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Services
Services are essential to ease the implementation for the MMU developers, co-simulation, behavior execution and target engine users. Within the MMI framework, a set of fundamental services is available. The interfaces of the specific services are listed below.
In analogy to the Adapters, the services also offer a standardized description format.
| MServiceDescription |
|---|
| +Name: string +ID: string +Language: string +Addresses: list +Properties: map<string,string> +Parameters: list |
Detailed description of available parameters:
| Parameter Name | Required | Description |
|---|---|---|
| Name | x | The name of the service. |
| ID | x | A unique ID of the service. |
| Language | x | The supported programming language of the service. |
| Addresses | x | A list of address under which the service is available. |
| Properties | Optional properties of the service. | |
| Parameters | A list of optional parameters of the service. |
Each provided service must implement and extend the MMIServiceBase. In particular, the base service contains a setup and a generic consume method, as outlined below.
| <<interface>> MMIServiceBase |
|---|
| +GetStatus(): map<string,string> +GetDescription(): MServiceDescription +Setup(avatar: MAvatarDescription, properties: map<string,string>): MBoolResponse +Consume(properties: map<string,string>): map<string,string> +Dispose(properties: map<string,string>): MBoolResponse +Restart(properties: map<string,string>): MBoolResponse |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| GetStatus | Returns the present status of the service. |
| GetDescription | Returns the specific MServiceDescription for the service. |
| Setup | Basic method to setup the service. This function can be used to reduce the network traffic. For instance, instead of transferring the full hierarchy, only the posture values can be transmitted if being initialized in before. |
| Consume | Function to consume a service without needing the explicit interface. This can be utilized if new services are added to the framework which signature is not known yet. |
| Dispose | |
| Restart |
The MRetargetingService depicts a fundamental service within the proposed MMI framework. In particular, the MMU developers can utilize the service to map between the intermediate and the specific skeleton. Moreover, the target engine developers can further take usage of the proposed service.
| <<interface>> MRetargetingService |
|---|
| +SetupRetargeting(globalTarget: MAvatarPosture): MAvatarDescription +RetargetToIntermediate(globalTarget: MAvatarPosture): MAvatarPostureValues +RetargetToTarget(intermediatePostureValues: MAvatarPostureValues): MAvatarPosture |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| SetupRetargeting | Sets up the retargeting given the different postures. |
| RetargetToIntermediate | Retargets the posture values to the intermediate skeleton. |
| RetargetToTarget | Retargets the posture values from the intermediate skeleton to the specific skeleton. |
A further service, which is provided by the MMI framework, is the MPathPlanningService. The service allows computing a collision-free path given a start and end-configuration. In particular, the service provides multiple operations modes for computing paths with different dimensionalities and criteria.
| <<interface>> MPathPlanningService |
|---|
| +ComputePath(start: MVector3, goal: MVector, sceneObjects: list, properties: map<string,string>): MPathConstraint |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| ComputePath | Computes a path using the specified parameters and scene objects. |
A more detailed description can be found in the UnityPathPlanning Documentation
An essential service within the framework is the MCollisionDetectionService. The service allows detecting collisions between specified colliders, as frequently required for digital human simulations.
| MCollisionDetectionService |
|---|
| +ComputePenetration(colliderA: MCollider, transformA: MTransform, colliderB: MCollider, transformB: MTransform): MVector3 +CausesCollision(colliderA: MCollider, transformA: MTransform, colliderB: MCollider, transformB: MTransform): bool |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| ComputePenetration | Computes the penetration between two colliders given their hypothetical position/rotation. |
| CausesCollision | Indicates whether the two specified colliders cause a collision given the position/rotation. |
Since inverse kinematics is a fundamental aspect of human motion synthesis and used throughout different technologies, the framework also provides a service for computation of inverse kinematics.
| MInverseKinematicsService |
|---|
| +ComputeIK(postureValues: MAvatarPostureValues, properties: list):MAvatarPostureValues +CalculateIKPosture(postureValues: MAvatarPostureValues, constraint: list, properties: map<string, string>): MIKServiceResult |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| ComputeIK | The method computes a novel posture based on the given MIKProperties. In particular, the posture values of the resulting posture are returned. |
| CalculateIKPosture |
The IK service comes with a set of additional structures that simplify the utilization of the service. The provided formats are presented below:
| MIKProperty |
|---|
| +Values: list +Weight: double +Target: MEndeffectorType +OperationType: MIKOperationType |
Detailed description of available parameters:
| Parameter | Required | Description |
|---|---|---|
| Values | x | The values for the specified MIKOperationType (e.g. positions, rotations). |
| Weight | x | The weight of the property ([0; 1]). |
| Target | x | The MEndeffectorType, which should be adjusted. |
| OperationType | x | The specific operation that should be carried out using the IK. |
| MIKOperationType (enum) |
|---|
| SetPosition SetRotation |
| MEndeffectorType (enum) |
|---|
| LeftHand LeftFoot RightHand RightFoot Root |
| MIKServiceResult |
|---|
| +Posture: MAvatarPostureValues +Success: bool +Error: list |
Detailed description of available parameters/functions:
| Parameter Name | Required | Description |
|---|---|---|
| Posture | ||
| Success | ||
| Error |
To blend between consecutive posture for motion synthesis or transition modeling, the so-called MBlendingService is provided in the framework.
| MBlendingService |
|---|
| +SetBlendingMask(mask: map<MJointType, double>, avatarID: string) MBoolResponse +Blend(startPosture: MAvatarPostureValues, targetPosture: MAvatarPostureValues, weight: double): MAvatarPostureValues |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| SetBlendingMask | Method sets the blending mask for the given avatar id. |
| Blend | Method performs a blend from the start to the target posture using the specified blend weight. |
To access all services, the MServiceAccess interface is provided. It is accessible from the MMUs and co-simulation. It contains all defined interfaces of the previously described services. Since Apache Thrift does not allow using services as class members, the specific MServiceAccess must be manually provided for each Adapter implementation.
| <<interface>> MServiceAccess |
|---|
| +InverseKinematics: MInverseKinematicsService +Retargeting: MRetargetingService +PathPlanning: MPathPlanningService +CollisionDetection: MCollisionDetectionService +MotionBlending: MMotionBlendingService |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| InverseKinematics | Access to the InverseKinematics service |
| Retargeting | Access to the retargeting service |
| PathPlanning | Access to the path planning service |
| CollisionDetection | Access to the collision detection service |
| MotionBlending | Access to the motion blending service |
| Note |
|---|
| Deprecated: Couldn't find MServiceAccess in the thrift files |
| <<interface>> MPostureBlendingService |
|---|
| +Blend(startPosture: MAvatarPostureValues, targetPosture: MAvatarPostureValues, weight: double, mask: map<MJointType, double>, properties: map<string,string>): MAvatarPostureValues +BlendMany(startPosture: MAvatarPostureValues, targetPosture: MAvatarPostureValues, weight: list, mask: map<MJointType, double>, properties: map<string,string>): list |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| Blend | |
| BlendMany |
A more detailed description can be found in the PostureBlending Documentation
| <<interface>> MGraspPoseService |
|---|
| +GetGraspPoses(posture: MAvatarPostureValues, handType: MJointType, sceneObject: MSceneObject, repositionHand: bool): list |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| GetGraspPoses |
A more detailed description can be found in the GraspPointService Documentation
| Note |
|---|
| The following interfaces is not used by the grasp pose service anymore and probably can be removed savely. |
| MHandPose |
|---|
| +Joints: list +Properties: map<string, string> |
Detailed description of available parameters/functions:
| Parameter Name | Required | Description |
|---|---|---|
| Joints | ||
| Properties |
| <<interface>> MWalkPointEstimationService |
|---|
| +EstimateWalkPoints(sceneObjects: list, target: MSceneObject, amount: i32, properties: map<string, string>): list |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| EstimateWalkPoints |
A more detailed description can be found in the WalkPointEstimation Documentation
| MWalkPoint |
|---|
| +PositionConstraint: MGeometryConstraint +Suitability: double |
Detailed description of available parameters/functions:
| Parameter Name | Required | Description |
|---|---|---|
| PositionConstraint | ||
| Suitability |
| <<interface>> MCoordinateSystemMapper |
|---|
| +TransformToMMI_L(transform: MTransform, coordinateSystem: list): MTransform +TransformToMMI(transform: MTransform, firstAxis: MDirection, secondAxis: MDirection, thirdAxis: MDirection): MTransform +TransformFromMMI_L(transform: MTransform, coordinateSystem: list): MTransform +TransformFromMMI(transform: MTransform, firstAxis: MDirection, secondAxis: MDirection, thirdAxis: MDirection): MTransform +QuaternionToMMI_L(quat: MQuaternion, coordinateSystem: list): MQuaternion +QuaternionToMMI(quat: MQuaternion, firstAxis: MDirection, secondAxis: MDirection, thirdAxis: MDirection): MQuaternion +QuaternionFromMMI_L(quat: MQuaternion, coordinateSystem: list): MQuaternion +QuaternionFromMMI(quat: MQuaternion, firstAxis: MDirection, secondAxis: MDirection, thirdAxis: MDirection): MQuaternion +VectorToMMI_L(quat: MVector3, coordinateSystem: list): MVector3 +VectorToMMI(quat: MVector3, firstAxis: MDirection, secondAxis: MDirection, thirdAxis: MDirection): MVector3 +VectorFromMMI_L(quat: MVector3, coordinateSystem: list): MVector3 +VectorFromMMI(quat: MVector3, firstAxis: MDirection, secondAxis: MDirection, thirdAxis: MDirection): MVector3 |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| TransformToMMI_L | |
| TransformToMMI | |
| TransformFromMMI_L | |
| TransformFromMMI | |
| QuaternionToMMI_L | |
| QuaternionToMMI | |
| QuaternionFromMMI_L | |
| QuaternionFromMMI | |
| VectorToMMI_L | |
| VectorToMMI | |
| VectorFromMMI_L | |
| VectorFromMMI |
A more detailed description can be found in the CoordinateSystemMapper Documentation
| MDirection |
|---|
| +Right +Left +Up +Down +Forward +Backward |
Detailed description of available parameters/functions:
| Parameter Name | Required | Description |
|---|---|---|
| Right | ||
| Left | ||
| Up | ||
| Down | ||
| Forward | ||
| Backward |
| <<interface>> MAJANService |
|---|
| +CreateAgent(name: string, template: string, knowledge: MRDFGraph): string +DeleteAgent(agentName: string): bool +ExecuteAgent(agentName: string, endpoint: string, content: MRDFGraph): string +ReceiveAsync(actionID: string, answer: i32) |
Detailed description of available parameters:
| Function Name | Description |
|---|---|
| CreateAgent | |
| DeleteAgent | |
| ExecuteAgent | |
| ReceiveAsync |
| Note |
|---|
| Deprecated: Couldn't find this in the thrift files |
- What is the MOSIM Framework?
- Components of the Framework
- Repository Structure
- RPCs with Apache Thrift
- Setting up the MMI-Environment
- MMU Development
- Target Engine Integration
- Integration in Unity
- Integration in UE4
- Integration in 3rd Party Engines
- Service Development
-
Intermediate Skeleton & Retargeting
- Concept of the Intermediate Skeleton
- Retargeting Service and Configurator
- Retargeting in Unity
- Retargeting in UE4
- Constraints