Orientation Tracking Setup

[Nicholas Vandenberg]

I thought I was doing that like this?

Pel_OTG_file.png (19.04 KiB) Viewed 1620 times

Tried with the basic 'packQuaternion' with these names, then tried it with the suffixes sample code you shared. I'm still getting the previous error I shared.

[Nicholas Bianco]

I think the issue is that there's an empty row between "endheader" and the column labels row. Remove that and give it a try again.

[Nicholas Vandenberg]

Still not working, unfortunately. I opened up the TimeSeriesTable that I'm trying to 'pack'

Pel_OTG_file.png (19.85 KiB) Viewed 1599 times

Could it be having some issue with that first column that's being created without any label?

[Nicholas Bianco]

I think that first column is just visualizing the row indexes, I don't think it's an actual column.

I'm still a little stumped. Can you load the data as-is into a TimeSeriesTable and then save it again to a new file to see if the formatting changes?

[Nicholas Vandenberg]

Figured that wasn't it but I'm pretty stumped as well. I saved the TimeSeriesTable as an .sto that I can't upload, but re-saved that as an excel workbook (attached). I can't see anything in it unless some of the header info is 'unexpected'?

[Grace M]

I am tracking IMUs with Moco and have attached a example file which might be helpful for comparison. (It is normally a .sto but changed to a .txt to attach. )
The header is:
DataRate=2000
DataType=Quaternion
version=3
OpenSimVersion=4.4
endheader
time /bodyset/torso/torso_imu_offset /bodyset/pelvis/pelvis_imu_offset .... etc

[Nicholas Bianco]

Thanks Grace!

I'm wondering if OpenSim is not handling the older SIMM-style header correctly. Try updating the format Grace posted and see if that works.

[Nicholas Vandenberg]

Thanks for sharing Grace! I tried updating my header, unfortunately I'm still getting an error where it doesn't like the 'DataType=Quaternion'

Error using IMU_TD_Walk (line 141)
Java exception occurred:
java.lang.RuntimeException: expected = double received = Quaternion
Thrown at DelimFileAdapter.h:355 in extendRead().

at
org.opensim.modeling.opensimCommonJNI.new_TimeSeriesTable__SWIG_5(Native
Method)

at
org.opensim.modeling.TimeSeriesTable.<init>(TimeSeriesTable.java:61)

Not sure if this now comes down to how I create the file or what's going on?

[Nicholas Vandenberg]

I tried altering my conversion code so that it will print the new header as opposed to the previous header, as well as printing separate files for the joint angles (DataType=double) and pelvis orientations (DataType=quaternion). I am now unable to load these into my Moco problem, even the joint angles come back with:

Error using IMU_TD_Walk (line 91)
Java exception occurred:
java.lang.RuntimeException: expected = double received = double
Thrown at DelimFileAdapter.h:355 in extendRead().

at org.opensim.modeling.opensimMocoJNI.MocoTrack_initialize(Native Method)

at org.opensim.modeling.MocoTrack.initialize(MocoTrack.java:549)

I'm at a loss here

[Nicholas Bianco]

Editing STO files by hand can be very error prone (as you are now discovering). It would be better to start over and use the API as much as possible.

Is it possible to load the existing data into a regular TimeSeriesTable? From there we should be able to save it to a new file which would be in the proper format. From there we can use the API for pack operations, or create a TimeSeriesTableQuaternion. If it comes to the latter approach, I can write a code snippet for that.