Components#
IMU Trackers#
Each tracker consists of:
BNO085 9-axis IMU sensor
ESP32 microcontroller for Wi-Fi streaming
3D-printed enclosure with a rigidly mounted AprilTag
LiPo battery (500 mAh, ~4 hours runtime)
You need 9 trackers in total, placed at the following body locations:
Tag ID |
Body Location |
|---|---|
0 |
Pelvis |
1 |
Left Shoulder |
2 |
Right Shoulder |
3 |
Left Elbow |
4 |
Right Elbow |
5 |
Left Hip |
6 |
Right Hip |
7 |
Left Knee |
8 |
Right Knee |
IMU / AprilTag / Joint Mapping#
IMU ID |
Body Part |
AprilTag ID |
SMPL-X Joint |
|---|---|---|---|
1 |
Pelvis |
0 |
0 |
2 |
Left Shoulder |
1 |
16 |
3 |
Right Shoulder |
2 |
17 |
4 |
Left Elbow |
3 |
18 |
5 |
Right Elbow |
4 |
19 |
6 |
Left Hip |
5 |
1 |
7 |
Right Hip |
6 |
2 |
8 |
Left Knee |
7 |
4 |
9 |
Right Knee |
8 |
5 |
Project Aria Glasses#
RoSHI uses Project Aria glasses for:
6-DoF head tracking via onboard SLAM
Egocentric RGB video capture
Machine Perception Services (MPS) for post-processing
Bill of Materials#
Item |
Quantity |
Approx. Cost |
|---|---|---|
BNO085 IMU breakout |
9 |
$12 each |
ESP32 dev board |
9 |
$8 each |
LiPo battery (500 mAh) |
9 |
$5 each |
AprilTag prints (Tag36h11) |
9 |
~$2 total |
3D-printed enclosures |
9 |
~$15 total |
Velcro straps |
9 |
~$10 total |