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