WirelessIMU Body Tracker¶
WirelessIMU is a wearable multi-IMU Body Tracker. It combines wireless
chest, upper_arm, forearm, palm, and optional finger nodes into one
calibrated left or right arm chain. ESP32-C3 firmware, ICM-20948 sensing, VQF,
and Wi-Fi are the node layer of the tracker.
The public website is organized around the tracker, not around robot retargeting. Use the navigation below to inspect the hardware, burn firmware, calibrate a wearable chain, record JSONL sessions, and replay the same motion state later.
Start here: Getting Started, Hardware and BOM, Media Assets, and Release Notes.
The documented body frame is right handed: body_rh is X forward, Y left, and
Z up. The project supports one wearing side at a time (left or right), with
roles chest, upper_arm, forearm, palm, and optional finger. The
current public scope is an upper-body arm chain, not a complete full-body suit.
English
- System Overview
- Getting Started
- Hardware, BOM, and Enclosure
- Media Assets
- Firmware Build and Flash
- Wear, Calibrate, and Run Mocap
- IMU UDP Protocol and Timing Model
- Mocap JSONL Recording and Replay
- Information Hub WebSocket Interface
- ROS 2 Adapter
- Unity Adapter
- Evaluation Assets and Result Disclosure
- Release and Reproducibility
- Licenses and Notices