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Master Motor Map

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

MMM Installation

The MMM Libraries officially supports Ubuntu 18.04

If you encounter any problems with the compilation or installation process, please contact andre.meixner@kit.edujulia.starke@kit.edu. In the following, an exemplary installation setup is given that refers to an Ubuntu 18.04 system. All dependencies listed must be adapted for any other distribution.

Prerequisites (Ubuntu)

First of all be sure git and cmake is installed on your system:

    sudo apt-get install git gitk cmake

Optional packages

    sudo apt-get install git-gui cmake-qt-gui
    sudo apt-get install doxygen doxygen-gui

MMMCore

The MMMCore Library depends on two libraries:

    sudo apt-get install libeigen3-dev libboost-all-dev

Getting MMMCore

The sourcecode of MMMCore can be fetched by issuing the following commands:

    cd ~
    git clone https://gitlab.com/mastermotormap/mmmcore.git MMMCore

This will create a directory named MMMCore in the home directory of the current user containing everything which is necessary to get started with MMMCore.

Compile MMMCore

After all dependencies are installed the compilation of MMMCore can be performed by executing the following commands:

    cd ~/MMMCore
    mkdir build
    cd build
    cmake -DCMAKE_BUILD_TYPE=Release ..
    make

Simox

Simox is required to build MMMTools for model loading, coordinate transformations and collision checking.\

Detailed installations steps are descriped here.

MMMTools

The MMMTools Library depends on three libraries:

    sudo apt-get install libqt5-*

Installing NLopt (optional)

If you want to use the NLopt-based motion converter (very likely, if you want to convert motions), you need to install the NLopt development package:

    sudo apt-get install libnlopt-dev

Getting MMMTools

The sourcecode of MMMTools can be fetched by issuing the following commands:

    cd ~
    git clone https://gitlab.com/mastermotormap/mmmtools.git MMMTools

This will create a directory named MMMTools in the home directory of the current user containing everything which is necessary to get started with MMMTools.

Compiling MMMTools

After all dependencies are installed the compilation of MMMTools can be performed by executing the following commands:

    cd ~/MMMTools
    mkdir build
    cd build
    cmake -DCMAKE_BUILD_TYPE=Release ..
    make
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