ReleaseMMU

Release MMU

Scope

The ReleaseMMU is a basic MMU that models the transfer from a specific posture (e.g. after reaching) to the underlying neutral posture (idle).

Overall Data

Property	Values
Name	ReleaseMMU
ID	daimler.com:ReleaseMMU/1.0
VendorDomain	daimler.com
Vendor	Daimler Buses
Author	Felix Gaisbauer
Short description	MMU models walking behavior based on an animation tree inside Unity.
Long description	MMU models walking behavior based on an animation tree inside Unity using the Mecanim animation system.
Programming Language	C#
Development Tools	Visual Studio 2017
Service dependencies	IKService
MMU dependencies (Motion types)	-
File dependencies	ReleaseMMU.dll
Application dependencies	requires .Net 4.5 or newer
Additional Libraries	-
MotionType	Object/Release
Events	start,end
Basic MMU	yes
License	MIT

Functionalities

In the following an overview of the functionalities and parameters of the ReleaseMMU are provided.

Parameters

Runtime Parameters

Name	Type	Required	Description
Hand	MGeometryConstraint(ID)	yes	The hand of the release motion.
Velocity	float	no	The max velocity of the release motion.
Trajectory	MPathConstraint(ID)	no	An optional trajectory that defines the hand path of the release motion,
AngularVelocity	float	no	The max angular velocity of the release motion.
EndBlendDuration	float	no	The duration of the blending that is performed after the ik reached the goal (smooth transition).
UseBlending	bool	no	Specifies whether motion blending is used for modeling the release motion (by default false).

The ReleaseMMU requires the Hand parameter to be set. This parameter describes which hand should be released. Moreover, the MMU provides several optional parameters.

Scene Parameters

The ReleaseMMU does not require explicit scene parameters.

Examples

MInstruction releaseRight = new MInstruction(MInstructionFactory.GenerateID(), "release object", "Object/Release")
{
      Properties = PropertiesCreator.Create( "Hand", "Right", CoSimTopic.OnStart, carryID + ":" + CoSimAction.EndInstruction),
};

MInstruction releaseLeft = new MInstruction(MInstructionFactory.GenerateID(), "release object", "Object/Release")
{
      Properties = PropertiesCreator.Create("Hand", "Left", CoSimTopic.OnStart, carryID + ":" + CoSimAction.EndInstruction),
};

Known Issues

Technical Information

The ReleaseMMU transfers the avatar from a specific posture (e.g. after reaching a particular object) to a neutral posture defined by the current state (e.g. previous MMU). For establishing the new posture, either motion blending or inverse kinematics in conjunction with local motion planning is used.

Licensing

Provided as basic MMU with MIT license.