Components#
IMU Trackers#
Each tracker consists of:
BNO085 9-axis IMU sensor
WeMos D1 Mini (ESP8266) for Wi-Fi streaming
3D-printed enclosure with a rigidly mounted AprilTag
LiPo battery (e.g. 503759 1200 mAh, see BOM)
You need 9 trackers in total. The full IMU / AprilTag / SMPL-X mapping is:
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#
Prices below are typical U.S. Amazon retail (before tax/shipping) for the listed packs; buy enough packs to cover nine trackers plus spares where it helps (passives, connectors). PCB Gerbers follow the SlimeVR Hyperion design—see Assembly.
Item |
Qty (9 trackers) |
List / pack price |
Source |
|---|---|---|---|
WeMos D1 Mini (ESP8266 class) |
9 boards (e.g. 2× 5-packs) |
$14.99 / 5 boards (~$3.00 ea) |
|
180 kΩ resistor (1/2 W metal film) |
9 (buy 100-pack) |
$5.99 / 100 pcs |
|
Schottky diode 1N5817 |
9 (buy 125-pack) |
$5.99 / 125 pcs |
|
TP4056 charger (Type-C), dual protection |
9 modules (1× 10-pack) |
$8.99 / 10 pcs |
|
BNO085 nine-axis IMU module |
9 |
$17.59 each |
|
Slide switch SS12D00G3 (SPDT, 3-pin) |
9 (40-pack) |
$5.59 / 40 pcs |
|
LiPo 503759, 3.7 V, 1200 mAh, JST-PH 2.0 mm |
9 |
$10.19 each |
|
JST-PH 2.0 mm socket kit (side-entry / right-angle, multi-pin) |
9× 2P sockets from kit |
$9.99 kit (~40× 2P + other sizes) |
|
Pin headers, strap hardware, filament, AprilTag prints |
— |
varies |
(local / print lab) |
3D-printed tracker case |
9 |
material cost varies |
see Assembly |
Receiver (host unit) BOM#
These parts match the receiver described in Assembly (ESP32-S3 host, ESP-NOW on 2.4 GHz, small OLED on I²C, external antenna). Prices are Adafruit U.S. list (before tax/shipping). The Feather uses a w.FL / MHF3 / IPEX3 port (not u.FL); pair the RP-SMA dipole antenna with the RP-SMA to w.FL adapter cable. Budget separately for STEMMA QT / Qwiic cables and any I²C multiplexers your receiver PCB uses.
Item |
Qty |
Price |
Source |
|---|---|---|---|
Adafruit ESP32-S3 Feather 8 MB Flash, w.FL antenna (native USB-C) |
1 |
$17.50 |
|
2.4 GHz dipole swivel antenna, RP-SMA, 2 dBi |
1 |
$7.95 |
|
RP-SMA to w.FL / MHF3 / IPEX3 adapter cable |
1 |
$2.95 |
|
Monochrome 0.91” 128×32 I²C OLED, STEMMA QT / Qwiic |
1 |
$12.50 |