MMUDescription

MMUDescription

Description file for Motion Model Units

To allow the utilization of the MMUs across multiple platforms, each MMU must provide a unique description file in analogy to the FMI standard. The description file contains relevant information such as the name of the MMU, information for the loading process as well as the motion type. Moreover, the parameters of the MMU as required for specifying a particular instruction are listed in the description file (e.g., one MMU might have a target parameter that is required, whereas another MMU has an optional velocity parameter). The UML class diagram of the MMU description file is visualized in Figure 8, whereas a detailed description of the parameters is listed below. Moreover, an exemplary description file for a MMU is provided in the Appendix.

MMUDescription
+Name: string +ID: string +AssemblyName: string +MotionType: string +Language: string +Author: string +Version: string +Prerequisites: list +LongDescription: string +ShortDescription: string +Properties: map<string,string> +Dependencies: list +Events: list +Parameters: list +SceneParameters: list +Vendor: string +VendorDomain: string +MmuUrl: string +UpdateUrl: string

Detailed description of available parameters:

Parameter Name	Required	Description
Name	x	Name of the MMU (e.g. “WalkMMU”).
ID	x	Unique id of the MMU.
AssemblyName	x	The name of the assembly to be loaded. This information is important for the adapters to load and instantiate the MMUs (e.g. walkMMU.dll).
MotionType	x	The motion types are utilized to express the provided motion and important for accessing the MMUs (e.g. “walk”, “grasp”, “crouch”). The motion type must be specified by the MMU developer.
Language	x	The programming language of the MMU (e.g. C#, C++). This information is important for the adapters.
Author	x	The author of the deployed MMU.
Version	x	The version of the deployed MMU.
Prerequisites	x
LongDescription	x	A longer description of the MMU.
ShortDescription	x	The short description of the MMU.
Properties		Additional properties that can be set. Depending on the future functionalities of the framework aspects such as the requirement of low level scene access can be specified here.
Dependencies		Dependencies, which need to be loaded by the adapter to instantiate the MMU.
Events	x	A list of all event types which are provided by the MMU (e.g. “start”, “end”, “foot_contactLeft”, “foot_contactRight” .
Parameters	x	All available parameters, which can be specified for the MMU. The parameters are specified using the MParameter struct. For instance a MMU could provide parameters such as: {Name =”Target”, Type=”string”, Required =true}, {Name =”Velocity”, Type=”double”, Required =false}.
SceneParameters	X
Vendor	X
VendorDomain	X
MmuUrl	X
UpdateUrl	X

MMU File representation
Similarly, to the FMI standard, each MMU is represented as a zip archive on the file system. The zip archive contains the programming language independent description file (MMUDescription), as well as the programming language specific files required to instantiate the MMU. Using languages such as C# or C++, these files are represented as .dll files, whereas for Java .jar and for Python .py files are used.