https://github.com/jovannmc/haritorax-interpreter
A node.js package that allows you to communicate with the HaritoraX FBT trackers
https://github.com/jovannmc/haritorax-interpreter
fbt full-body-tracking haritora haritorax node nodejs npm shiftall virtual-reality vr
Last synced: about 2 months ago
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A node.js package that allows you to communicate with the HaritoraX FBT trackers
- Host: GitHub
- URL: https://github.com/jovannmc/haritorax-interpreter
- Owner: JovannMC
- License: mit
- Created: 2024-03-04T13:40:13.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2025-10-24T19:58:42.000Z (8 months ago)
- Last Synced: 2025-11-13T22:35:12.383Z (7 months ago)
- Topics: fbt, full-body-tracking, haritora, haritorax, node, nodejs, npm, shiftall, virtual-reality, vr
- Language: TypeScript
- Homepage: https://www.npmjs.com/package/haritorax-interpreter
- Size: 1.22 MB
- Stars: 6
- Watchers: 2
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# HaritoraX Interpreter
A node.js package that enables communication with the HaritoraX FBT trackers to read/write data to the trackers. No HaritoraConfigurator / VR Manager software needed (mostly)!
Check out the Haritora-GX(6/2) proof-of-concept repository here: https://github.com/JovannMC/haritora-gx-poc
## Installation
`npm install haritorax-interpreter`
## Documentation
Will write actual documentation at some point, for now refer to the source code, examples, and JSDoc comments. You may also see how it's used in [SlimeTora](https://github.com/OCSYT/SlimeTora)!
## Linux-specific instructions
For Linux users, you (or your users) need to do some setup depending on the connection mode so the package can communicate with the trackers:
### Bluetooth Classic (SPP)/COM/Serial port
- Run the following commands in your terminal:
- `sudo usermod -a -G dialout $USER`
- `sudo usermod -a -G uucp $USER` (for Arch-based distros)
- Restart your computer
### Bluetooth (LE)
> See https://github.com/chrvadala/node-ble/tree/main?tab=readme-ov-file#provide-permissions for more info
- Run the following command:
- This creates a DBus config that will allow the interpreter to access your BLE devices
- You may need to change `__USERID__` if it couldn't detect your user
```
echo '
' | sed "s/__USERID__/$(id -un)/" | sudo tee /etc/dbus-1/system.d/node-ble.conf > /dev/null
```
- Restart your computer
## Supported devices
| Device | Supported | Elbow/Hip support | Additional trackers | Extensions |
|--------------------|-----------|-------------------|---------------------|------------|
| HaritoraX 2 | Y | Y | Y | Y |
| HaritoraX Wireless | Y | Y | Y | N |
| HaritoraX 1.1B | Y | Y | N | N |
| HaritoraX 1.1 | Y | Y | N | N |
| HaritoraX 1.0 | Y | Y | N | N |
| Haritora | ? | ? | N | N |
| Communication mode | Supported |
|---------------------------|-----------|
| Bluetooth (Low Energy) | Y |
| Bluetooth Classic (serial)| Y |
| GX6 Communication Dongle | Y |
| GX2 Communication Dongle | Y |
## Example
```js
import { HaritoraX } from "haritorax-interpreter";
// connect to haritorax wireless, enable debug logs, allow printing of processIMUData() logs (lots of spam), print raw unprocessed data (more spam!)
let device = new HaritoraX("wireless", true, true, true);
// start connecting to dongles via GX dongles (COM connection), with the ports COM4, COM5, COM6, and COM7
device.startConnection("com", ["COM4", "COM5", "COM6", "COM7"]);
device.on("imu", (trackerName, rotation, gravity, ankle) => {
// IMU data received, do stuff
});
setTimeout(() => {
// apply the following settings to the rightAnkle tracker:
// sensor mode: 1 (magnetometer enabled)
// posture data transfer rate: 100FPS
// sensor auto correction mode: accelerometer and gyroscope
// ankle motion detection: enabled
device.setTrackerSettings("rightAnkle", 1, 100, ['accel', 'gyro'], true);
}, 2000)
setTimeout(() => {
device.stopConnection("com");
}, 10000)
```
## Projects using package
- [SlimeTora](https://github.com/OCSYT/SlimeTora) - A program that connects any of the HaritoraX trackers to the SlimeVR server, supporting Bluetooth (classic), Bluetooth (low energy), and the GX(6/2) communication dongles for all the HaritoraX tracker models!
Let me know if you want to be featured here, if you are using this package in any project!
## License
This package is licensed under the [MIT](https://opensource.org/license/mit/) License - see the [LICENSE](LICENSE) file for details.
## Acknowledgements
- [SlimeTora](https://github.com/OCSYT/SlimeTora/) - BracketProto - original inspiration for project, code for turning gravity into acceleration values
- [SlimeVR](https://github.com/SlimeVR) - SlimeVR contributors - the inspiration for SlimeTora, which then inspired this project
- [haritorax-slimevr-bridge](https://github.com/sim1222/haritorax-slimevr-bridge) - sim1222 - math for decoding the IMU packet data
- [Shiftall Discord](https://discord.gg/vqXmAFy5RC) - community - helping with testing the package (via [SlimeTora](https://github.com/OCSYT/SlimeTora/))