Main process configuration

The subfolder msprocesses of a Nimue platforms project includes the so called process configuration file with the default name DefaultConfig.xml. This file defines the data sources and the details about how to get data from the sources (measurement systems configuration). The main structure of such a file looks as follow:

<?xml version="1.0" encoding="iso-8859-1" ?>
<MeasurementProcess name="Upperlimb Measurement">
   <MeasurementSystem id="default" system="ROS" fileSuffix="r3d">
            <TransducerUnitGroup name="vicon/RightHumerus" 
                <TransducerUnit name="RightHumerus" 
                   <Channel name="q0"/>
                   <Channel name="q1"/>
                   <Channel name="q2"/>
                   <Channel name="q3"/>
                   <Channel name="v0"/>
                   <Channel name="v1"/>
                   <Channel name="v2"/>
                   <Channel name="T"/>
   <TrialType name="takeover" duration="2"
              labelset="Input.xml" measurementSystemConfigIds="default">
              <PropertyGroup name="ROSTrigger">
                  <Property name="robot_cmd_node_name" value="robot_command_server"/>
                  <Property name="robot_cmd_service_name" value="robotCommand"/>
                  <Property name="nextcycle_cmd_node_name" value="robot_nextcycle"/>
                  <Property name="nextcycle_cmd_service_name" value="nextCycle"/>
              <PropertyGroup name="multicycles">
                  <Property name="cycles" value="5"/>
              <PropertyGroup name="modalities">
                  <Property name="cycle_nr" value="*"/>

Configuration of the measurement system

The most important element is <MeasurementSystem> with the following attributes:

Attribute name Description
id unique identifier of the measurement system used in the trialType definitions
system Name of the measurement system type as defined in their implementations.
fileSuffix file suffix of the default output file written in the motiondata file format.

Multiple <MeasurementSystem>-elements are possible to define one or more measurement systems. Properties which are specific for a measurement system can be added by <Property>-elements:

<?xml version="1.0" encoding="iso-8859-1" ?>
<MeasurementProcess name="Upperlimb Measurement">
   <MeasurementSystem id="default" system="ROS" fileSuffix="r3d">
      <Property name="sampleRate" value="120.0"/>

The data sources are defined as a hierarchy of <TransducerGroup>- and <TransducerUnit>-children-elements. In the current implementation it is not allowed that <TransducerGroup>-elements can contain further <TransducerGroup>-elements.

Attributes of <TransducerUnitGroup>:

Attribute name Description
name name of the measurement unit group.
dispayName Name shown in the nodes hierarchie after loading the configuration.

A <TransducerUnit>-element defines a sequence of channels streaming double-data. If the sequence of channels is not defined by the appropriate <channel>-elements, a default sequence is used. But it is recommend to explicitly define the channels sequence to be sure about the data.

Attributes of <TransducerUnit>:

Attribute name Description
name name of the measurement unit.
dispayName Name shown in the nodes hierarchie after loading the configuration.
sampleRate Sample rate of the data streamed by this measurement unit.

<Channel>-elements of the <TransducerUnit>:

The <TransducerUnit>-elements should have <Channel>-elements for each channel of the unit. Its attribute „name“ must match with the channel name as defined in the TransducerUnit implementation. Channel which are not configured are automatically disabled.

<TransducerUnit>- and <TransducerUnitGroup>-elements can have <Property>-elements as children to define specific properties.

Configuration of the trial types

A trial type defines general aspects of the recording and especially which data should be written into files.

Attribute name Unit Type Description Optional
name String The name of the trial type. It is visible in the list of available trial types in the record UI. No
duration seconds float The duration of the recording. If not set variable-length-recording should be used. But this is currently not implemented. No
offset seconds float An offset/time interval to wait after start triggering bevor starting the recording Yes
closeOffset seconds float An offset/time interval to wait after recording and before closing the recording.This can be useful if a sequence of trials is recorded and after the last trial the trigger has to wait before a closing procedure is executed, e.g. a robot needs time to move to a start position before the robot program is closed. Yes
measurementSystemConfigIds String A list of measurement system IDs to be used. All measurementsystem which are not listed here are automatically disabled. No
labelset String The name of the labelset to define, which data should be written into files. Details are described in the chapter „Configuration of the output“ (filename with suffix xml). Yes
overwrite boolean Default==true, if set to true, than if a trial is saved an existing file with the the same file name is overwritten without any question. If set to false and a file exists a index is automatically added before the file suffix „_<index>“. Also all existing files with such indizes are recognized and the index is choosed as a the last found index +1. If this index is bigger than a max index than the index starts agains with 1 and an existing trial is overwritten withoug any question. The max index can be overwritten with the next attribute. Yes
maxindex int Max index to be used as a suffix if a trial exists. Default==9 Yes

Further e.g. trigger or multicycle specific trial type configurations are defined in property-groups. This is described in the following sub chapters.

Multicycle configuration

There are two types of multicycles configuration available. The first one defines only how many cycles should be measured. The following attributes are used as children from the property group multicycles:

Attribute name Description
cycles The number of cycles

The second type defines a sequence of trial types. The following attributes are used as children from the property group multicycles:

Attribute name Description
cyclesSequence A space separated list of trial type names

Trigger configuration

Configuration of the output

Each trial is saved into a seperate file in the motion data object file format. The default suffix of such files is „.r3d“.


Which data to be saved is defined in a labelset xml file as follows:

<?xml version="1.0" encoding="UTF-8"?>
<LabelSet name="Vicon Objects and Markers.">
  <Labels name="ROS" baseFile="true">
          <Label sensorName="Thorax" name="ThoraxQ" mathType="QUATERNION_D"/>
          <Label sensorName="Thorax" name="ThoraxP" mathType="COLUMN_VECTOR_3D"/>
          <Label sensorName="Thorax" name="ThoraxT" mathType="REAL"/>

The sequence of the labels is used to connect to the corresponding channels, if every mathtype is used only once.

To make this possible default channels names are used for the following math types:

Math type Default channel names
COLUMN_VECTOR_3D v<n> n={0,1,2}
MATRIX_3X3D m<i><j> i={0,1,2}, j) j={0,1,2}
QUATERNION_D q<i> i={0,1,2,3}

If the unit contains a specific type more than once than the label must define the attribute „channelNames“ which contains a list of channel names for each channel of the given type. In the case of type REAL this attribute must contain only one channel name.

The channel name must be the name as defined in the corresponding transducer unit implementation. This can be different to the name, given for the <Channel>-element as defined in the measurement system configuration!

<Label sensorName="joint_temperatures" channelNames="URt0" name="Temperature0" mathType="REAL"/>
<Label sensorName="joint_temperatures" channelNames="URt1" name="Temperature1" mathType="REAL"/>
<Label sensorName="joint_temperatures" channelNames="URt2" name="Temperature2" mathType="REAL"/>
<Label sensorName="joint_temperatures" channelNames="URt3" name="Temperature3" mathType="REAL"/>
<Label sensorName="joint_temperatures" channelNames="URt4" name="Temperature4" mathType="REAL"/>
<Label sensorName="joint_temperatures" channelNames="URt5" name="Temperature5" mathType="REAL"/>
<Label sensorName="joint_temperatures" channelNames="URtT" name="TemperatureT" mathType="REAL"/>
<Label sensorName="target_q" channelNames="URAngle0" name="Angle0" mathType="REAL"/>        
<Label sensorName="target_q" channelNames="URAngle1" name="Angle1" mathType="REAL"/>
<Label sensorName="target_q" channelNames="URAngle2" name="Angle2" mathType="REAL"/>
<Label sensorName="target_q" channelNames="URAngle3" name="Angle3" mathType="REAL"/>
<Label sensorName="target_q" channelNames="URAngle4" name="Angle4" mathType="REAL"/>
<Label sensorName="target_q" channelNames="URAngle5" name="Angle5" mathType="REAL"/>
<Label sensorName="target_q" channelNames="URAngleT" name="AngleT" mathType="REAL"/>

The <Label>-elements can have the following attributes:

Attribute name Description Optional
channelNames If a specified math type is available more than once for a unit than this attribute must be used to define which channels should be used with the label. yes
name A unique label name. It is not needed that this name matches with the corresponding channel name of the sensor. Only the sequence of labels is used to match the sequence of channels of the sensor. No
sensorName The name of the sensor to collect data from. Be careful: This name must match the sensor name. If it does not match no data is saved for this label without any error message. Yes
mathType The math type of the data to collect. Yes
differentiations The count of differentiations to be created. Each differentiation creates a timeserie with an additional prefix „d“. Yes


The timeseries can be filtered automatically before saved.

Sometimes all values of Vector3d-tripples are zero but should be NaN. This can be reached by including:

<Filter name="zero2nan"/>

as a child-element of the <Labels>-element.

Additionel export of subsets of the data

Optional a subset of this data can be saved into additional files of different file formats. To do this, the labelset must include an additional <Labels>-element for each file to write.

<Labels name="ROS" mimeType="text/x-csv" fileSuffix="csv">
          <Label name="RightScapulaQ" mathType="QUATERNION_D"/>

The following file formats are available:

Mimetype Description
text/x-csv A CSV-file with timeseries. The delimiter can be configured in the Options-Pane. A header is given. No metadata are saved.


For each trial meta data is saved into the modalities property group for further postprocessing steps.

There are some properties which are automatically saved:

Property name Description
TrialType The name of the used trial type
SUBJECT The name of the subject, as configured in the recording UI
SESSION The name of the session. Per default this is the name of the session folder. It can be overwritten by the recording UI.
SIDE This can be used if the trial is focussed of left, right or both sides of a human body.

Additional properties are available but must be explicitly configured to be saved as follow:

<PropertyGroup name="modalities">
      <Property name="cycle_nr" value="*"/>

The value „*“ is used, if the value is overwritten, e.g. by the nextCycle() response of an iTrigger-SPI implementation.

processconfiguration.txt · Zuletzt geändert: 2020/07/21 18:14 von oliver