SlimeVR Full-Body Tracker

SlimeVR is a set of open hardware sensors and open source software that facilitates full-body tracking (FBT) in virtual reality. With no base station required, SlimeVR makes wireless VR FBT affordable and comfortable.

How Does it Work?

SlimeVR FBT provides simple, effective tracking of your body and limbs in VR games, motion capture and other applications. It makes full-body tracking comfortable and affordable by leveraging high-quality inertial measurement unit (IMU) sensors and a Wi-Fi connection to your PC rather than wires, cameras, or base stations. Taking the Lower-body set as an example, five trackers—one on each thigh, another on each ankle, and a fifth at the chest—are enough to get the job done. Each tracker monitors its own rotation in space, and SlimeVR software uses your proportions and headset location to calculate joint angles and estimate limb positions. In more technical terms, SlimeVR relies on absolute-orientation sensors, a configurable skeleton model, and forward kinematics. The result is like having virtual Vive trackers at key locations on your body.

The base set of five trackers is sufficient to cover lower-body movement (legs and waist or chest) and is widely supported by VR games and applications. VRChat, Resonite and LIV can use additional SlimeVR trackers to monitor the position and rotation of your feet, knees, elbows, chest, and more!

Optimized for Accessibility & Comfort

Your comfort is our primary goal. SlimeVR trackers are lightweight, easy to wear, and entirely self-contained. Because they do not depend on cameras or base stations, they are able to track a wide range of motion without ever being occluded, or blocked from view, in a way that would cause external sensors to lose track of them.

Compatible With Many Different Platforms

SlimeVR is broadly supported by popular VR software, including:

• PC games and other applications, including VRChat, Resonite, and Blade & Sorcery, to name just a few
• VRChat on Quest 2 & 3 standalone with or without PC, as well as on other standalone headsets like PICO VR
• Streaming VR applications with an avatar via LIV
• VTubing directly via OSC and VMC in VNyan, Warudo, VSeeFace or via SteamVR in Tracking World
• SteamVR games with FBT support (including mods, like Feet Saber)
• SteamVR games played using the Shadow platform

And much more as we grow!

What About the Oculus (Meta) Quest?

Support for Full-Body Tracking depends on the game and its developers. Currently, only VRChat and VRWorkout support Full-Body Tracking with SlimeVR on Oculus Quest without the need to run the game on a PC.

It’s now possible to use SlimeVR fully standalone with VRChat!

Features & Specifications

• Native SteamVR, OSC & VMC support
• 100 Hz refresh rate
• Completely wireless via 2.4 Ghz Wi-Fi
• Up to 20 hours of playtime with a built-in 1350 mAh battery
• USB Type-C charging and hacking
• Over-the-air (OTA) firmware updates
• Works with all SteamVR-compatible headsets & standalone headsets like Meta Quest or PICO VR
• Does not require a PC with Wi-Fi support
• Can connect to a Wi-Fi router on the same local network as your Ethernet-connected PC or directly to your PC if it does have Wi-Fi support (via the motherboard, a Wi-Fi card, or an external Wi-Fi dongle)
• Incredible and active community making software better all the time, with frequent free updates

Version 1.2

Starting from June 2025, SlimeVR Trackers hardware is updated to version 1.2. That means…

• All versions of SlimeVR trackers are compatible with each other! The SlimeVR server supports working with all versions of SlimeVR at the same time, including third-party products and mobile apps. Extensions from old or new version can work with either version of the main trackers, so any upgrades you purchase are compatible with your existing hardware. (Old trackers might need to be updated to firmware version 0.6+ to use new extensions.)
• SlimeVR v1.0 and v1.1 featured CEVA's BNO085 IMU, which included a built-in magnetometer. SlimeVR v1.2 uses TDK's much newer ICM-45686 IMU and a QMC6309 magnetometer. Thanks to VQF and our community's great integration and tuning work, SlimeVR trackers can now do their own fusion on the microcontroller. And, since this happens in a fully open-source algorithm, we can and do tune it to our use cases, further reducing drift.
• For all trackers produced in 2025, we're using a new 1350 mAh battery instead of a 1200 mAh battery. It fits better in our enclosure and provides 20 hours of play time (up from 15) on a single charge!
• The affordability of our new IMU allows us to cut $10 off the price of the Lower-Body Set (5+0) and improve the other sets. Extension hip trackers have been upgraded to full trackers so the Core Set is now 6+0 instead of 5+1, the Enhanced Core Set is now 6+2 instead of 5+3, and so on.

Interference & Drift

SlimeVR is not affected by magnetic interference or positional drift, despite its reliance on IMU sensors for tracking. Each tracker only monitors its own rotation, which is enough for our software to estimate your pose. Drift shows as trackers becoming slightly off-axis over 20 minutes to an hour, depending on the activity. Once you notice it, all it takes is a simple double tap on a tracker or pressing a controller button to get them back to where they should be. And if you have a good magnetic environment, magnetometer can be toggled on to remove drift completely (within reason)!

Our community is actively working on many improvements that make drift less noticeable, such as limitations on the skeleton, feet sliding prevention, and experimental algorithms like "Stay Aligned!" that redirect your trackers to look forward over time.

Comparisons

¹ The precision of SlimeVR, HaritoraX & mocopi tracking technology depends on your setup, on the plane used for measurement, and on how your back bends.

Comparison With Other IMU Full-Body Trackers

Since our campaign start in 2021, a whole industry of IMU-based VR Body Trackers have emerged and matured with many manufacturers offering their own solutions, as well as dozens of third-party SlimeVR-compatible trackers. Despite that, we believe that SlimeVR is still the leader in the space. Here are a few things that we have that others don’t:

• Most powerful software: SlimeVR server is a love child of our team of developers and community and contains a lot of features to improve your tracking quality, help with setup and onboarding, ease of use and human translation to 22 languages
• Compatible with a lot of ecosystems, like SteamVR, OSC, VMC & BVH
• Constantly improving software and firmware thanks to our team of developers and contributors bringing new features and improvements regularly
• Active community that can help set up, answer questions, or just make friends with
• Premium build quality with injection-molded Polycarbonate enclosure
• 2 years warranty that's always on the side of our customers
• Affordable price, cheaper than all competitors on per-tracker basis
• Cute stickers!

Available Tracker Sets

The base set of five trackers is sufficient to cover lower-body movement (legs and waist or chest) and is widely supported by VR games and applications. However, with SlimeVR you can customize your experience in VRChat, Resonite and LIV to track specific movements, allowing you to finely track the bones you want with additional trackers allowing you to track feet, knees, elbows, chest and more!

Tracker Extensions are smaller, auxiliary trackers without batteries or Wi-Fi capability. They connect to a primary tracker by means of a wire and provide a simple, comfortable way to add additional tracking points.

The table below illustrates how different sets of SlimeVR trackers can be used in games and software games and software that support 11-point tracking (like VRChat, NeosVR or LIV) or six-point tracking (Blade and Sorcery and some other games). It’s possible to change the layout and focus on what you’d need more, for example, attaching trackers to elbows instead of feet. SlimeVR can also partially mix and match with other tracking systems, like tracking lower body with Vive trackers and elbows with SlimeVR.

¹ Hip tracker extension improves spine tracking, which greatly increases precision while sitting or bending, especially in extreme poses.
² For 5+0 set we recommend using chest tracker instead of hip, to increase precision, but it can be used on hip to better show hip and waist movements.

Below is a video by ZRock35 that showcases tracking with different SlimeVR sets. It’s also a good demo of how much better the tracking has become since the campaign started!

Committed to Open Source & DIY Electronics

SlimeVR is open hardware driven by open source software and is released under permissive MIT & Apache 2.0 licenses. This open design empowers the VR community to expand on the SlimeVR ecosystem, create new devices, add compatibility with new software, and improve upon all aspects of the project. For our part, we are focused on helping that community expand SlimeVR infrastructure by adding support for various devices, protocols, and features. We are part of an active DIY community, members of which build their own SlimeVR trackers, help others get into DIY electronics, contribute to our documentation, and develop hardware with different features and at different price points. All of our hardware is hacker friendly, and we encourage you to use it in new ways and adapt it to your needs! You can find documentation about our DIY kits on our website!

Support & Documentation

Our open source software and firmware is in our GitHub repository. We have guides and schematics for easy DIY and are working with the community to make them better, more accessible, and compatible with a wide range of hardware and tools.

More specifically, our documentation is here, and our GitHub repository contains:

• The tracker firmware
• The server software
• The SteamVR driver

The official hardware design is hosted on OSHWLab:

• The Tracker Main Board
• The IMU Module
• The Tracker Extension Board

Join our community on Discord to meet other VR hackers or to chat about SlimeVR. You can also find us on YouTube. And, if you have a question for our team, you can reach out using the Ask a technical question link below.

Check our site for other links and more information.

Warranty

SlimeVR includes 2-year manufacturer’s warranty. The warranty starts on the day when you receive your products. For any warranty-related questions and claims, visit our Contact Page. For trackers v1.0 (main board revisions R11 and R12, with IMU on a module), the warranty is 3 years.

Manufacturing Process

Production SlimeVR PCBs are fabricated and assembled by LZJ PCB, a contract manufacturer with whom we have been working for multiple years. Each board is tested at their factory and by us after the final assembly. ICOMold is handling injection molding for the tracker cases, and the final assembly is done by our team and Chain Assembly in the Netherlands.

With over 130,000 trackers manufactured and 21,000 sets of trackers assembled and shipped to customers, we’re a very experienced team at this point.

Fulfillment & Logistics

After the SlimeVR hardware is manufactured, it is sent to Crowd Supply’s fulfillment partner, Mouser Electronics, who distributes it to backers worldwide. You can learn more about Crowd Supply’s fulfillment service under Ordering, Paying, and Shipping in their guide.

Risks & Challenges

SlimeVR has faced many challenges during the manufacturing and fulfillment, and some of them are still ongoing. But tens of thousands of our backers already received their sets and happily use them, as well as dozens of YouTube reviewers, and tens of thousands of members of our DIY community. It’s always possible that new challenges will emerge, but our team is determined and experienced to solve them.