1907 1.1405 -0.1065
r_humeral_medial_epicn -0.1680 1.1298 -0.1062
r_radiale -0.2130 1.1305 -0.1091
r_humeral_lateral_epicn -0.2224 1.1517 -0.1033
r_clavicale -0.0115 1.4943 0.0400
r_acromion -0.1905 1.4791 -0.0431
r_axilla_ant -0.1626 1.4072 -0.0031
r_axilla_post -0.1603 1.4098 -0.0826
r_neck_base -0.0419 1.5149 -0.0220
l_neck_base 0.0646 1.5141 -0.0380
suprasternale 0.0084 1.4714 0.0551
cervicale 0.0064 1.520 -0.0815
r_thelion -0.0736 1.3385 0.1217
l_thelion 0.0918 1.3382 0.1192
substernale 0.0085 1.2995 0.1147
r_rib10 -0.0711 1.1941 0.1016
l_rib10 0.0871 1.1925 0.0992
rib10_midspine 0.0049 1.1908 -0.1113
waist_preferred_post 0.0049 1.0915 -0.1091
navel 0.0069 1.0966 0.1017
LOA 2 - example source in VRML
LOA 2 - example source in VRML - diamonds at Joint centers

Level of Articulation Three

Full H-Anim Hierarchy
LOA 3 - Default Joint Centers
Joint Default Center
HumanoidRoot 0.0000 0.8240 0.0277
sacroiliac 0.0000 0.9149 0.0016
l_hip 0.0961 0.9124 -0.0001
l_knee 0.1040 0.4867 0.0308
l_ankle 0.1101 0.0656 -0.0736
l_subtalar 0.1086 0.0001 -0.0368
l_midtarsal 0.1086 0.0001 0.0368
l_metatarsal 0.1086 0.0000 0.0762
r_hip -0.0950 0.9171 0.0029
r_knee -0.0867 0.4913 0.0318
r_ankle -0.0801 0.0712 -0.0766
r_subtalar -0.0801 0.0000 -0.0368
r_midtarsal -0.0801 0.0000 0.0368
r_metatarsal -0.0801 0.0039 0.0732
vl5 0.0028 1.0568 -0.0776
vl4 0.0035 1.0925 -0.0787
vl3 0.0041 1.1276 -0.0796
vl2 0.0045 1.1546 -0.0800
vl1 0.0048 1.1912 -0.0805
vt12 0.0051 1.2278 -0.0808
vt11 0.0053 1.2679 -0.0810
vt10 0.0056 1.2848 -0.0822
vt9 0.0057 1.3126 -0.0838
vt8 0.0057 1.3382 -0.0845
vt7 0.0058 1.3625 -0.0833
vt6 0.0059 1.3866 -0.0800
vt5 0.0060 1.4102 -0.0745
vt4 0.0061 1.4320 -0.0675
vt3 0.0062 1.4583 -0.0570
vt2 0.0063 1.4761 -0.0484
vt1 0.0065 1.4951 -0.0387
vc7 0.0066 1.5132 -0.0301
vc6 0.0066 1.5357 -0.0143
vc5 0.0066 1.5520 -0.0082
vc4 0.0066 1.5662 -0.0084
vc3 0.0066 1.5800 -0.0103
vc2 0.0066 1.5928 -0.0103
vc1 0.0066 1.6144 -0.0034
skullbase 0.0044 1.6209 0.0236
l_eyeball_joint 0.0336 1.6332 0.0502
r_eyeball_joint -0.0236 1.6331 0.0510
l_sternoclavicular 0.0820 1.4488 -0.0353
l_acromioclavicular 0.0962 1.4269 -0.0424
l_shoulder 0.2029 1.4376 -0.0387
l_elbow 0.2014 1.1357 -0.0682
l_wrist 0.1984 0.8663 -0.0583
l_thumb1 0.1924 0.8472 -0.0534
l_thumb2 0.1951 0.8226 0.0246
l_thumb3 0.1955 0.8159 0.0464
l_index0 0.1983 0.8024 -0.0280
l_index1 0.1983 0.7815 -0.0280
l_index2 0.2017 0.7363 -0.0248
l_index3 0.2028 0.7139 -0.0236
l_middle0 0.1987 0.8029 -0.0530
l_middle1 0.1987 0.7818 -0.0530
l_middle2 0.2013 0.7273 -0.0503
l_middle3 0.2026 0.7011 -0.0494
l_ring0 0.1956 0.8019 -0.0794
l_ring1 0.1956 0.7815 -0.0794
l_ring2 0.1973 0.7287 -0.0777
l_ring3 0.1983 0.7045 -0.0767
l_pinky0 0.1925 0.8066 -0.1036
l_pinky1 0.1925 0.7866 -0.1036
l_pinky2 0.1938 0.7452 -0.1024
l_pinky3 0.1948 0.7277 -0.1017
r_sternoclavicular -0.0694 1.4600 -0.0330
r_acromioclavicular -0.0836 1.4281 -0.0401
r_shoulder -0.1907 1.4407 -0.0325
r_elbow -0.1949 1.1388 -0.0620
r_wrist -0.1959 0.8694 -0.0521
r_thumb1 -0.1899 0.8502 -0.0473
r_thumb2 -0.1874 0.8256 0.0306
r_thumb3 -0.1864 0.8190 0.0506
r_index0 -0.1961 0.8055 -0.0218
r_index1 -0.1961 0.7846 -0.0218
r_index2 -0.1954 0.7393 -0.0185
r_index3 -0.1945 0.7169 -0.0173
r_middle0 -0.1972 0.8060 -0.0468
r_middle1 -0.1972 0.7849 -0.0468
r_middle2 -0.1950 0.7304 -0.0441
r_middle3 -0.1939 0.7042 -0.0432
r_ring0 -0.1951 0.8049 -0.0732
r_ring1 -0.1951 0.7845 -0.0732
r_ring2 -0.1920 0.7318 -0.0716
r_ring3 -0.1908 0.7077 -0.0706
r_pinky0 -0.1926 0.8096 -0.0975
r_pinky1 -0.1926 0.7896 -0.0975
r_pinky2 -0.1902 0.7483 -0.0963
r_pinky3 -0.1908 0.7540 -0.0960

LOA 3 - Default Site Translations

Site Default Translation
l_forefoot_tip 0.1354 0.0016 0.1476
l_metatarsal_pha5 0.1825 0.0070 0.0928
l_digit2 0.1195 0.0079 0.1433
l_metatarsal_pha1 0.0816 0.0232 0.0106
l_lateral_malleolus 0.1308 0.0597 -0.1032
l_medial_malleolus 0.0890 0.0716 -0.0881
l_sphyrion 0.0890 0.0575 -0.0943
l_calcaneous_post 0.0974 0.0259 -0.1171
l_knee_crease 0.0993 0.4881 -0.0309
l_femoral_lateral_epicn 0.1598 0.4967 0.0297
l_femoral_medial_epicn 0.0398 0.4946 0.0303
r_forefoot_tip -0.1043 -0.0227 0.1450
r_metatarsal_pha5 -0.1523 0.0166 0.0895
r_digit2 -0.0883 0.0134 0.1383
r_metatarsal_pha1 -0.0521 0.0260 0.0127
r_lateral_malleolus -0.1006 0.0658 -0.1075
r_medial_malleolus -0.0591 0.0760 -0.0928
r_sphyrion -0.0603 0.0610 -0.1002
r_calcaneous_post -0.0692 0.0297 -0.1221
r_knee_crease -0.0825 0.4932 -0.0326
r_femoral_lateral_epicn -0.1421 0.4992 0.0310
r_femoral_medial_epicn -0.0221 0.5014 0.0289
r_iliocristale -0.1525 1.0628 0.0035
r_trochanterion -0.1689 0.8419 0.0352
l_iliocristale 0.1612 1.0537 0.0008
l_trochanterion 0.1677 0.8336 0.0303
r_asis -0.0887 1.0021 0.1112
l_asis 0.0925 0.9983 0.1052
r_psis -0.0716 1.0190 -0.1138
l_psis 0.0774 1.0190 -0.1151
crotch 0.0034 0.8266 0.0257
skull_tip 0.0050 1.7504 0.0055
sellion 0.0058 1.6316 0.0852
r_infraorbitale -0.0237 1.6171 0.0752
l_infraorbitale 0.0341 1.6171 0.0752
supramenton 0.0061 1.5410 0.0805
r_tragion -0.0646 1.6347 0.0302
r_gonion -0.0520 1.5529 0.0347
l_tragion 0.0739 1.6348 0.0282
l_gonion 0.0631 1.5530 0.0330
nuchale 0.0039 1.5972 -0.0796
r_neck_base -0.0419 1.5149 -0.0220
l_neck_base 0.0646 1.5141 -0.0380
l_thumb_distal_tip 0.1982 0.8061 0.0759
l_index_distal_tip 0.2089 0.6858 -0.0245
l_dactylion 0.2056 0.6743 -0.0482
l_middle_distal_tip 0.2080 0.6731 -0.0491
l_ring_distal_tip 0.2035 0.6750 -0.0756
l_pinky_distal_tip 0.2014 0.7009 -0.1012
l_metacarpal_pha2 0.2009 0.8139 -0.0237
l_ulnar_styloid 0.2142 0.8529 -0.0648
l_metacarpal_pha5 0.1929 0.7860 -0.1122
l_radial_styloid 0.1901 0.8645 -0.0415
l_olecranon 0.1962 1.1375 -0.1123
l_humeral_medial_epicn 0.1735 1.1272 -0.1113
l_radiale 0.2182 1.1212 -0.1167
l_humeral_lateral_epicn 0.2280 1.1482 -0.1100
l_clavicale 0.0271 1.4943 0.0394
l_acromion 0.2032 1.4760 -0.0490
l_axilla_ant 0.1777 1.4065 -0.0075
l_axilla_post 0.1706 1.4072 -0.0875
r_thumb_distal_tip -0.1869 0.8090 0.0820
r_index_distal_tip -0.1980 0.6883 -0.0180
r_dactylion -0.1941 0.6772 -0.0423
r_middle_distal_tip -0.1969 0.6758 -0.0427
r_ring_distal_tip -0.1934 0.6778 -0.0693
r_pinky_distal_tip -0.1938 0.7035 -0.0949
r_metacarpal_pha2 -0.1977 0.8169 -0.0177
r_ulnar_styloid -0.2117 0.8562 -0.0584
r_metacarpal_pha5 -0.1929 0.7890 -0.1064
r_radial_styloid -0.1884 0.8676 -0.0360
r_olecranon -0.1907 1.1405 -0.1065
r_humeral_medial_epicn -0.1680 1.1298 -0.1062
r_radiale -0.2130 1.1305 -0.1091
r_humeral_lateral_epicn -0.2224 1.1517 -0.1033
r_clavicale -0.0115 1.4943 0.0400
r_acromion -0.1905 1.4791 -0.0431
r_axilla_ant -0.1626 1.4072 -0.0031
r_axilla_post -0.1603 1.4098 -0.0826
suprasternale 0.0084 1.4714 0.0551
cervicale 0.0064 1.520 -0.0815
r_thelion -0.0736 1.3385 0.1217
l_thelion 0.0918 1.3382 0.1192
substernale 0.0085 1.2995 0.1147
r_rib10 -0.0711 1.1941 0.1016
l_rib10 0.0871 1.1925 0.0992
rib10_midspine 0.0049 1.1908 -0.1113
waist_preferred_post 0.0049 1.0915 -0.1091
navel 0.0069 1.0966 0.1017
LOA 3 - example source in VRML
LOA 3 - example source in VRML - diamonds at Joint centers

Appendix B: Suggested Displacer Nodes

The following table gives a set of suggested displacer nodes, which are taken from the MPEG-4 "Version 2 Visual WD Rev. 6.0" document. Note that the first and second entries in the table do not refer to suggested displacer nodes, but instead reference the following "viseme_select" and "expression_select" tables. In addition, some of the FAPs in the table are not necessarily likely to be implemented as displacers. For example, head_pitch, head_yaw and head_roll, (#'s 48, 49 and 50, respectively) would likely be implemented in a VRML browser with interpolation of the transform fields on the skullbase joint. These FAPs are kept in the table in order to stay consistent with the MPEG-4 source document.

Also note that the "viseme_select" and "expression_select" tables may be implemented in MPEG-4 through combinations of lower level FAPs. As such, it may not be necessary to have distinct diplacers representing these high level FAPs.
 

# Displacer Name (identical to FAP name) FAP description
1 viseme Set of values determining the mixture of two visemes for this frame (e.g. pbm, fv, th)
2 expression A set of values determining the mixture of two facial expression 
3 open_jaw  Vertical jaw displacement (does not affect mouth opening)
4 lower_t_midlip  Vertical top middle inner lip displacement
5 raise_b_midlip  Vertical bottom middle inner lip displacement
6 stretch_l_cornerlip  Horizontal displacement of left inner lip corner
7 stretch_r_cornerlip  Horizontal displacement of right inner lip corner
8 lower_t_lip_lm  Vertical displacement of midpoint between left corner and middle of top inner lip
9 lower_t_lip_rm  Vertical displacement of midpoint between right corner and middle of top inner lip
10 raise_b_lip_lm  Vertical displacement of midpoint between left corner and middle of bottom inner lip
11 raise_b_lip_rm Vertical displacement of midpoint between right corner and middle of bottom inner lip
12 raise_l_cornerlip Vertical displacement of left inner lip corner
13 raise_r_cornerlip  Vertical displacement of right inner lip corner
14 thrust_jaw  Depth displacement of jaw
15 shift_jaw  Side to side displacement of jaw
16 push_b_lip  Depth displacement of bottom middle lip
17 push_t_lip  Depth displacement of top middle lip
18 depress_chin  Upward and compressing movement of the chin 

(like in sadness)

19 close_t_l_eyelid  Vertical displacement of top left eyelid
20 close_t_r_eyelid  Vertical displacement of top right eyelid
21 close_b_l_eyelid  Vertical displacement of bottom left eyelid
22 close_b_r_eyelid  Vertical displacement of bottom right eyelid
23 yaw_l_eyeball Horizontal orientation of left eyeball
24 yaw_r_eyeball Horizontal orientation of right eyeball
25 pitch_l_eyeball  Vertical orientation of left eyeball
26 pitch_r_eyeball  Vertical orientation of right eyeball
27 thrust_l_eyeball  Depth displacement of left eyeball
28 thrust_r_eyeball  Depth displacement of right eyeball
29 dilate_l_pupil  Dilation of left pupil
30 dilate_r_pupil  Dilation of right pupil
31 raise_l_i_eyebrow  Vertical displacement of left inner eyebrow
32 raise_r_i_eyebrow  Vertical displacement of right inner eyebrow
33 raise_l_m_eyebrow  Vertical displacement of left middle eyebrow
34 raise_r_m_eyebrow  Vertical displacement of right middle eyebrow
35 raise_l_o_eyebrow  Vertical displacement of left outer eyebrow
36 raise_r_o_eyebrow  Vertical displacement of right outer eyebrow
37 squeeze_l_eyebrow  Horizontal displacement of left eyebrow
38 squeeze_r_eyebrow  Horizontal displacement of right eyebrow
39 puff_l_cheek  Horizontal displacement of left cheeck
40 puff_r_cheek  Horizontal displacement of right cheeck
41 lift_l_cheek  Vertical displacement of left cheek
42 lift_r_cheek  Vertical displacement of right cheek
43 shift_tongue_tip  Horizontal displacement of tongue tip
44 raise_tongue_tip  Vertical displacement of tongue tip
45 thrust_tongue_tip  Depth displacement of tongue tip
46 raise_tongue  Vertical displacement of tongue
47 tongue_roll  Rolling of the tongue into U shape
48 head_pitch Head pitch angle from top of spine
49 head_yaw Head yaw angle from top of spine
50 head_roll Head roll angle from top of spine
51 lower_t_midlip _o  Vertical top middle outer lip displacement
52 raise_b_midlip_o  Vertical bottom middle outer lip displacement
53 stretch_l_cornerlip_o  Horizontal displacement of left outer lip corner
54 stretch_r_cornerlip_o  Horizontal displacement of right outer lip corner
55 lower_t_lip_lm _o  Vertical displacement of midpoint between left corner and middle of top outer lip
56 lower_t_lip_rm _o  Vertical displacement of midpoint between right corner and middle of top outer lip
57 raise_b_lip_lm_o  Vertical displacement of midpoint between left corner and middle of bottom outer lip
58 raise_b_lip_rm_o Vertical displacement of midpoint between right corner and middle of bottom outer lip
59 raise_l_cornerlip_o Vertical displacement of left outer lip corner
60 raise_r_cornerlip _o  Vertical displacement of right outer lip corner
61 stretch_l_nose  Horizontal displacement of left side of nose
62 stretch_r_nose  Horizontal displacement of right side of nose
63 raise_nose  Vertical displacement of nose tip
64 bend_nose Horizontal displacement of nose tip
65 raise_l_ear  Vertical displacement of left ear
66 raise_r_ear  Vertical displacement of right ear
67 pull_l_ear  Horizontal displacement of left ear
68 pull_r_ear  Horizontal displacement of right ear
viseme_select Displacer Name phonemes example
1 viseme_pbm p, b, m put, bed, mill
2 viseme_fv f, v far, voice
3 viseme_th T,D think, that
4 viseme_td t, d tip, doll
5 viseme_kg k, g call, gas
6 viseme_ts tS, dZ, S chair, join, she
7 viseme_sz s, z sir, zeal
8 viseme_nl n, l lot, not
9 viseme_r r red
10 viseme_a A: car
11 viseme_e e bed
12 viseme_i I tip
13 viseme_q Q top
14 viseme_u U book
expression_select Displacer Name (identical to MPEG-4 expression name) textual description
1 joy The eyebrows are relaxed. The mouth is open and the mouth corners pulled back toward the ears.
2 sadness The inner eyebrows are bent upward. The eyes are slightly closed. The mouth is relaxed.
3 anger  The inner eyebrows are pulled downward and together. The eyes are wide open. The lips are pressed against each other or opened to expose the teeth. 
4 fear  The eyebrows are raised and pulled together. The inner eyebrows are bent upward. The eyes are tense and alert.
5 disgust  The eyebrows and eyelids are relaxed. The upper lip is raised and curled, often asymmetrically.
6 surprise  The eyebrows are raised. The upper eyelids are wide open, the lower relaxed. The jaw is opened. 

Appendix C: Feature Points for the Human Body

In addition to the Sites and standard Displacers described earlier, there is a list of surface features on the body that can be used for a variety of purposes. These feature points are specified using Displacer nodes whose name field is the name of the feature and whose coordIndex field contains a single value which is the index of the vertex which corresponds most closely to the feature point.

The following diagram and list are derived from that used in the CAESAR project, with the names modified to match the conventions used in the rest of this specification.

The H-Anim list of Feature Points is in the right hand column. The Feature Points are derived from the feature points used in the CAESAR project (left hand column), with the names modified to conform with the naming conventions used in the rest of this specification.

The positions of the H-Anim Feature Points are indicated on the following diagram using the number index in the middle column.

Sellion 

Rt. Infraorbitale 

Lt. Infraorbitale 

Supramenton 

Rt. Tragion 

Rt. Gonion 

Lt. Tragion 

Lt. Gonion 

Nuchale 

Rt. Clavicale 

Suprasternale 

Lt. Clavicale 

Rt. Thelion/Bustpoint 

Lt. Thelion/Bustpoint 

Substernale 

Rt. 10th Rib 

Rt. ASIS 

Lt. 10th Rib 

Lt. ASIS 

Rt. Iliocristale 

Rt. Trochanterion 

Lt. Iliocristale 

Lt. Trochanterion 

Cervicale 

10th Rib Midspine 

Rt. PSIS 

Lt. PSIS 

Waist, Preferred, Post. 

Rt. Acromion 

Rt. Axilla, Ant 

Rt. Radial Styloid 

Rt. Axilla, Post. 

Rt. Olecranon 

Rt. Humeral Lateral Epicn 

Rt. Humeral Medial Epicn 

Rt. Radiale 

Rt. Metacarpal Phal. II 

Rt. Dactylion 

Rt. Ulnar Styloid 

Rt. Metacarpal-Phal. V 

Lt. Acromion 

Lt. Axilla, Ant 

Lt. Radial Styloid 

Lt. Axilla, Post. 

Lt. Olecranon 

Lt. Humeral Lateral Epicn 

Lt. Humeral Medial Epicn 

Lt. Radiale 

Lt. Metacarpal-Phal. II 

Lt. Dactylion 

Lt. Ulnar Styloid 

Lt. Metacarpal-Phal. V 

Rt. Knee Crease 

Rt. Femoral Lateral Epicn 

Rt. Femoral Medial Epicn 

Rt. Metatarsal-Phal. V 

Rt. Lateral Malleolus 

Rt. Medial Malleolus 

Rt. Sphyrion 

Rt. Metatarsal-Phal. I 

Rt. Calcaneous, Post. 

Rt. Digit II 

Lt. Knee Crease 

Lt. Femoral Lateral Epicn 

Lt. Femoral Medial Epicn 

Lt. Metatarsal-Phal. V 

Lt. Lateral Malleolus 

Lt. Medial Malleolus 

Lt. Sphyrion 

Lt. Metatarsal-Phal. I 

Lt. Calcaneous, Post. 

Lt. Digit II 

Crotch

10 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

21 

22 

23 

24 

25 

26 

27 

28 

29 

30 

31 

32 

33 

34 

35 

36 

37 

38 

39 

40 

41 

42 

43 

44 

45 

46 

47 

48 

49 

50 

51 

52 

53 

54 

55 

56 

57 

58 

59 

60 

61 

62 

63 

64 

65 

66 

67 

68 

69 

70 

71 

72 

73 

74 

75 

76

sellion 

r_infraorbitale 

l_infraorbitale 

supramenton 

r_tragion 

r_gonion 

l_tragion 

l_gonion 

nuchale 

r_clavicale 

suprasternale 

l_clavicale 

r_thelion/bustpoint 

l_thelion/bustpoint 

substernale 

r_rib10 

r_asis 

l_rib10 

l_asis 

r_iliocristale 

r_trochanterion 

l_iliocristale 

l_trochanterion 

cervicale 

rib10_midspine 

r_psis 

l_psis 

waist_preferred_post 

r_acromion 

r_axilla_ant 

r_radial_styloid 

r_axilla_post. 

r_olecranon 

r_humeral_lateral_epicn 

r_humeral_medial_epicn 

r_radiale 

r_metacarpal_pha2 

r_dactylion 

r_ulnar_styloid 

r_metacarpal_pha5 

l_acromion 

l_axilla_ant 

l_radial_styloid 

l_axilla_post. 

l_olecranon 

l_humeral_lateral_epicn 

l_humeral_medial_epicn 

l_radiale 

l_metacarpal_pha2 

l_dactylion 

l_ulnar_styloid 

l_metacarpal_pha5 

r_knee_crease 

r_femoral_lateral_epicn 

r_femoral_medial_epicn 

r_metatarsal_pha5 

r_lateral_malleolus 

r_medial_malleolus 

r_sphyrion 

r_metatarsal_pha1 

r_calcaneous_post. 

r_digit2 

l_knee_crease 

l_femoral_lateral_epicn 

l_femoral_medial_epicn 

l_metatarsal_pha5 

l_lateral_malleolus 

l_medial_malleolus 

l_sphyrion 

l_metatarsal_pha1 

l_calcaneous_post. 

l_digit2 

crotch 

r_neck_base 

l_neck_base 

navel


 
This document can be found at http://H-Anim.org/Specifications/H-Anim1.1/appendices.html.
The main body of the H-Anim Specification can be found at http://H-Anim.org/Specifications/H-Anim1.1.
The home page of the Humanoid Animation Working Group is http://H-Anim.org .