Karlsruhe Institute of Technology (KIT) Logo

Master Motor Map

Whole-body human reference model and tools for unifying representations of whole-body human motion

MMM Commandline Tools

Overview of available command line tools in MMMTools which can be used with MMM Data Format.

These tools can be found in MMMTools/build/bin. Some projects (marked with *) also contain corresponding graphical user interface plugins which are included in the MMMViewer.

See [Legacy] MMM Tools page for an overview of available tools for [Legacy] MMM Data Format.
See MMMLegacyMotionConverter to convert these legacy motions to the currently used dataformat.

dae2mmm

Convertes a .dae robot file created with RobotEditor to a Virtual Robot xml file, which can then be used in the MMM framework

Executing dae2mmm:

./dae2mmm roboteditor_model.dae

MMMC3DConverter*

The MMMC3DConverter takes a motion from a c3d data format file and creates a corresponding motion in the MMM Data Format containing only the motion capture marker positions in the MoCapMarkerSensor and no model. See MMM::MotionReaderC3D.

The following commandline options are available:

MMMMotionConverter*

The MMMConverter can be used to apply different converters in order to convert motions from one model to another. Both conversions are supported (Recording of human motion -> MMM and MMM -> robot).

A more detailled description of the underlying process can be found here.

The following commandline options are available:

MMMDataGloveConverter*

Using recorded data glove data, a Kinematic sensor containing joint angle values for a hand is created and added to the corresponding motion. Therefore a special configuration file is needed to map the data to the mmm reference (or robot) model. An example configuration file for the right hand of the CyberGlove can be found at MMMTools/data/DataGloveConverterRightHandWithoutDIP2MMMConfig.xml.

The following commandline options are available:

MMMJoinMotions

MMMJoinMotions is used to two join two motions each from a different MMM data format file. See Join motions.
The joined motion will replace the corresponding motion in the first file. The files can contain multiple motions, but only one can be joined in an execution and the motions need to be specified by their name.

The following commandline options are available:

MMMIMUConverter/MMMForceXDConverter*

These converters can be used to convert various formats of saved acceleration or force sensor data on subjects or objects during a performed motion to the mmm motion file.
The following commandline options are available:

MMMPlot*

MMMPlot can be used to plot motion data over time, e.g. joint angles. This standalone version only features loading motions in MMM2.0 specifictation while the plugin for the MMMViewer offers multiple import motion options and also visualizing the motion at specific timesteps, see MMMPlot

The following commandline options are available:

MMMSynchronize*

MMMSynchronize is used to synchronize the sensor measurement data of all sensors on the same specific time intervall via interpolation, see Synchronize sensor data in MotionTools.

The following commandline options are available:

MMMWholeBodyDynamicCalculator*

The MMMWholeBodyDynamicCalculator takes a motion file in MMM specification and calculates the angular momentum and center of mass of every contained motion from model pose and kinematics if the corresponding sensors exist. The calculated data is added as additional WholeBodyDynamicSensor.

The following commandline options are available:

MMMLegacyMotionConverter*

The MMMLegacyMotionConverter can be used to convert all motions' kinematic and modelpose (non extended datatypes) from [Legacy] MMM Data Format to MMM Data Format.

The following commandline options are available:

KoroiBot Logo WALK-MAN Logo Xperience Logo SecondHands Logo TimeStorm Logo I-SUPPORT Logo
PACO-PLUS Logo SFB-588 Logo SPP1527 Logo