Cross-platform SlimeVR IMU bridge for game controllers

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everything-imu is a native bridge that turns Nintendo, Sony, and other game controllers into full-body trackers for SlimeVR-Server. Plug a controller into your PC, strap it on, and it shows up in SlimeVR as a regular tracker. No extra hardware, no firmware flashing.

It also incorporates Haptics via the device's rumble, for information on how to set this up on your Avatar, go HERE

The bridge reads the controller's built-in IMU at its native sample rate, runs a sensor fusion filter (VQF by default, Madgwick or BasicVQF optional) in Rust, and forwards the resulting quaternion to SlimeVR-Server over UDP using the official protocol.

Status: 1.0.7. The core fusion + protocol pipeline is stable and hardware-validated across the supported controllers. If you hit a snag, please file an issue with reproduction steps and the logs from the Logs tab.

Features

• 13+ controller & device families supported across USB · BT Classic · BLE · TCP · UDP forwarders.
• VQF / Madgwick / BasicVQF fusion, switchable per-device (VQF is the default).
• Magnetometer calibration wizard for Joy-Con 2 and PS Move ZCM1 (sphere fit + coverage meter).
• Reset Yaw / Reset Full / Reset Mounting from the UI, system tray, global hotkey, or on-device gesture.
• VRChat OSC → rumble bridge with per-rule gain, threshold, pulse mode, and a per-device haptic calibration wizard (floor / gain mapping).
• UDP-forwarded haptic targets: register host:port endpoints as virtual rumble devices for remote setups.
• Linux udev installer, one-click hidraw access for Joy-Con / DualSense / PSMove without sudo.
• Auto-update at startup (GitHub Releases), with optional crash reporting via Sentry. Both opt-in, both off by default.
• Live diagnostics: per-tracker rate panels, bridge latency, raw IMU charts on the Debug page, circular battery rings, signal meter.
• Remote hub ingest lets phones, watches, and phone-paired controllers stream in over UDP with auto-discovery, round-trip-time echo, packet-loss measurement, and a rumble backchannel.

Why this exists

SlimeVR-Server already supports full-body tracking with dedicated SlimeVR hardware. This project plugs the bring-your-own-IMU gap: most homes have controllers with high-quality IMUs sitting in a drawer, and they make great secondary trackers (waist, knees, feet) when you're trying SlimeVR for the first time and don't want to commit to buying nodes yet.

We deliberately do not reimplement SlimeVR-Server features (skeletal model, SteamVR driver, calibration UI, etc.). everything-imu is the bridge layer only.

Supported devices

Device	Transport	Native rate	Mag	Status
Joy-Con (L/R)	USB · BT Classic	200 Hz	✗	hardware-validated
Switch Pro Controller	USB · BT Classic	200 Hz	✗	hardware-validated
Joy-Con 2 / Pro 2 / NSO GC2	BLE only	62 Hz	✓	hardware-validated
DualSense (PS5)	USB · BT	250 Hz	✗	hardware-validated
DualSense Edge	USB · BT	250 Hz	✗	needs hardware
DualShock 4 (PS4)	USB · BT	250 Hz	✗	hardware-validated
PS Move ZCM1	USB · BT	175 Hz	✓	hardware-validated
PS Move ZCM2	USB · BT	175 Hz	✗	hardware-validated
Wii Remote	TCP forwarder (127.0.0.1:9909)	100 Hz	✗	hardware-validated
HOPX / Triki	BLE	52 Hz	✗	hardware-validated
3DS / 2DS (XL)	UDP forwarder (:9305)	100 Hz	✗	needs hardware
PS Vita	UDP forwarder (:9306)	100 Hz	✗	needs hardware
DualShock 3 (PS3)	USB	~100 Hz	✗	experimental¹
Steam Deck	USB (integrated)	250 Hz	✗	needs hardware
Steam Controller	USB (wired + dongle)	100 Hz	✗	needs hardware
Tesla (vehicle)	Fleet API	~10 Hz	✗	experimental

¹ DualShock 3 has only a single-axis (yaw) gyroscope and no magnetometer. It is a tilt-dominant, drift-prone tracker included for completeness. Not recommended.

The Wii, 3DS, and PS Vita are not host-drivable, so they stream their IMU from a small companion app over the network. The Wii forwarder lives in companions/wii/; the 3DS and Vita homebrew live in companions/3ds/ and companions/vita/.

Deep-dive on each: DEVICES.md.

Mobile companion (Android + Wear OS)

The native Android phone tracker + Wear OS companion live in their own repository: everything-imu-mobile. The app auto-discovers this desktop bridge on your LAN and streams the phone's IMU to it. The desktop runs fusion and registers the phone as one more tracker. Phone-paired controllers (DualSense, Joy-Con 2, and more) forward through the same link, and desktop haptics rumble back to every device. Grab the phone/watch APKs from that repo's releases.

Install

Grab the latest installer from the Releases page:

• Windows: everything-imu_<version>_x64-setup.exe
• Linux (Debian/Ubuntu): everything-imu_<version>_amd64.deb
• Linux (any): everything-imu_<version>_amd64.AppImage

Linux notes

• The app runs fine without a system tray. On distros that don't ship libayatana-appindicator3 the tray icon is skipped instead of crashing the app; the .deb pulls the library in automatically and the AppImage bundles it, so the tray works out of the box on most setups.
• The AppImage needs FUSE 2. If it won't start on a FUSE 3-only or immutable distro, run it with ./everything-imu_<version>_amd64.AppImage --appimage-extract-and-run.
• On NVIDIA + Wayland the WebView renderer is switched to a compatible path automatically. To force the default renderer, export WEBKIT_DISABLE_DMABUF_RENDERER=0 before launching.

Or build from source. See Building from source below.

HAPTICS

VRChat Avatar Setup

You MUST have VRCFury on your Unity Project.

You MUST NOT Upload the avatar as a test, as it prevents the initialization of OSC protocols, please create a duplicate avatar and test it from there.

1. Import the IMUHaptics.unitypackage into your Unity Project

2. Drag and drop the prefab found under Assets/MooshPaw/IMU Haptics into your Avatar

3. Move the GameObjects to match your avatar proportions

4. (Optional) Disable Haptic points you won't use, this frees your PC from loading unnecessary parameters, even though the performance impact is minimal

5. Upload avatar and test

How to create more points of tracking?

Duplicate any of the existing tracking points and position it where you want them. Then, change the Avatar Parameter to Haptics/{YourDesiredName} and REPLACE the parent bone under Armature Link

• You may also move the GameObject to the bone you want it parented to in the Hierarchy
• You should avoid putting the bone on the Contact Receiver Component as the Gizmo won't Sync

To create one from scratch, take in mind the following: You MUST Change the Parameter address. It's recommended to leave the Haptic/ nomenclature for organization You Should leave Local Only enabled, as there's no need to Sync this parameter since your Haptics run locally. This allows the avatar to get a better rating and avoids VRChat's maximum contacts

Armature Link automatically parents your haptic point to a Humanoid bone. You must change this bone to the one you want parented to, or move the GameObject within a bone from the Hierarchy.

Avoid putting the bone on the Contact Receiver Component as the Gizmo won't Sync

Gizmo

The gizmo represents the center of the Contact Receiver, as well as where your IRL Tracker should be. If your tracker is going to be at your stomach, your Haptic point should also be there

In-App setup

1. Go to the Haptics section
2. Enable the Bridge
3. Ensure the OSC Port is 9001 (VRChat's default output)
4. Test your devices
5. Add the mappings you need
6. Change the Parameter Name to /avatar/parameters/Haptics/{YourHapticPoint}. It MUST BE THE SAME NAME as the one from the VRChat contact receiver component. If you misspell it, you won't get any haptic
7. Select the device that will rumble when your haptic point is triggered
8. Adjust settings accordingly

Proximity (variable)

Variable float strength from 0 to 1, will rumble more when the VRC contact receiver is touched at the center, and less when is touched at the edges.

Pulse (fixed)

Activates the Rumble Once for a certain amount of time (Pulse (ms)) before turning it off. Useful to pair with a VRC contact receiver set to On Enter

Select available OSC addresses

To avoid typing the address manually, you may add them via the Discovered OSC Addresses section.

Quickstart

1. Install SlimeVR-Server and leave it running. The default UDP port is 6969.
2. Run everything-imu. The status bar at the bottom will read Live once a handshake with the server completes.
3. Plug or pair a supported controller. It appears in the Devices tab; a tracker for it shows up automatically in SlimeVR-Server.
4. Mount the controller to your body (waist, knee, ankle, etc.) and assign it in SlimeVR-Server's Body Proportions flow.
5. Reset orientation: R (yaw) / Shift+R (full) from the global hotkeys, or click Reset Yaw / Reset Full / Reset Mounting on the device card. On controllers without a magnetometer (Joy-Con 1, DualSense, DualShock 4, Wii Remote, 3DS, PS Vita, DualShock 3) yaw drifts on body rotation. Re-yaw facing forward, or use Reset Mounting right after strapping the tracker. Some devices accept on-device gestures. See DEVICES.md.

Global hotkeys

Shortcut	Action
Ctrl+K	Command palette
Ctrl+F	Global search
Ctrl+Enter	Cinema mode (immersive overlay)
Ctrl+Shift+B	Kill-switch the bridge (pause emission)
R / Shift+R	Broadcast yaw / full reset

Mounting reset is per-device. Click Reset Mounting on the device card or the tracker detail page.

Building from source

Prerequisites

• Rust stable (1.79+ recommended)
• Node.js 22+ and pnpm 10
• Windows: WebView2 (preinstalled on Windows 11)
• Linux: libwebkit2gtk-4.1-dev, libgtk-3-dev, libsoup-3.0-dev, librsvg2-dev, libayatana-appindicator3-dev, libxdo-dev, libssl-dev, libudev-dev, patchelf

Commands

git clone https://github.com/matiaspalmac/everything-imu.git
cd everything-imu

pnpm install                  # JS deps
pnpm tauri dev                # dev: live-reload UI + Rust backend
pnpm tauri build              # release bundle (MSI on Windows, AppImage on Linux)

# Backend-only iteration:
cargo test --workspace        # unit + integration tests
cargo run -p headless-cli     # headless bridge for debugging

The everything-imu-app binary is the full Tauri shell; headless-cli is a no-UI driver useful for tracing protocol-level issues.

Documentation

File	Purpose
ARCHITECTURE.md	Crate graph + responsibilities
DEVICES.md	Per-device IMU, transport, calibration
PROTOCOL.md	SlimeVR UDP wire format notes
CONTRIBUTING.md	Dev workflow, style, PR rules
SECURITY.md	Reporting vulnerabilities
CODE_OF_CONDUCT.md	Community ground rules

Stack

• Core: Rust, tokio, hidapi, btleplug, nalgebra
• Math & fusion: VQF (Laidig 2023), Madgwick, BasicVQF
• Haptics: rosc OSC listener, per-device rumble drivers
• Persistence: SQLite via rusqlite
• Desktop shell: Tauri 2 + tauri-specta (typed IPC)
• Frontend: React 19, TypeScript, Vite, TailwindCSS 4, Zustand 5, react-three-fiber

License

MIT. Contributions are accepted under the same license.