diff --git a/utils/motion_express_utilities/csv2gnuplot.sh b/utils/motion_express_utilities/csv2gnuplot.sh
new file mode 100755
index 0000000..5e2901e
--- /dev/null
+++ b/utils/motion_express_utilities/csv2gnuplot.sh
@@ -0,0 +1,379 @@
+#!/bin/bash
+#
+# This transforms a CSV file into a gnuplot file.
+# use option '-h' to display a help screen for all options.
+#
+# FracPete
+
+# the usage of this script
+function usage()
+{
+   echo 
+   echo "usage: ${0##*/} [-i <file>] [-o <file>] [-g <file>] [-G <file>]"
+   echo "       [-O <file>] [-d <delim>] [-t] [-x] [-a] [-l] [-T]"
+   echo "       [-W <width> -H <height>]] [-F <x11|png|ps>]"
+   echo "       [-b <files>] [-e]"
+   echo "       [-h]"
+   echo
+   echo "Transforms a given CSV file into a gnuplot input file. It can also"
+   echo "produce a gnuplot script for plotting the data, as well as batch"
+   echo "processing of several files with automatic output generation."
+   echo 
+   echo " -h   this help"
+   echo " -i   <file>"
+   echo "      the CSV file to use as input"
+   echo " -o   <file>"
+   echo "      the gnuplot output file, output to stdout if not provided"
+   echo " -g   <file>"
+   echo "      generates a gnuplot script with this name to display the data"
+   echo "      it assumes that the first column is the index for the x-axis."
+   echo "      In combination with '-b' this parameter is only used to indicate"
+   echo "      that a script is wanted, the filename itself is ignored."
+   echo " -G   <file>"
+   echo "      a file containing gnuplot options, comments etc. to be added "
+   echo "      before the plots"
+   echo " -O   <file>"
+   echo "      generates a script that outputs the plot in the format specified"
+   echo "      with '-F' in a file with the given name, instead of displaying "
+   echo "      it in a window"
+   echo " -d   <delim>"
+   echo "      the delimiter that separates the columns, default: $DELIMITER"
+   echo " -t   transposes the matrix first"
+   echo " -x   adds a column for the x-axis (numbers starting from 1)"
+   echo " -a   generates the average of the columns"
+   echo " -l   adds 'with lines' to the gnuplot script"
+   echo " -T   adds a number as title to the gnuplot script"
+   echo " -F   <x11|png|ps>"
+   echo "      the format of the output, default: $FORMAT"
+   echo " -W   <width>"
+   echo "      the width of the output (if '-F png'), default: $WIDTH"
+   echo " -H   <height>"
+   echo "      the height of the output (if '-F png'), default: $HEIGHT"
+   echo " -b   <files>"
+   echo "      processes the given files in batch mode, i.e. '-i' and '-o' are"
+   echo "      not necessary. the files get new extensions automatically."
+   echo "      Note: use \" if you're using wildcards like '*'"
+   echo " -e   generates the desired output files directly, i.e. in creates a"
+   echo "      temp. gnuplot file and runs this (in combination with '-b',"
+   echo "      otherwise '-g' must be given). "
+   echo "      Works only if format is ps or png ('-F')."
+   echo 
+}
+
+# variables
+INPUT=""
+OUTPUT=""
+OUTPUT_PLOT=""
+GNUPLOT=""
+GNUPLOT_OPTIONS=""
+HAS_OUTPUT="no"
+HAS_GNUPLOT="no"
+DELIMITER=","
+TRANSPOSE="no"
+XAXIS="no"
+AVERAGE="no"
+LINES="no"
+TITLE="no"
+FORMAT="x11"
+WIDTH="800"
+HEIGHT="600"
+BATCH_FILES=""
+BATCH_OPTIONS=""
+EXECUTE="no"
+
+# interprete parameters
+while getopts ":hi:o:g:d:txalTF:W:H:O:b:eG:" flag
+do
+   case $flag in
+      i) INPUT=$OPTARG
+         ;;
+      o) OUTPUT=$OPTARG
+         HAS_OUTPUT="yes"
+         ;;
+      g) GNUPLOT=$OPTARG
+         HAS_GNUPLOT="yes"
+         ;;
+      G) GNUPLOT_OPTIONS=$OPTARG
+         BATCH_OPTIONS="$BATCH_OPTIONS -$flag $OPTARG"
+         ;;
+      d) DELIMITER=$OPTARG
+         ;;
+      t) TRANSPOSE="yes"
+         BATCH_OPTIONS="$BATCH_OPTIONS -$flag"
+         ;;
+      x) XAXIS="yes"
+         BATCH_OPTIONS="$BATCH_OPTIONS -$flag"
+         ;;
+      a) AVERAGE="yes"
+         BATCH_OPTIONS="$BATCH_OPTIONS -$flag"
+         ;;
+      l) LINES="yes"
+         BATCH_OPTIONS="$BATCH_OPTIONS -$flag"
+         ;;
+      T) TITLE="yes"
+         BATCH_OPTIONS="$BATCH_OPTIONS -$flag"
+         ;;
+      O) OUTPUT_PLOT=$OPTARG
+         ;;
+      W) WIDTH=$OPTARG
+         BATCH_OPTIONS="$BATCH_OPTIONS -$flag $OPTARG"
+         ;;
+      H) HEIGHT=$OPTARG
+         BATCH_OPTIONS="$BATCH_OPTIONS -$flag $OPTARG"
+         ;;
+      F) FORMAT=$OPTARG
+         BATCH_OPTIONS="$BATCH_OPTIONS -$flag $OPTARG"
+         ;;
+      b) BATCH_FILES=$OPTARG
+         ;;
+      e) EXECUTE="yes"
+         BATCH_OPTIONS="$BATCH_OPTIONS -$flag"
+         ;;
+      h) usage
+         exit 0
+         ;;
+      *) echo
+         echo "Unknown option: '-$OPTARG'"
+         echo 
+         usage
+         exit 1
+         ;;
+   esac
+done
+
+# valid combinations of parameters?
+if [ ! "$BATCH_FILES" = "" ] && [ "$EXECUTE" = "yes" ] && [ "$FORMAT" = "x11" ]
+then
+   echo
+   echo "ERROR: a format other than '$FORMAT' must be specified if '-b' and"
+   echo "       '-e' are specified, e.g. 'ps'."
+   echo
+   usage
+   exit 2
+fi
+
+# batch-mode?
+if [ ! "$BATCH_FILES" = "" ]
+then
+   for i in $BATCH_FILES
+   do
+      echo "$i..."
+
+      # build options
+      OPTIONS=$BATCH_OPTIONS
+      OPTIONS="$OPTIONS -i $i"
+      OPTIONS="$OPTIONS -o $i.dat"
+      if [ "$HAS_GNUPLOT" = "yes" ]
+      then
+         OPTIONS="$OPTIONS -g $i.scr"
+      fi
+      if [ "$FORMAT" = "png" ]
+      then
+         OPTIONS="$OPTIONS -O $i.png"
+      fi
+      if [ "$FORMAT" = "ps" ]
+      then
+         OPTIONS="$OPTIONS -O $i.ps"
+      fi
+      
+      # run script
+      $0 $OPTIONS
+   done
+   
+   exit 0
+fi
+
+# test files
+if [ ! "$INPUT" = "" ] && [ ! -f "$INPUT" ]
+then
+   INPUT=""
+fi
+if [ ! "$GNUPLOT_OPTIONS" = "" ] && [ ! -f "$GNUPLOT_OPTIONS" ]
+then
+   echo "Warning: '$GNUPLOT_OPTIONS' not found - ignored!"
+   GNUPLOT_OPTIONS=""
+fi
+
+if [ "$HAS_OUTPUT" = "no" ]
+then
+   OUTPUT=$INPUT".tmp"
+fi
+
+# everything provided?
+if [ "$INPUT" = "" ] || [ "$DELIMITER" = "" ]
+then
+   echo 
+   echo "ERROR: not all parameters provided or incorrect!"
+   echo
+   usage
+   exit 1
+fi
+
+if [ "$EXECUTE" = "yes" ] && [ "$HAS_GNUPLOT" = "no" ]
+then
+   echo
+   echo "ERROR: '-g' must be specified with option '-e'!"
+   echo
+   usage
+   exit 3
+fi
+
+if [ "$OUTPUT_PLOT" = "" ] && [ ! "$FORMAT" = "x11" ]
+then
+   echo "Warning: output file for format '$FORMAT' not specified, falling back to 'x11'"
+   FORMAT="x11"
+fi
+
+# some variables
+TMPFILE=$OUTPUT".tmp"
+
+# init
+cp $INPUT $OUTPUT
+
+# change modifier into " "
+if [ ! "$DELIMITER" = " " ]
+then
+   cat $OUTPUT | sed s/$DELIMITER/" "/g > $TMPFILE
+   cp $TMPFILE $OUTPUT
+fi
+
+# transpose matrix?
+if [ "$TRANSPOSE" = "yes" ]
+then
+   cat $OUTPUT | exec awk '
+   NR == 1 {
+           n = NF
+           for (i = 1; i <= NF; i++)
+                   row[i] = $i
+           next
+   }
+   {
+           if (NF > n)
+                   n = NF
+           for (i = 1; i <= NF; i++)
+                   row[i] = row[i] " " $i
+   }
+   END {
+           for (i = 1; i <= n; i++)
+                   print row[i]
+   }' > $TMPFILE
+   cp $TMPFILE $OUTPUT
+fi
+
+# average columns?
+if [ "$AVERAGE" = "yes" ]
+then
+   COLCOUNT=`head -n1 $OUTPUT | wc -w | sed s/" "*//g`
+   ROWCOUNT=`cat $OUTPUT | wc -l | sed s/" "*//g`
+   rm -f $TMPFILE
+   
+   for ((i = 1; i <= $COLCOUNT; i++))
+   do
+      COL=`cat $OUTPUT | cut -f$i -d" "`
+      
+      # average
+      TMP="("`echo $COL | sed s/" "/+/g`")/$ROWCOUNT"
+      if [ $i -gt 1 ]
+      then
+         echo -n " " >> $TMPFILE
+      fi
+      TMP=`echo "scale=4; $TMP" | bc -l`
+      echo -n $TMP >> $TMPFILE
+
+      # stddev
+      echo -n " " >> $TMPFILE
+      TMP="sqrt(($ROWCOUNT * ("`echo $COL | sed s/" "/"^2+"/g | sed s/$/"^2"/g`") - ("`echo $COL | sed s/" "/"+"/g`")^2) / ($ROWCOUNT * ($ROWCOUNT - 1)))"
+      TMP=`echo "scale=4; $TMP" | bc -l`
+      echo -n $TMP >> $TMPFILE
+   done
+   echo >> $TMPFILE
+   cp $TMPFILE $OUTPUT
+fi
+
+# add x-axis?
+if [ "$XAXIS" = "yes" ]
+then
+   cat $OUTPUT | grep -n "." | sed s/":"/" "/g > $TMPFILE
+   cp $TMPFILE $OUTPUT
+fi
+
+# gnuplot script?
+if [ "$HAS_GNUPLOT" = "yes" ]
+then
+   # data columns
+   COUNT=`head -n1 $OUTPUT | wc -w | sed s/" "*//g`
+
+   # build output/format statement
+   TERM="set terminal X11"
+   OUT="set output"
+   if [ "$FORMAT" = "png" ]
+   then
+      TERM="set terminal png size $WIDTH,$HEIGHT"
+      OUT="set output \"$OUTPUT_PLOT\""
+   fi
+   if [ "$FORMAT" = "ps" ]
+   then
+      TERM="set terminal postscript"
+      OUT="set output \"$OUTPUT_PLOT\""
+   fi
+   
+   # build "with" statement
+   TMP=""
+   WITH=""
+   if [ "$LINES" = "yes" ]
+   then
+      TMP=$TMP" lines"
+   fi
+   if [ "$TITLE" = "yes" ]
+   then
+      TMP=$TMP" title #"
+   fi
+   if [ ! "$TMP" = "" ]
+   then
+      WITH=" with"$TMP
+   fi
+   
+   # init
+   echo "# gnuplot script for '$OUTPUT'" > $GNUPLOT
+   if [ ! "$GNUPLOT_OPTIONS" = "" ]
+   then
+      cat $GNUPLOT_OPTIONS >> $GNUPLOT
+   fi
+
+   # the plots
+   echo "set title \"$INPUT\"" >> $GNUPLOT
+   echo "plot \"$OUTPUT\" using 1:2 `echo $WITH | sed s/"#"/"\'1\'"/g`" >> $GNUPLOT
+   for ((i = 2; i < $COUNT; i++))
+   do
+      echo "replot \"$OUTPUT\" using 1:$((i+1)) `echo $WITH | sed s/"#"/"\'$i\'"/g`" >> $GNUPLOT
+   done
+   echo >> $GNUPLOT
+
+   # only pause if displayed in window
+   if [ "$FORMAT" = "x11" ]
+   then
+      echo "pause -1" >> $GNUPLOT
+   else
+      echo "$TERM" >> $GNUPLOT
+      echo "$OUT" >> $GNUPLOT
+      echo "replot" >> $GNUPLOT
+   fi
+
+   # run gnuplot
+   if [ "$EXECUTE" = "yes" ]
+   then
+      if [ "$FORMAT" = "x11" ]
+      then
+         echo "Press <Return> to close window..."
+      fi
+      gnuplot "$GNUPLOT"
+   fi
+fi
+
+# clean up
+rm -f $TMPFILE
+if [ "$HAS_OUTPUT" = "no" ]
+then
+   cat $OUTPUT
+   rm -f $OUTPUT
+fi
\ No newline at end of file
diff --git a/utils/motion_express_utilities/plot.options b/utils/motion_express_utilities/plot.options
new file mode 100644
index 0000000..b455b77
--- /dev/null
+++ b/utils/motion_express_utilities/plot.options
@@ -0,0 +1,2 @@
+set key autotitle columnhead
+set yrange [-40:40]
diff --git a/utils/motion_express_utilities/process_motion_dump.py b/utils/motion_express_utilities/process_motion_dump.py
new file mode 100644
index 0000000..fc246f8
--- /dev/null
+++ b/utils/motion_express_utilities/process_motion_dump.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+import sys
+from pathlib import Path
+
+if not sys.stdin.isatty():
+    input_stream = sys.stdin
+
+else:
+    try:
+        input_filename = sys.argv[1]
+    except IndexError:
+        message = 'need filename as first argument if stdin is not full'
+        raise IndexError(message)
+    else:
+        input_stream = open(input_filename, 'r')
+
+Path("output/plots").mkdir(parents=True, exist_ok=True)
+
+s = open(f'output/makeplots.sh', 'w')
+f = None
+num_events = 0
+num_records = 0
+
+for line in input_stream:
+    if not len(line):
+        continue
+    if line.strip() == '=== END ===':
+        if f is not None:
+            f.close()
+    elif line.upper().strip().endswith('.CSV'):
+        num_events += 1
+        components = line.strip().split('.')[:-1]
+        if components[0] == 'TE':
+            components[0] = 'testing'
+        elif components[0] == 'ID':
+            components[0] = 'idle'
+        elif components[0] == 'OF':
+            components[0] = 'off_wrist'
+        elif components[0] == 'SL':
+            components[0] = 'sleeping'
+        elif components[0] == 'WH':
+            components[0] = 'washing_hands'
+        elif components[0] == 'WA':
+            components[0] = 'walking'
+        elif components[0] == 'WB':
+            components[0] = 'walking_with_beverage'
+        elif components[0] == 'JO':
+            components[0] = 'jogging'
+        elif components[0] == 'RU':
+            components[0] = 'running'
+        elif components[0] == 'BI':
+            components[0] = 'biking'
+        elif components[0] == 'HI':
+            components[0] = 'hiking'
+        elif components[0] == 'EL':
+            components[0] = 'elliptical'
+        elif components[0] == 'SU':
+            components[0] = 'stairs_up'
+        elif components[0] == 'SD':
+            components[0] = 'stairs_down'
+        elif components[0] == 'WL':
+            components[0] = 'weight_lifting'
+        name = '.'.join(components).lower().replace('_', '-')
+        s.write(f'../csv2gnuplot.sh -i "{name}.csv" -O "./plots/{name}.png"  -g "{name}.gnuplot" -F png -W 1200 -H 675 -e -l -G ../plot.options && rm "{name}.gnuplot"\n')
+        if f is not None:
+            f.close()
+        f = open(f'output/{name}.csv', 'w')
+    else:
+        num_records += 1
+        f.write(line)
+
+s.close()
+
+print(f"Processed {num_records} records in {num_events} events!")
+print("To generate plots: cd output && bash makeplots.sh")
\ No newline at end of file