Motion Tutorial
Contents
1. User Interface displays the list of configured MotionNode devices the current status of the system and a set of commands in a toolbar at the top of the window Use the drop down menus to access the available commands The user interface includes inline tool tips with all commands and links Hover your mouse over a command for a brief description of what the command will do Hover over a disabled command to learn why it is currently unavailable The Tutorial section provides examples of common usage of the Motion Service Refer to these examples for step by step usage of the user interface 2 3 Viewer The Motion Viewer is a graphical application that displays all real time out puts of the Motion Service The viewer displays the orientation of the sensor as a three dimensional box and the sensor data as a set of rolling plots Start the viewer application from the Programs gt Motion gt Viewer short cut in your Windows start menu Press the F1 key in the viewer or refer to the Motion Viewer manual for a full list of options and usage 2 4 Monitor The Motion Monitor is a utility application that detects device arrival and removal The monitor can automatically configure and start reading from MotionNode USB and wireless devices as they are plugged in The monitor application also provides user feedback on the current state of the Motion Ser vice The monitor application runs in the Windows system tray Start the monitor application2. 2012 08 24 0001 Now the current working directory is the folder for the first take recorded on August 24 2012 To load and plot the calibrated sensor data for this take use the plot_sensor function Note that the following functions all simply take a file name as the argument Since we are in the take folder we can use relative paths to access the data files data plot_sensor sensor MotionNode Copy the x accelerometer channel into a variable ax data 1 A similar function for the raw uncalibrated data raw_data plot_raw raw MotionNode To access the quaternion data for the take and plot the Euler angles use the plot_output_euler function Note that this command returns two sets of data The first set is Euler angles derived from the global quaternion data The second set is the quaternion data itself 3 7 Excel 6 euler quaternion plot_output_euler output MotionNode 3 7 Excel To import orientation and sensor data into Microsoft Excel or any other sim ilar application use the stream export functionality First export the current take using the File gt Export Stream command Note that if you do not have a current take you can either record one or load an existing take from disk Second import the Comma Separated Value CSV stream file into your spreadsheet application By default the exported file name is take_stream csv in the Motion data folder The CSV stream format co
3. Motion Tutorial Motion Version 2 2 www motionnode com www motionshadow com Copyright 2014 Motion Workshop All rights reserved The coded instructions statements computer programs and or related ma terial collectively the Data in these files contain unpublished information proprietary to Motion Workshop which is protected by US federal copyright law and by international treaties The Data may not be disclosed or distributed to third parties in whole or in part without the prior written consent of Motion Workshop The Data is provided as is without express or implied warranty and with no claim as to its suitability for any purpose 1 Getting Started 1 1 Getting Started The first steps to using your MotionNode sensor are listed in our Getting Started guide This guide as well all of the Motion documentation is available on our web site at http www motionnode com documentation html and on your PC once you install our software package The Getting Started guide is intended for first time users of the Motion system or if you need a quick review This tutorial outlines the most common usage of the Motion system in more detail 2 Software Components The Motion software package is comprised of multiple components Each com ponent includes its own user manual or inline help This overview explains the purpose of each component and references the associated manual or help files 2 1 Service T
4. compatiblity with external applications e Autodesk FBX fbx e COLLADA Digital Asset Exchange Schema dae e Biovision Hierarchy bvh e Comma Separated Values csv 3 6 Matlab 5 To export a take run the File gt Export command Enter a filename in the prompt The type of file exported is determined by the file extension For example to export an FBX file enter the file name take fbx To export a COLLADA file enter the file name take dae As with all user data the exported file is stored relative to your Motion data folder The Motion Service also provides export of all sensor and orientation data associated with a take to a Comma Separated Value CSV format Run the File gt Export Stream command to export the current take data streams rather than just the Euler angle orientation output Stream data is only available in the CSV format 3 6 Matlab The Motion software package includes Matlab scripts to directly access take data files The scripts are also compatible with the freely available Octave application which is similar to Matlab The easiest way to use the scripts is to add the folder to the Matlab Octave search path The Motion data loading scripts are installed in C Program Files Motion tools matlab by default Once the Matlab scripts are in the path they are usable like regular Matlab commands To access take data change the working directory to a take folder cd C Users username Documents Motion take
5. ess the device specific menu 3 2 Save Configuration Any changes that you make to the sensor parameters are not automatically saved when you reboot your computer However the Motion Service can save a configuration to a file and load it later Run the File gt Save command to write the current configuration state to a file Run the File gt Open command to read a configuration file from disk If you have a single set of devices and associated parameters that you always want to use you can save a configuration file that is automatically loaded every time the Motion system starts Run the File gt Save command and enter default configuration mNode as the file name All file paths are specified relative to your data folder The data folder is specified the first time you run the Motion Service By default the data folder is Documents Motion All user configuration and take data is stored in this folder 3 3 Preview Data in Real Time The Viewer application provides a real time graphical preview of the output of a MotionNode sensor The viewer application is separate from the User 3 4 Record Data 4 Interface and does not provide any device configuration To view data from your sensor first start the device in the user interface Run the Node gt Start Reading command This will initialize all configured devices and start reading data Then start the viewer application from the Programs gt Motion gt Viewer shortcut in
6. from the Programs gt Motion gt Tools gt Monitor shortcut in your Windows start menu Refer to the Motion Monitor manual for a full list of options and usage 3 Tutorial This tutorial covers everything you need to configure a sensor preview the output record data and export it for usage or analysis in your software 3 1 Configure a Sensor 3 3 1 Configure a Sensor The Motion Service operates on a set of devices called the configuration To record data from a MotionNode IMU device it must first be a member of the current configuration set The current configuration is displayed as the main table in the user interface The MotionNode may already be in the current configuration If not add it manually Run the Node gt Scan command to insert all available devices into the configuration set You are now ready to record data from your MotionNode Unless you manually change the sensor parameters each MotionNode is set to sample at 100 Hz with an accelerometer range of 2g Use the command G Select in either the Node menu in the main toolbar or in the device specific menu accessed by clicking on the Id field to choose another g range The G Select command prompts you for a value Enter your desired accelerometer range and press OK Note that by using the main Node menu the command applies to all MotionNode devices in the configuration Each configured device also has its own command menu Click on the Id field of the device to acc
7. he Motion software runs in the background as a Windows Service By de fault the service runs at Windows start up Use the Windows Control Panel gt System and Security gt Administrative Tools gt Services to check the status of start stop or change start up behavior of the Motion Service The Motion Service is responsible for configuring devices reading data and recording data streams to the PC disk Users control the service with scripting commands a specialized programming language There are multiple ways to send commands to the Motion Service The User Interface provides a simple point and click view accessible through a web browser For more information about the scripting system and commands refer to the Scripting Reference manual Linux Users The Motion Service runs as a daemon Refer to the doc umentation for your Linux distribution to load the MotionService at system start up Mac Users The Motion Service runs in the background as a daemon It is not required to load the daemon at system start up Simply open the Motion application bundle to launch the daemon and start the User Interface 2 2 User Interface To start the user interface run the Programs gt Motion gt User Interface shortcut in your Windows start menu This opens a browser window with the 2 3 Viewer 2 web address of the Motion Service http 127 0 0 1 32080 Alternatively manually open this URL in any web browser with Javascript support The
8. ntains the following fields Note that some fields may not be present depending on sensor configuration See the SDK Refer ence manual for more information on the format of the data streams e time in seconds e Gqlw x y z global quaternion e La w x y z local quaternion e r x y z local Euler angle rotation in radians e l x y z global linear acceleration specified in g e alx y z accelerometer measurement specified in g e mx y z magnetometer measurement specified in uT microtesla e glx y z gyroscope measurement specified in desree second e temp temperature measurement specified in degrees Celsius 3 8 Application Development The Motion software includes a Software Development Kit SDK to simplify integration with your C C C Java or Python application The Motion Service publishes all output data streams for real time access from your applica tion See the SDK Reference for more information and real usage examples The SDK classes and C API access data streams from the Motion software service All sensor configuration and management is handled through the User Interface or through scripting commands
9. your Windows start menu The viewer application starts with a split view of a 3D box that represents the current orientation and a rolling plot of the raw uncalibrated acceleration data To view the calibrated accelerometer data instead press the 4 key on your keyboard For a full list of all commands available in the viewer application press F1 or refer to the Motion Viewer manual 3 4 Record Data The Motion Service provides logging of all output data to your PC disk A single session of recorded data is called a take Each take is stored in your data folder ordered by date and sequence Even though a device is connected sending data and is available for preview does not mean that the data streams are saved to disk To record a take run the Node gt Start Take command in the user interface When the take is active the menubar will display Take in progress on the right side When are finished recording data run the Node gt Stop Take command This creates a link in the menubar to the Current take This means that a take is currently loaded and ready for export to standard file formats Click on the link to preview the take information such as start and stop time 3 5 Export Data Once you have a take you can export the data for easy access from third party applications The Motion system provides export of orientation data to the following formats Note that the orientation data is converted to Euler angles for maximum
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