Update solarxr-protocol

.gitignore

@@ -43,3 +43,6 @@ build/
 
 # Ignore Android local properties
 local.properties
+
+# Ignore temporary config
+vrconfig.yml.tmp

gui/public/i18n/en/translation.ftl

@@ -44,6 +44,36 @@ body_part-LEFT_HAND = Left hand
 body_part-LEFT_UPPER_LEG = Left thigh
 body_part-LEFT_LOWER_LEG = Left ankle
 body_part-LEFT_FOOT = Left foot
+body_part-LEFT_THUMB_PROXIMAL = Left thumb proximal
+body_part-LEFT_THUMB_INTERMEDIATE = Left thumb intermediate
+body_part-LEFT_THUMB_DISTAL = Left thumb distal
+body_part-LEFT_INDEX_PROXIMAL = Left index proximal
+body_part-LEFT_INDEX_INTERMEDIATE = Left index intermediate
+body_part-LEFT_INDEX_DISTAL = Left index distal
+body_part-LEFT_MIDDLE_PROXIMAL = Left middle proximal
+body_part-LEFT_MIDDLE_INTERMEDIATE = Left middle intermediate
+body_part-LEFT_MIDDLE_DISTAL = Left middle distal
+body_part-LEFT_RING_PROXIMAL = Left ring proximal
+body_part-LEFT_RING_INTERMEDIATE = Left ring intermediate
+body_part-LEFT_RING_DISTAL = Left ring distal
+body_part-LEFT_LITTLE_PROXIMAL = Left little proximal
+body_part-LEFT_LITTLE_INTERMEDIATE = Left little intermediate
+body_part-LEFT_LITTLE_DISTAL = Left little distal
+body_part-RIGHT_THUMB_PROXIMAL = Right thumb proximal
+body_part-RIGHT_THUMB_INTERMEDIATE = Right thumb intermediate
+body_part-RIGHT_THUMB_DISTAL = Right thumb distal
+body_part-RIGHT_INDEX_PROXIMAL = Right index proximal
+body_part-RIGHT_INDEX_INTERMEDIATE = Right index intermediate
+body_part-RIGHT_INDEX_DISTAL = Right index distal
+body_part-RIGHT_MIDDLE_PROXIMAL = Right middle proximal
+body_part-RIGHT_MIDDLE_INTERMEDIATE = Right middle intermediate
+body_part-RIGHT_MIDDLE_DISTAL = Right middle distal
+body_part-RIGHT_RING_PROXIMAL = Right ring proximal
+body_part-RIGHT_RING_INTERMEDIATE = Right ring intermediate
+body_part-RIGHT_RING_DISTAL = Right ring distal
+body_part-RIGHT_LITTLE_PROXIMAL = Right little proximal
+body_part-RIGHT_LITTLE_INTERMEDIATE = Right little intermediate
+body_part-RIGHT_LITTLE_DISTAL = Right little distal
 
 ## Proportions
 skeleton_bone-NONE = None
@@ -184,6 +214,7 @@ tracker-infos-url = Tracker URL
 tracker-infos-version = Firmware Version
 tracker-infos-hardware_rev = Hardware Revision
 tracker-infos-hardware_identifier = Hardware ID
+tracker-infos-data_support = Data support
 tracker-infos-imu = IMU Sensor
 tracker-infos-board_type = Main board
 tracker-infos-network_version = Protocol Version

gui/src/components/commons/BodyPartIcon.tsx

@@ -15,6 +15,7 @@ import { UpperArmIcon } from './icon/UpperArmIcon';
 import { UpperLegIcon } from './icon/UpperLegIcon';
 import { WaistIcon } from './icon/WaistIcon';
 import { UpperChestIcon } from './icon/UpperChestIcon';
+import { FingersIcon } from './icon/FingersIcon';
 
 // All body parts that are right or left, are by default left!
 export const mapPart: Record<
@@ -86,6 +87,96 @@ export const mapPart: Record<
     <UpperLegIcon width={width} flipped></UpperLegIcon>
   ),
   [BodyPart.WAIST]: ({ width }) => <WaistIcon width={width}></WaistIcon>,
+  [BodyPart.LEFT_THUMB_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_THUMB_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_THUMB_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_INDEX_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_INDEX_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_INDEX_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_MIDDLE_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_MIDDLE_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_MIDDLE_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_RING_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_RING_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_RING_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_LITTLE_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_LITTLE_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_LITTLE_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_THUMB_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_THUMB_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_THUMB_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_INDEX_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_INDEX_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_INDEX_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_MIDDLE_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_MIDDLE_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_MIDDLE_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_RING_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_RING_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_RING_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_LITTLE_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_LITTLE_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_LITTLE_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
 };
 
 export function BodyPartIcon({

gui/src/components/commons/icon/FingersIcon.tsx

@@ -0,0 +1,15 @@
+export function FingersIcon({ width = 28 }: { width?: number }) {
+  return (
+    <svg
+      version="1.1"
+      id="Layer_1"
+      xmlns="http://www.w3.org/2000/svg"
+      width={width}
+      viewBox="0 0 93.49 130"
+    >
+      <g>
+        <path d="M2.34,62.52l-0.26,0.27l-2.08-0.83V31.27c0-1.42,0.42-2.76,1.14-3.89l0,0c0.14-0.22,0.29-0.44,0.46-0.64 c0.17-0.22,0.35-0.42,0.53-0.6l0.02-0.02c0.54-0.54,1.18-1.01,1.89-1.36l0.03-0.01l0.35-0.17l0.04-0.02 c0.86-0.37,1.82-0.58,2.81-0.58l0,0h0.04v0c2.01,0,3.84,0.82,5.16,2.14c0.54,0.54,1.01,1.18,1.36,1.88l0.02,0.04l0.16,0.35 l0.01,0.03c0.37,0.86,0.58,1.82,0.58,2.81l0,0.01v0.04v24.96v1.13l-1.13,0.07c-3.08,0.19-5.92,1.18-8.32,2.77 c-0.48,0.32-0.94,0.66-1.38,1.02c-0.41,0.34-0.84,0.72-1.26,1.15L2.34,62.52L2.34,62.52L2.34,62.52z M65.62,83.35l1.23,0.46 l0.53,0.39c0.09,0.12,0.2,0.22,0.33,0.31l0,0l0.16,0.09l0,0.01c0.17,0.08,0.35,0.12,0.54,0.12v0h0.03c0.18,0,0.34-0.03,0.49-0.09 l0.12-0.06l0.12-0.07l0.04-0.02l0.04-0.02c0.54-0.31,1.26-0.85,2.05-1.5c0.8-0.67,1.71-1.49,2.61-2.33 c1.76-1.66,3.76-3.66,4.56-4.45l0.04-0.04c2.53-2.53,5.11-3.7,7.38-3.85c0.46-0.03,0.92-0.02,1.35,0.03 c0.44,0.05,0.87,0.14,1.28,0.27h0.01l0.05,0.02l0.01,0c0.81,0.26,1.56,0.67,2.22,1.2l0.03,0.03l0.31,0.27l0.06,0.05l0.29,0.29 l0.05,0.06l0.01,0.01l0,0l0.01,0.02l0,0c0.56,0.62,1.01,1.35,1.34,2.16l0.02,0.03l0.15,0.42l0.02,0.09l0.12,0.43l0.01,0.05 l0.01,0.06h0c0.57,2.38,0.1,5.27-1.88,8.17c-0.37,0.55-0.81,1.11-1.29,1.65c-0.48,0.54-1.02,1.09-1.62,1.62l0,0l-0.08,0.07 l-0.1,0.09l-0.07,0.07l-0.04,0.04L63.64,114.3l-0.85,0.93l-0.06-0.06c-1.35,1.23-2.67,2.29-4.01,3.2c-1.6,1.08-3.22,1.95-4.9,2.61 c-1.69,0.67-3.46,1.15-5.33,1.46c-1.87,0.3-3.84,0.45-5.94,0.45h-15.9c-5.3,0-10.23-1.56-14.36-4.23l0,0 c-0.79-0.51-1.57-1.08-2.32-1.69c-0.76-0.62-1.47-1.26-2.12-1.92l-0.02-0.02l0,0c-2.01-2.04-3.71-4.42-5-7.03 c-0.25-0.52-0.49-1.04-0.71-1.56C0.76,103.2,0.01,99.65,0,95.93h0V95.9V74.93c0-1.93,0.36-3.79,1-5.49l0-0.01 c0.12-0.31,0.26-0.64,0.41-0.97h0c0.15-0.32,0.31-0.64,0.48-0.95l0.01-0.02l0.03-0.05l0.02-0.04c0.62-0.97,1.36-1.88,2.19-2.69 l0.02-0.02l0.46-0.43l0.04-0.03l0.48-0.41l0.04-0.04l0.02-0.02l0,0c1.06-0.85,2.24-1.57,3.51-2.11h0c0.29-0.12,0.57-0.24,0.76-0.3 v0c1.56-0.57,3.25-0.88,5.01-0.88v0h0.04h0.64l0.29,0.04l0.27,0.07l0.21,0.02v0h17.27v0l0.11,0h0.08l0.11,0v0h17.27v0l0.05,0h0.07 l0.05,0v0h1.28c2.54,0,4.94,0.65,7.05,1.79l0,0c0.42,0.23,0.82,0.47,1.19,0.72v0l0.01,0c0.36,0.24,0.74,0.52,1.11,0.82l0.01,0.01 l0.02,0.02l0,0c1.82,1.49,3.3,3.41,4.25,5.6c0.2,0.45,0.37,0.89,0.5,1.31v0c0.15,0.45,0.27,0.91,0.38,1.37v0.01l0.01,0.07 l0.02,0.11c0.01,0.08,0.02,0.16,0.04,0.22h0l0.01,0.03h0l0.04,0.11h0l0.02,0.06L67,73.21l0.06,0.65l0,0.04l0.02,0.26v0.04 l0.02,0.46v0.03l0,0.25l0,0.01v4.43v1.66l-1.58-0.52c-2.46-0.81-4.81-1.36-7.03-1.66h0c-0.5-0.07-0.98-0.12-1.42-0.17 c-0.45-0.04-0.92-0.08-1.39-0.1l-1.02-0.03c-2.85-0.04-5.48,0.37-7.81,1.17c-0.51,0.18-0.99,0.36-1.42,0.55 c-0.45,0.2-0.9,0.41-1.32,0.64l-0.71,0.41c-2.23,1.34-4.08,3.14-5.49,5.34c-0.29,0.46-0.56,0.9-0.78,1.33 c-0.24,0.45-0.46,0.94-0.68,1.44v0l-0.01,0.03h0c-0.68,1.62-1.17,3.4-1.45,5.33c-0.06,0.44-0.12,0.87-0.15,1.28 c-0.03,0.34-0.07,0.7-0.08,1.06l2.66,0.03c0.08-1.35,0.28-2.64,0.57-3.84h0c0.09-0.37,0.18-0.72,0.27-1.03h0 c0.09-0.3,0.2-0.64,0.33-0.98v0l0.32-0.82l0,0c0.89-2.13,2.18-3.94,3.8-5.38c0.32-0.28,0.66-0.55,0.99-0.8 c0.37-0.27,0.72-0.51,1.06-0.71l0.02-0.01l0.03-0.02v0c1.7-1.02,3.68-1.73,5.9-2.09c0.45-0.07,0.94-0.14,1.44-0.18 c0.49-0.05,1-0.07,1.49-0.09h0.03l0.98,0h0.02c2.3,0.03,4.79,0.39,7.44,1.07v0c0.61,0.15,1.18,0.32,1.72,0.49 c0.62,0.19,1.21,0.39,1.77,0.58L65.62,83.35L65.62,83.35z M15.74,60.59L15.74,60.59L15.74,60.59L15.74,60.59L15.74,60.59z M48.24,57.4H36.05h-1.2v-1.2V7.3h0c0-2.01,0.82-3.84,2.14-5.16c0.54-0.54,1.18-1.01,1.88-1.36l0.03-0.01l0.35-0.17l0.04-0.02 c0.86-0.37,1.81-0.58,2.81-0.58l0-0.01h0.04v0.01c2.01,0,3.84,0.82,5.16,2.14c0.54,0.54,1,1.18,1.36,1.88l0.02,0.03l0.16,0.35 l0.02,0.04c0.37,0.86,0.58,1.81,0.58,2.81l0,0.01V7.3v48.89v1.2H48.24L48.24,57.4z M53.63,57.45l-0.22-0.02l-1.12-0.09v-1.11V19.01 h0c0-2.01,0.82-3.84,2.14-5.16c0.54-0.54,1.18-1,1.89-1.36l0.04-0.02l0.35-0.16l0.03-0.02c0.86-0.37,1.81-0.58,2.81-0.58l0,0h0.04 c1.42,0,2.76,0.42,3.89,1.14l0,0l0.01,0.01c0.22,0.13,0.43,0.29,0.63,0.45l0,0l0.01,0.01c0.21,0.16,0.41,0.34,0.59,0.52l0.02,0.02 c0.54,0.54,1.01,1.18,1.36,1.88l0.01,0.03l0.17,0.35l0.02,0.04c0.37,0.86,0.58,1.82,0.58,2.81l0,0v0.04v42.9l-2.07,0.84l-0.2-0.2 c-2.06-2.06-4.63-3.62-7.49-4.45c-0.57-0.17-1.16-0.31-1.73-0.41C54.84,57.58,54.24,57.5,53.63,57.45L53.63,57.45z M30.68,57.4 H18.49h-1.21v-1.2V31.27h0V18.89h0c0-1.42,0.42-2.77,1.14-3.9h0c0.14-0.23,0.3-0.45,0.46-0.65c0.17-0.22,0.35-0.42,0.52-0.59 l0.02-0.02c0.54-0.54,1.18-1,1.89-1.36l0.03-0.01l0.35-0.16l0.04-0.02c0.86-0.37,1.81-0.58,2.81-0.58l0,0h0.04v0 c2.01,0,3.84,0.82,5.16,2.14c0.54,0.54,1,1.18,1.36,1.88l0.01,0.03L31.28,16l0.02,0.04c0.37,0.86,0.58,1.82,0.58,2.81l0,0v0.04 v37.3v1.2H30.68L30.68,57.4z" />
+      </g>
+    </svg>
+  );
+}

gui/src/components/onboarding/pages/mounting/MountingSelectionMenu.tsx

@@ -10,6 +10,7 @@ import { SlimeUpIcon } from '@/components/commons/icon/SlimeUpIcon';
 import { BodyPart } from 'solarxr-protocol';
 import { PawIcon } from '@/components/commons/icon/PawIcon';
 import { useLocaleConfig } from '@/i18n/config';
+import { FingersIcon } from '@/components/commons/icon/FingersIcon';
 
 // All body parts that are right or left, are by default left!
 export const mapPart: Record<
@@ -97,6 +98,96 @@ export const mapPart: Record<
       <FootIcon width={width} flipped></FootIcon>
     ),
   [BodyPart.WAIST]: ({ width }) => <FootIcon width={width}></FootIcon>,
+  [BodyPart.LEFT_THUMB_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_THUMB_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_THUMB_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_INDEX_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_INDEX_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_INDEX_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_MIDDLE_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_MIDDLE_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_MIDDLE_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_RING_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_RING_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_RING_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_LITTLE_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_LITTLE_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.LEFT_LITTLE_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_THUMB_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_THUMB_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_THUMB_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_INDEX_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_INDEX_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_INDEX_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_MIDDLE_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_MIDDLE_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_MIDDLE_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_RING_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_RING_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_RING_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_LITTLE_PROXIMAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_LITTLE_INTERMEDIATE]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
+  [BodyPart.RIGHT_LITTLE_DISTAL]: ({ width }) => (
+    <FingersIcon width={width}></FingersIcon>
+  ),
 };
 
 export function MountingBodyPartIcon({

gui/src/components/tracker/TrackerSettings.tsx

@@ -11,6 +11,7 @@ import {
   ImuType,
   MagnetometerStatus,
   RpcMessage,
+  TrackerDataType,
 } from 'solarxr-protocol';
 import { useDebouncedEffect } from '@/hooks/timeout';
 import { useTrackerFromId } from '@/hooks/tracker';
@@ -260,6 +261,16 @@ export function TrackerSettingsPage() {
                 {tracker?.device?.hardwareInfo?.hardwareIdentifier || '--'}
               </Typography>
             </div>
+            <div className="flex justify-between">
+              <Typography color="secondary">
+                {l10n.getString('tracker-infos-data_support')}
+              </Typography>
+              <Typography>
+                {tracker?.tracker.info?.dataSupport
+                  ? TrackerDataType[tracker?.tracker.info?.dataSupport]
+                  : '--'}
+              </Typography>
+            </div>
             <div className="flex justify-between">
               <Typography color="secondary">
                 {l10n.getString('tracker-infos-imu')}

gui/src/utils/skeletonHelper.ts

@@ -223,6 +223,37 @@ export class BoneKind extends Bone {
       case BodyPart.LEFT_HIP:
       case BodyPart.RIGHT_HIP:
         return new Color('pink');
+      case BodyPart.LEFT_THUMB_PROXIMAL:
+      case BodyPart.LEFT_THUMB_INTERMEDIATE:
+      case BodyPart.LEFT_THUMB_DISTAL:
+      case BodyPart.LEFT_INDEX_PROXIMAL:
+      case BodyPart.LEFT_INDEX_INTERMEDIATE:
+      case BodyPart.LEFT_INDEX_DISTAL:
+      case BodyPart.LEFT_MIDDLE_PROXIMAL:
+      case BodyPart.LEFT_MIDDLE_INTERMEDIATE:
+      case BodyPart.LEFT_MIDDLE_DISTAL:
+      case BodyPart.LEFT_RING_PROXIMAL:
+      case BodyPart.LEFT_RING_INTERMEDIATE:
+      case BodyPart.LEFT_RING_DISTAL:
+      case BodyPart.LEFT_LITTLE_PROXIMAL:
+      case BodyPart.LEFT_LITTLE_INTERMEDIATE:
+      case BodyPart.LEFT_LITTLE_DISTAL:
+      case BodyPart.RIGHT_THUMB_PROXIMAL:
+      case BodyPart.RIGHT_THUMB_INTERMEDIATE:
+      case BodyPart.RIGHT_THUMB_DISTAL:
+      case BodyPart.RIGHT_INDEX_PROXIMAL:
+      case BodyPart.RIGHT_INDEX_INTERMEDIATE:
+      case BodyPart.RIGHT_INDEX_DISTAL:
+      case BodyPart.RIGHT_MIDDLE_PROXIMAL:
+      case BodyPart.RIGHT_MIDDLE_INTERMEDIATE:
+      case BodyPart.RIGHT_MIDDLE_DISTAL:
+      case BodyPart.RIGHT_RING_PROXIMAL:
+      case BodyPart.RIGHT_RING_INTERMEDIATE:
+      case BodyPart.RIGHT_RING_DISTAL:
+      case BodyPart.RIGHT_LITTLE_PROXIMAL:
+      case BodyPart.RIGHT_LITTLE_INTERMEDIATE:
+      case BodyPart.RIGHT_LITTLE_DISTAL:
+        return new Color('pink');
     }
   }
 
@@ -275,8 +306,81 @@ export class BoneKind extends Bone {
       case BodyPart.RIGHT_LOWER_ARM:
         return [BodyPart.RIGHT_HAND];
       case BodyPart.LEFT_HAND:
-        return [];
+        return [
+          BodyPart.LEFT_THUMB_PROXIMAL,
+          BodyPart.LEFT_INDEX_PROXIMAL,
+          BodyPart.LEFT_MIDDLE_PROXIMAL,
+          BodyPart.LEFT_RING_PROXIMAL,
+          BodyPart.LEFT_LITTLE_PROXIMAL,
+        ];
       case BodyPart.RIGHT_HAND:
+        return [
+          BodyPart.RIGHT_THUMB_PROXIMAL,
+          BodyPart.RIGHT_INDEX_PROXIMAL,
+          BodyPart.RIGHT_MIDDLE_PROXIMAL,
+          BodyPart.RIGHT_RING_PROXIMAL,
+          BodyPart.RIGHT_LITTLE_PROXIMAL,
+        ];
+
+      case BodyPart.LEFT_THUMB_PROXIMAL:
+        return [BodyPart.LEFT_THUMB_INTERMEDIATE];
+      case BodyPart.LEFT_THUMB_INTERMEDIATE:
+        return [BodyPart.LEFT_THUMB_DISTAL];
+      case BodyPart.LEFT_THUMB_DISTAL:
+        return [];
+      case BodyPart.LEFT_INDEX_PROXIMAL:
+        return [BodyPart.LEFT_INDEX_INTERMEDIATE];
+      case BodyPart.LEFT_INDEX_INTERMEDIATE:
+        return [BodyPart.LEFT_INDEX_DISTAL];
+      case BodyPart.LEFT_INDEX_DISTAL:
+        return [];
+      case BodyPart.LEFT_MIDDLE_PROXIMAL:
+        return [BodyPart.LEFT_MIDDLE_INTERMEDIATE];
+      case BodyPart.LEFT_MIDDLE_INTERMEDIATE:
+        return [BodyPart.LEFT_MIDDLE_DISTAL];
+      case BodyPart.LEFT_MIDDLE_DISTAL:
+        return [];
+      case BodyPart.LEFT_RING_PROXIMAL:
+        return [BodyPart.LEFT_RING_INTERMEDIATE];
+      case BodyPart.LEFT_RING_INTERMEDIATE:
+        return [BodyPart.LEFT_RING_DISTAL];
+      case BodyPart.LEFT_RING_DISTAL:
+        return [];
+      case BodyPart.LEFT_LITTLE_PROXIMAL:
+        return [BodyPart.LEFT_LITTLE_INTERMEDIATE];
+      case BodyPart.LEFT_LITTLE_INTERMEDIATE:
+        return [BodyPart.LEFT_LITTLE_DISTAL];
+      case BodyPart.LEFT_LITTLE_DISTAL:
+        return [];
+      case BodyPart.RIGHT_THUMB_PROXIMAL:
+        return [BodyPart.RIGHT_THUMB_INTERMEDIATE];
+      case BodyPart.RIGHT_THUMB_INTERMEDIATE:
+        return [BodyPart.RIGHT_THUMB_DISTAL];
+      case BodyPart.RIGHT_THUMB_DISTAL:
+        return [];
+      case BodyPart.RIGHT_INDEX_PROXIMAL:
+        return [BodyPart.RIGHT_INDEX_INTERMEDIATE];
+      case BodyPart.RIGHT_INDEX_INTERMEDIATE:
+        return [BodyPart.RIGHT_INDEX_DISTAL];
+      case BodyPart.RIGHT_INDEX_DISTAL:
+        return [];
+      case BodyPart.RIGHT_MIDDLE_PROXIMAL:
+        return [BodyPart.RIGHT_MIDDLE_INTERMEDIATE];
+      case BodyPart.RIGHT_MIDDLE_INTERMEDIATE:
+        return [BodyPart.RIGHT_MIDDLE_DISTAL];
+      case BodyPart.RIGHT_MIDDLE_DISTAL:
+        return [];
+      case BodyPart.RIGHT_RING_PROXIMAL:
+        return [BodyPart.RIGHT_RING_INTERMEDIATE];
+      case BodyPart.RIGHT_RING_INTERMEDIATE:
+        return [BodyPart.RIGHT_RING_DISTAL];
+      case BodyPart.RIGHT_RING_DISTAL:
+        return [];
+      case BodyPart.RIGHT_LITTLE_PROXIMAL:
+        return [BodyPart.RIGHT_LITTLE_INTERMEDIATE];
+      case BodyPart.RIGHT_LITTLE_INTERMEDIATE:
+        return [BodyPart.RIGHT_LITTLE_DISTAL];
+      case BodyPart.RIGHT_LITTLE_DISTAL:
         return [];
     }
   }
@@ -329,6 +433,67 @@ export class BoneKind extends Bone {
         return BodyPart.LEFT_LOWER_ARM;
       case BodyPart.RIGHT_HAND:
         return BodyPart.RIGHT_LOWER_ARM;
+
+      case BodyPart.LEFT_THUMB_PROXIMAL:
+        return BodyPart.LEFT_HAND;
+      case BodyPart.LEFT_THUMB_INTERMEDIATE:
+        return BodyPart.LEFT_THUMB_PROXIMAL;
+      case BodyPart.LEFT_THUMB_DISTAL:
+        return BodyPart.LEFT_THUMB_INTERMEDIATE;
+      case BodyPart.LEFT_INDEX_PROXIMAL:
+        return BodyPart.LEFT_HAND;
+      case BodyPart.LEFT_INDEX_INTERMEDIATE:
+        return BodyPart.LEFT_INDEX_PROXIMAL;
+      case BodyPart.LEFT_INDEX_DISTAL:
+        return BodyPart.LEFT_INDEX_INTERMEDIATE;
+      case BodyPart.LEFT_MIDDLE_PROXIMAL:
+        return BodyPart.LEFT_HAND;
+      case BodyPart.LEFT_MIDDLE_INTERMEDIATE:
+        return BodyPart.LEFT_MIDDLE_PROXIMAL;
+      case BodyPart.LEFT_MIDDLE_DISTAL:
+        return BodyPart.LEFT_MIDDLE_INTERMEDIATE;
+      case BodyPart.LEFT_RING_PROXIMAL:
+        return BodyPart.LEFT_HAND;
+      case BodyPart.LEFT_RING_INTERMEDIATE:
+        return BodyPart.LEFT_RING_PROXIMAL;
+      case BodyPart.LEFT_RING_DISTAL:
+        return BodyPart.LEFT_RING_INTERMEDIATE;
+      case BodyPart.LEFT_LITTLE_PROXIMAL:
+        return BodyPart.LEFT_HAND;
+      case BodyPart.LEFT_LITTLE_INTERMEDIATE:
+        return BodyPart.LEFT_LITTLE_PROXIMAL;
+      case BodyPart.LEFT_LITTLE_DISTAL:
+        return BodyPart.LEFT_LITTLE_INTERMEDIATE;
+      case BodyPart.RIGHT_THUMB_PROXIMAL:
+        return BodyPart.RIGHT_HAND;
+      case BodyPart.RIGHT_THUMB_INTERMEDIATE:
+        return BodyPart.RIGHT_THUMB_PROXIMAL;
+      case BodyPart.RIGHT_THUMB_DISTAL:
+        return BodyPart.RIGHT_THUMB_INTERMEDIATE;
+      case BodyPart.RIGHT_INDEX_PROXIMAL:
+        return BodyPart.RIGHT_HAND;
+      case BodyPart.RIGHT_INDEX_INTERMEDIATE:
+        return BodyPart.RIGHT_INDEX_PROXIMAL;
+      case BodyPart.RIGHT_INDEX_DISTAL:
+        return BodyPart.RIGHT_INDEX_INTERMEDIATE;
+      case BodyPart.RIGHT_MIDDLE_PROXIMAL:
+        return BodyPart.RIGHT_HAND;
+      case BodyPart.RIGHT_MIDDLE_INTERMEDIATE:
+        return BodyPart.RIGHT_MIDDLE_PROXIMAL;
+      case BodyPart.RIGHT_MIDDLE_DISTAL:
+        return BodyPart.RIGHT_MIDDLE_INTERMEDIATE;
+      case BodyPart.RIGHT_RING_PROXIMAL:
+        return BodyPart.RIGHT_HAND;
+      case BodyPart.RIGHT_RING_INTERMEDIATE:
+        return BodyPart.RIGHT_RING_PROXIMAL;
+      case BodyPart.RIGHT_RING_DISTAL:
+        return BodyPart.RIGHT_RING_INTERMEDIATE;
+      case BodyPart.RIGHT_LITTLE_PROXIMAL:
+        return BodyPart.RIGHT_HAND;
+      case BodyPart.RIGHT_LITTLE_INTERMEDIATE:
+        return BodyPart.RIGHT_LITTLE_PROXIMAL;
+      case BodyPart.RIGHT_LITTLE_DISTAL:
+        return BodyPart.RIGHT_LITTLE_INTERMEDIATE;
     }
   }
 }

server/core/src/main/java/dev/slimevr/VRServer.kt

@@ -102,8 +102,6 @@ class VRServer @JvmOverloads constructor(
 
 	init {
 		// UwU
-		instance = this
-
 		configManager = ConfigManager(configPath)
 		configManager.loadConfig()
 		deviceManager = DeviceManager(this)
@@ -163,6 +161,7 @@ class VRServer @JvmOverloads constructor(
 		for (tracker in computedTrackers) {
 			registerTracker(tracker)
 		}
+		instance = this
 	}
 
 	fun hasBridge(bridgeClass: Class<out Bridge?>): Boolean {

server/core/src/main/java/dev/slimevr/filtering/QuaternionMovingAverage.kt

@@ -1,5 +1,6 @@
 package dev.slimevr.filtering
 
+import com.jme3.system.NanoTimer
 import dev.slimevr.VRServer
 import io.github.axisangles.ktmath.Quaternion
 import io.github.axisangles.ktmath.Quaternion.Companion.IDENTITY
@@ -17,18 +18,18 @@ private const val PREDICT_BUFFER = 6
 
 class QuaternionMovingAverage(
 	val type: TrackerFilters,
-	var amount: Float,
-	initialRotation: Quaternion,
+	var amount: Float = 0f,
+	initialRotation: Quaternion = IDENTITY,
 ) {
-	var filteredQuaternion = IDENTITY
 	private var smoothFactor = 0f
 	private var predictFactor = 0f
 	private lateinit var rotBuffer: CircularArrayList<Quaternion>
 	private var latestQuaternion = IDENTITY
 	private var smoothingQuaternion = IDENTITY
-	private val fpsTimer = VRServer.instance.fpsTimer
+	private val fpsTimer = if (VRServer.instanceInitialized) VRServer.instance.fpsTimer else NanoTimer()
 	private var frameCounter = 0
 	private var lastAmt = 0f
+	var filteredQuaternion = IDENTITY
 
 	init {
 		// amount should range from 0 to 1.
@@ -48,9 +49,7 @@ class QuaternionMovingAverage(
 			predictFactor = PREDICT_MULTIPLIER * amount + PREDICT_MIN
 			rotBuffer = CircularArrayList(PREDICT_BUFFER)
 		}
-		filteredQuaternion = initialRotation
-		latestQuaternion = initialRotation
-		smoothingQuaternion = initialRotation
+		resetQuats(initialRotation)
 	}
 
 	// Runs at up to 1000hz. We use a timer to make it framerate-independent
@@ -70,7 +69,7 @@ class QuaternionMovingAverage(
 				// Slerps the target rotation to that predicted rotation by amt
 				filteredQuaternion = filteredQuaternion.interpR(quatBuf, amt)
 			}
-		} else { // Smoothing
+		} else if (type == TrackerFilters.SMOOTHING) {
 			// Increase every update for linear interpolation
 			frameCounter++
 
@@ -90,6 +89,9 @@ class QuaternionMovingAverage(
 
 			// Smooth towards the target rotation by the slerp factor
 			filteredQuaternion = smoothingQuaternion.interpR(latestQuaternion, amt)
+		} else {
+			// No filtering; just keep track of rotations (for going over 180 degrees)
+			filteredQuaternion = latestQuaternion.twinNearest(smoothingQuaternion)
 		}
 	}
 
@@ -102,12 +104,20 @@ class QuaternionMovingAverage(
 
 			// Gets and stores the rotation between the last 2 quaternions
 			rotBuffer.add(latestQuaternion.inv().times(q))
-		} else { // Smoothing
+		} else if (type == TrackerFilters.SMOOTHING) {
 			frameCounter = 0
 			lastAmt = 0f
 			smoothingQuaternion = filteredQuaternion
+		} else {
+			smoothingQuaternion = filteredQuaternion
 		}
 
 		latestQuaternion = q
 	}
+
+	fun resetQuats(q: Quaternion) {
+		filteredQuaternion = q
+		latestQuaternion = q
+		smoothingQuaternion = q
+	}
 }

server/core/src/main/java/dev/slimevr/osc/UnityArmature.kt

@@ -12,9 +12,12 @@ import io.github.axisangles.ktmath.Vector3
  */
 class UnityArmature(localRot: Boolean) {
 
+	// Head
 	private val headNode = TransformNode(localRotation = localRot)
 	private val neckTailNode = TransformNode(localRotation = localRot)
 	private val neckHeadNode = TransformNode(localRotation = localRot)
+
+	// Spine
 	private val upperChestNode = TransformNode(localRotation = localRot)
 	private val chestNode = TransformNode(localRotation = localRot)
 	private val spineTailNode = TransformNode(localRotation = localRot)
@@ -22,12 +25,16 @@ class UnityArmature(localRot: Boolean) {
 	private val hipsNode = TransformNode(localRotation = localRot)
 	private val leftHipNode = TransformNode(localRotation = localRot)
 	private val rightHipNode = TransformNode(localRotation = localRot)
+
+	// Legs
 	private val leftKneeNode = TransformNode(localRotation = localRot)
 	private val leftAnkleNode = TransformNode(localRotation = localRot)
 	private val leftFootNode = TransformNode(localRotation = localRot)
 	private val rightKneeNode = TransformNode(localRotation = localRot)
 	private val rightAnkleNode = TransformNode(localRotation = localRot)
 	private val rightFootNode = TransformNode(localRotation = localRot)
+
+	// Arms
 	private val leftShoulderHeadNode = TransformNode(localRotation = localRot)
 	private val rightShoulderHeadNode = TransformNode(localRotation = localRot)
 	private val leftShoulderTailNode = TransformNode(localRotation = localRot)
@@ -36,8 +43,50 @@ class UnityArmature(localRot: Boolean) {
 	private val rightElbowNode = TransformNode(localRotation = localRot)
 	private val leftWristNode = TransformNode(localRotation = localRot)
 	private val rightWristNode = TransformNode(localRotation = localRot)
-	private val leftHandNode = TransformNode(localRotation = localRot)
-	private val rightHandNode = TransformNode(localRotation = localRot)
+	private val leftHandNode = TransformNode(localRotation = !localRot)
+	private val rightHandNode = TransformNode(localRotation = !localRot)
+
+	// Fingers
+	val leftThumbProximalHeadNode = TransformNode(localRotation = localRot)
+	val leftThumbProximalTailNode = TransformNode(localRotation = localRot)
+	val leftThumbIntermediateNode = TransformNode(localRotation = localRot)
+	val leftThumbDistalNode = TransformNode(localRotation = localRot)
+	val leftIndexProximalHeadNode = TransformNode(localRotation = localRot)
+	val leftIndexProximalTailNode = TransformNode(localRotation = localRot)
+	val leftIndexIntermediateNode = TransformNode(localRotation = localRot)
+	val leftIndexDistalNode = TransformNode(localRotation = localRot)
+	val leftMiddleProximalHeadNode = TransformNode(localRotation = localRot)
+	val leftMiddleProximalTailNode = TransformNode(localRotation = localRot)
+	val leftMiddleIntermediateNode = TransformNode(localRotation = localRot)
+	val leftMiddleDistalNode = TransformNode(localRotation = localRot)
+	val leftRingProximalHeadNode = TransformNode(localRotation = localRot)
+	val leftRingProximalTailNode = TransformNode(localRotation = localRot)
+	val leftRingIntermediateNode = TransformNode(localRotation = localRot)
+	val leftRingDistalNode = TransformNode(localRotation = localRot)
+	val leftLittleProximalHeadNode = TransformNode(localRotation = localRot)
+	val leftLittleProximalTailNode = TransformNode(localRotation = localRot)
+	val leftLittleIntermediateNode = TransformNode(localRotation = localRot)
+	val leftLittleDistalNode = TransformNode(localRotation = localRot)
+	val rightThumbProximalHeadNode = TransformNode(localRotation = localRot)
+	val rightThumbProximalTailNode = TransformNode(localRotation = localRot)
+	val rightThumbIntermediateNode = TransformNode(localRotation = localRot)
+	val rightThumbDistalNode = TransformNode(localRotation = localRot)
+	val rightIndexProximalHeadNode = TransformNode(localRotation = localRot)
+	val rightIndexProximalTailNode = TransformNode(localRotation = localRot)
+	val rightIndexIntermediateNode = TransformNode(localRotation = localRot)
+	val rightIndexDistalNode = TransformNode(localRotation = localRot)
+	val rightMiddleProximalHeadNode = TransformNode(localRotation = localRot)
+	val rightMiddleProximalTailNode = TransformNode(localRotation = localRot)
+	val rightMiddleIntermediateNode = TransformNode(localRotation = localRot)
+	val rightMiddleDistalNode = TransformNode(localRotation = localRot)
+	val rightRingProximalHeadNode = TransformNode(localRotation = localRot)
+	val rightRingProximalTailNode = TransformNode(localRotation = localRot)
+	val rightRingIntermediateNode = TransformNode(localRotation = localRot)
+	val rightRingDistalNode = TransformNode(localRotation = localRot)
+	val rightLittleProximalHeadNode = TransformNode(localRotation = localRot)
+	val rightLittleProximalTailNode = TransformNode(localRotation = localRot)
+	val rightLittleIntermediateNode = TransformNode(localRotation = localRot)
+	val rightLittleDistalNode = TransformNode(localRotation = localRot)
 
 	private var rootPosition = Vector3.NULL
 	private var rootRotation = Quaternion.IDENTITY
@@ -74,6 +123,48 @@ class UnityArmature(localRot: Boolean) {
 		rightElbowNode.attachChild(rightWristNode)
 		leftWristNode.attachChild(leftHandNode)
 		rightWristNode.attachChild(rightHandNode)
+
+		// Fingers
+		leftHandNode.attachChild(leftThumbProximalHeadNode)
+		leftThumbProximalHeadNode.attachChild(leftThumbProximalTailNode)
+		leftThumbProximalTailNode.attachChild(leftThumbIntermediateNode)
+		leftThumbIntermediateNode.attachChild(leftThumbDistalNode)
+		leftHandNode.attachChild(leftIndexProximalHeadNode)
+		leftIndexProximalHeadNode.attachChild(leftIndexProximalTailNode)
+		leftIndexProximalTailNode.attachChild(leftIndexIntermediateNode)
+		leftIndexIntermediateNode.attachChild(leftIndexDistalNode)
+		leftHandNode.attachChild(leftMiddleProximalHeadNode)
+		leftMiddleProximalHeadNode.attachChild(leftMiddleProximalTailNode)
+		leftMiddleProximalTailNode.attachChild(leftMiddleIntermediateNode)
+		leftMiddleIntermediateNode.attachChild(leftMiddleDistalNode)
+		leftHandNode.attachChild(leftRingProximalHeadNode)
+		leftRingProximalHeadNode.attachChild(leftRingProximalTailNode)
+		leftRingProximalTailNode.attachChild(leftRingIntermediateNode)
+		leftRingIntermediateNode.attachChild(leftRingDistalNode)
+		leftHandNode.attachChild(leftLittleProximalHeadNode)
+		leftLittleProximalHeadNode.attachChild(leftLittleProximalTailNode)
+		leftLittleProximalTailNode.attachChild(leftLittleIntermediateNode)
+		leftLittleIntermediateNode.attachChild(leftLittleDistalNode)
+		rightHandNode.attachChild(rightThumbProximalHeadNode)
+		rightThumbProximalHeadNode.attachChild(rightThumbProximalTailNode)
+		rightThumbProximalTailNode.attachChild(rightThumbIntermediateNode)
+		rightThumbIntermediateNode.attachChild(rightThumbDistalNode)
+		rightHandNode.attachChild(rightIndexProximalHeadNode)
+		rightIndexProximalHeadNode.attachChild(rightIndexProximalTailNode)
+		rightIndexProximalTailNode.attachChild(rightIndexIntermediateNode)
+		rightIndexIntermediateNode.attachChild(rightIndexDistalNode)
+		rightHandNode.attachChild(rightMiddleProximalHeadNode)
+		rightMiddleProximalHeadNode.attachChild(rightMiddleProximalTailNode)
+		rightMiddleProximalTailNode.attachChild(rightMiddleIntermediateNode)
+		rightMiddleIntermediateNode.attachChild(rightMiddleDistalNode)
+		rightHandNode.attachChild(rightRingProximalHeadNode)
+		rightRingProximalHeadNode.attachChild(rightRingProximalTailNode)
+		rightRingProximalTailNode.attachChild(rightRingIntermediateNode)
+		rightRingIntermediateNode.attachChild(rightRingDistalNode)
+		rightHandNode.attachChild(rightLittleProximalHeadNode)
+		rightLittleProximalHeadNode.attachChild(rightLittleProximalTailNode)
+		rightLittleProximalTailNode.attachChild(rightLittleIntermediateNode)
+		rightLittleIntermediateNode.attachChild(rightLittleDistalNode)
 	}
 
 	fun update() {
@@ -91,10 +182,12 @@ class UnityArmature(localRot: Boolean) {
 	fun setGlobalRotationForBone(unityBone: UnityBone, globalRot: Quaternion) {
 		val node = getHeadNodeOfBone(unityBone)
 		if (node != null) {
-			node.localTransform.rotation = when (unityBone) {
-				UnityBone.LEFT_UPPER_ARM, UnityBone.LEFT_LOWER_ARM, UnityBone.LEFT_HAND -> globalRot * LEFT_SHOULDER_OFFSET
-				UnityBone.RIGHT_UPPER_ARM, UnityBone.RIGHT_LOWER_ARM, UnityBone.RIGHT_HAND -> globalRot * RIGHT_SHOULDER_OFFSET
-				else -> globalRot
+			node.localTransform.rotation = if (UnityBone.isLeftArmBone(unityBone)) {
+				globalRot * LEFT_SHOULDER_OFFSET
+			} else if (UnityBone.isRightArmBone(unityBone)) {
+				globalRot * RIGHT_SHOULDER_OFFSET
+			} else {
+				globalRot
 			}
 		}
 	}
@@ -105,10 +198,12 @@ class UnityArmature(localRot: Boolean) {
 			if (unityBone == UnityBone.HIPS) {
 				node.worldTransform.rotation = localRot
 			} else {
-				node.localTransform.rotation = when (unityBone) {
-					UnityBone.LEFT_UPPER_ARM -> localRot * RIGHT_SHOULDER_OFFSET
-					UnityBone.RIGHT_UPPER_ARM -> localRot * LEFT_SHOULDER_OFFSET
-					else -> localRot
+				node.localTransform.rotation = if (UnityBone.isLeftStartOfArmOrFingerBone(unityBone)) {
+					localRot * RIGHT_SHOULDER_OFFSET
+				} else if (UnityBone.isRightStartOfArmOrFingerBone(unityBone)) {
+					localRot * LEFT_SHOULDER_OFFSET
+				} else {
+					localRot
 				}
 			}
 		}
@@ -194,6 +289,36 @@ class UnityArmature(localRot: Boolean) {
 			UnityBone.RIGHT_LOWER_ARM -> rightElbowNode
 			UnityBone.LEFT_HAND -> leftWristNode
 			UnityBone.RIGHT_HAND -> rightWristNode
+			UnityBone.LEFT_THUMB_PROXIMAL -> leftThumbProximalHeadNode
+			UnityBone.LEFT_THUMB_INTERMEDIATE -> leftThumbProximalTailNode
+			UnityBone.LEFT_THUMB_DISTAL -> leftThumbIntermediateNode
+			UnityBone.LEFT_INDEX_PROXIMAL -> leftIndexProximalHeadNode
+			UnityBone.LEFT_INDEX_INTERMEDIATE -> leftIndexProximalTailNode
+			UnityBone.LEFT_INDEX_DISTAL -> leftIndexIntermediateNode
+			UnityBone.LEFT_MIDDLE_PROXIMAL -> leftMiddleProximalHeadNode
+			UnityBone.LEFT_MIDDLE_INTERMEDIATE -> leftMiddleProximalTailNode
+			UnityBone.LEFT_MIDDLE_DISTAL -> leftMiddleIntermediateNode
+			UnityBone.LEFT_RING_PROXIMAL -> leftRingProximalHeadNode
+			UnityBone.LEFT_RING_INTERMEDIATE -> leftRingProximalTailNode
+			UnityBone.LEFT_RING_DISTAL -> leftRingIntermediateNode
+			UnityBone.LEFT_LITTLE_PROXIMAL -> leftLittleProximalHeadNode
+			UnityBone.LEFT_LITTLE_INTERMEDIATE -> leftLittleProximalTailNode
+			UnityBone.LEFT_LITTLE_DISTAL -> leftLittleIntermediateNode
+			UnityBone.RIGHT_THUMB_PROXIMAL -> rightThumbProximalHeadNode
+			UnityBone.RIGHT_THUMB_INTERMEDIATE -> rightThumbProximalTailNode
+			UnityBone.RIGHT_THUMB_DISTAL -> rightThumbIntermediateNode
+			UnityBone.RIGHT_INDEX_PROXIMAL -> rightIndexProximalHeadNode
+			UnityBone.RIGHT_INDEX_INTERMEDIATE -> rightIndexProximalTailNode
+			UnityBone.RIGHT_INDEX_DISTAL -> rightIndexIntermediateNode
+			UnityBone.RIGHT_MIDDLE_PROXIMAL -> rightMiddleProximalHeadNode
+			UnityBone.RIGHT_MIDDLE_INTERMEDIATE -> rightMiddleProximalTailNode
+			UnityBone.RIGHT_MIDDLE_DISTAL -> rightMiddleIntermediateNode
+			UnityBone.RIGHT_RING_PROXIMAL -> rightRingProximalHeadNode
+			UnityBone.RIGHT_RING_INTERMEDIATE -> rightRingProximalTailNode
+			UnityBone.RIGHT_RING_DISTAL -> rightRingIntermediateNode
+			UnityBone.RIGHT_LITTLE_PROXIMAL -> rightLittleProximalHeadNode
+			UnityBone.RIGHT_LITTLE_INTERMEDIATE -> rightLittleProximalTailNode
+			UnityBone.RIGHT_LITTLE_DISTAL -> rightLittleIntermediateNode
 			else -> null
 		}
 	}

server/core/src/main/java/dev/slimevr/osc/UnityBone.kt

@@ -38,36 +38,36 @@ enum class UnityBone(
 	LEFT_EYE("LeftEye", null, null),
 	RIGHT_EYE("RightEye", null, null),
 	JAW("Jaw", null, null),
-	LEFT_THUMB_PROXIMAL("LeftThumbProximal", null, null),
-	LEFT_THUMB_INTERMEDIATE("LeftThumbIntermediate", null, null),
-	LEFT_THUMB_DISTAL("LeftThumbDistal", null, null),
-	LEFT_INDEX_PROXIMAL("LeftIndexProximal", null, null),
-	LEFT_INDEX_INTERMEDIATE("LeftIndexIntermediate", null, null),
-	LEFT_INDEX_DISTAL("LeftIndexDistal", null, null),
-	LEFT_MIDDLE_PROXIMAL("LeftMiddleProximal", null, null),
-	LEFT_MIDDLE_INTERMEDIATE("LeftMiddleIntermediate", null, null),
-	LEFT_MIDDLE_DISTAL("LeftMiddleDistal", null, null),
-	LEFT_RING_PROXIMAL("LeftRingProximal", null, null),
-	LEFT_RING_INTERMEDIATE("LeftRingIntermediate", null, null),
-	LEFT_RING_DISTAL("LeftRingDistal", null, null),
-	LEFT_LITTLE_PROXIMAL("LeftLittleProximal", null, null),
-	LEFT_LITTLE_INTERMEDIATE("LeftLittleIntermediate", null, null),
-	LEFT_LITTLE_DISTAL("LeftLittleDistal", null, null),
-	RIGHT_THUMB_PROXIMAL("RightThumbProximal", null, null),
-	RIGHT_THUMB_INTERMEDIATE("RightThumbIntermediate", null, null),
-	RIGHT_THUMB_DISTAL("RightThumbDistal", null, null),
-	RIGHT_INDEX_PROXIMAL("RightIndexProximal", null, null),
-	RIGHT_INDEX_INTERMEDIATE("RightIndexIntermediate", null, null),
-	RIGHT_INDEX_DISTAL("RightIndexDistal", null, null),
-	RIGHT_MIDDLE_PROXIMAL("RightMiddleProximal", null, null),
-	RIGHT_MIDDLE_INTERMEDIATE("RightMiddleIntermediate", null, null),
-	RIGHT_MIDDLE_DISTAL("RightMiddleDistal", null, null),
-	RIGHT_RING_PROXIMAL("RightRingProximal", null, null),
-	RIGHT_RING_INTERMEDIATE("RightRingIntermediate", null, null),
-	RIGHT_RING_DISTAL("RightRingDistal", null, null),
-	RIGHT_LITTLE_PROXIMAL("RightLittleProximal", null, null),
-	RIGHT_LITTLE_INTERMEDIATE("RightLittleIntermediate", null, null),
-	RIGHT_LITTLE_DISTAL("RightLittleDistal", null, null),
+	LEFT_THUMB_PROXIMAL("LeftThumbProximal", BoneType.LEFT_THUMB_PROXIMAL, TrackerPosition.LEFT_THUMB_PROXIMAL),
+	LEFT_THUMB_INTERMEDIATE("LeftThumbIntermediate", BoneType.LEFT_THUMB_INTERMEDIATE, TrackerPosition.LEFT_THUMB_INTERMEDIATE),
+	LEFT_THUMB_DISTAL("LeftThumbDistal", BoneType.LEFT_THUMB_DISTAL, TrackerPosition.LEFT_THUMB_DISTAL),
+	LEFT_INDEX_PROXIMAL("LeftIndexProximal", BoneType.LEFT_INDEX_PROXIMAL, TrackerPosition.LEFT_INDEX_PROXIMAL),
+	LEFT_INDEX_INTERMEDIATE("LeftIndexIntermediate", BoneType.LEFT_INDEX_INTERMEDIATE, TrackerPosition.LEFT_INDEX_INTERMEDIATE),
+	LEFT_INDEX_DISTAL("LeftIndexDistal", BoneType.LEFT_INDEX_DISTAL, TrackerPosition.LEFT_INDEX_DISTAL),
+	LEFT_MIDDLE_PROXIMAL("LeftMiddleProximal", BoneType.LEFT_MIDDLE_PROXIMAL, TrackerPosition.LEFT_MIDDLE_PROXIMAL),
+	LEFT_MIDDLE_INTERMEDIATE("LeftMiddleIntermediate", BoneType.LEFT_MIDDLE_INTERMEDIATE, TrackerPosition.LEFT_MIDDLE_INTERMEDIATE),
+	LEFT_MIDDLE_DISTAL("LeftMiddleDistal", BoneType.LEFT_MIDDLE_DISTAL, TrackerPosition.LEFT_MIDDLE_DISTAL),
+	LEFT_RING_PROXIMAL("LeftRingProximal", BoneType.LEFT_RING_PROXIMAL, TrackerPosition.LEFT_RING_PROXIMAL),
+	LEFT_RING_INTERMEDIATE("LeftRingIntermediate", BoneType.LEFT_RING_INTERMEDIATE, TrackerPosition.LEFT_RING_INTERMEDIATE),
+	LEFT_RING_DISTAL("LeftRingDistal", BoneType.LEFT_RING_DISTAL, TrackerPosition.LEFT_RING_DISTAL),
+	LEFT_LITTLE_PROXIMAL("LeftLittleProximal", BoneType.LEFT_LITTLE_PROXIMAL, TrackerPosition.LEFT_LITTLE_PROXIMAL),
+	LEFT_LITTLE_INTERMEDIATE("LeftLittleIntermediate", BoneType.LEFT_LITTLE_INTERMEDIATE, TrackerPosition.LEFT_LITTLE_INTERMEDIATE),
+	LEFT_LITTLE_DISTAL("LeftLittleDistal", BoneType.LEFT_LITTLE_DISTAL, TrackerPosition.LEFT_LITTLE_DISTAL),
+	RIGHT_THUMB_PROXIMAL("RightThumbProximal", BoneType.RIGHT_THUMB_PROXIMAL, TrackerPosition.RIGHT_THUMB_PROXIMAL),
+	RIGHT_THUMB_INTERMEDIATE("RightThumbIntermediate", BoneType.RIGHT_THUMB_INTERMEDIATE, TrackerPosition.RIGHT_THUMB_INTERMEDIATE),
+	RIGHT_THUMB_DISTAL("RightThumbDistal", BoneType.RIGHT_THUMB_DISTAL, TrackerPosition.RIGHT_THUMB_DISTAL),
+	RIGHT_INDEX_PROXIMAL("RightIndexProximal", BoneType.RIGHT_INDEX_PROXIMAL, TrackerPosition.RIGHT_INDEX_PROXIMAL),
+	RIGHT_INDEX_INTERMEDIATE("RightIndexIntermediate", BoneType.RIGHT_INDEX_INTERMEDIATE, TrackerPosition.RIGHT_INDEX_INTERMEDIATE),
+	RIGHT_INDEX_DISTAL("RightIndexDistal", BoneType.RIGHT_INDEX_DISTAL, TrackerPosition.RIGHT_INDEX_DISTAL),
+	RIGHT_MIDDLE_PROXIMAL("RightMiddleProximal", BoneType.RIGHT_MIDDLE_PROXIMAL, TrackerPosition.RIGHT_MIDDLE_PROXIMAL),
+	RIGHT_MIDDLE_INTERMEDIATE("RightMiddleIntermediate", BoneType.RIGHT_MIDDLE_INTERMEDIATE, TrackerPosition.RIGHT_MIDDLE_INTERMEDIATE),
+	RIGHT_MIDDLE_DISTAL("RightMiddleDistal", BoneType.RIGHT_MIDDLE_DISTAL, TrackerPosition.RIGHT_MIDDLE_DISTAL),
+	RIGHT_RING_PROXIMAL("RightRingProximal", BoneType.RIGHT_RING_PROXIMAL, TrackerPosition.RIGHT_RING_PROXIMAL),
+	RIGHT_RING_INTERMEDIATE("RightRingIntermediate", BoneType.RIGHT_RING_INTERMEDIATE, TrackerPosition.RIGHT_RING_INTERMEDIATE),
+	RIGHT_RING_DISTAL("RightRingDistal", BoneType.RIGHT_RING_DISTAL, TrackerPosition.RIGHT_RING_DISTAL),
+	RIGHT_LITTLE_PROXIMAL("RightLittleProximal", BoneType.RIGHT_LITTLE_PROXIMAL, TrackerPosition.RIGHT_LITTLE_PROXIMAL),
+	RIGHT_LITTLE_INTERMEDIATE("RightLittleIntermediate", BoneType.RIGHT_LITTLE_INTERMEDIATE, TrackerPosition.RIGHT_LITTLE_INTERMEDIATE),
+	RIGHT_LITTLE_DISTAL("RightLittleDistal", BoneType.RIGHT_LITTLE_DISTAL, TrackerPosition.RIGHT_LITTLE_DISTAL),
 	LAST_BONE("LastBone", null, null),
 	;
 
@@ -76,5 +76,107 @@ enum class UnityBone(
 
 		@JvmStatic
 		fun getByStringVal(stringVal: String): UnityBone? = byStringVal[stringVal.lowercase()]
+
+		/**
+		 * Returns the bone on the opposite limb, or the original bone if
+		 * it not a limb bone.
+		 */
+		fun tryGetOppositeArmBone(bone: UnityBone): UnityBone = when (bone) {
+			LEFT_SHOULDER -> RIGHT_SHOULDER
+			LEFT_UPPER_ARM -> RIGHT_UPPER_ARM
+			LEFT_LOWER_ARM -> RIGHT_LOWER_ARM
+			LEFT_HAND -> RIGHT_HAND
+			RIGHT_SHOULDER -> LEFT_SHOULDER
+			RIGHT_UPPER_ARM -> LEFT_UPPER_ARM
+			RIGHT_LOWER_ARM -> LEFT_LOWER_ARM
+			RIGHT_HAND -> LEFT_HAND
+			LEFT_UPPER_LEG -> RIGHT_UPPER_LEG
+			LEFT_LOWER_LEG -> RIGHT_LOWER_LEG
+			LEFT_FOOT -> RIGHT_FOOT
+			RIGHT_UPPER_LEG -> LEFT_UPPER_LEG
+			RIGHT_LOWER_LEG -> LEFT_LOWER_LEG
+			RIGHT_FOOT -> LEFT_FOOT
+			LEFT_THUMB_PROXIMAL -> RIGHT_THUMB_PROXIMAL
+			LEFT_THUMB_INTERMEDIATE -> RIGHT_THUMB_INTERMEDIATE
+			LEFT_THUMB_DISTAL -> RIGHT_THUMB_DISTAL
+			LEFT_INDEX_PROXIMAL -> RIGHT_INDEX_PROXIMAL
+			LEFT_INDEX_INTERMEDIATE -> RIGHT_INDEX_INTERMEDIATE
+			LEFT_INDEX_DISTAL -> RIGHT_INDEX_DISTAL
+			LEFT_MIDDLE_PROXIMAL -> RIGHT_MIDDLE_PROXIMAL
+			LEFT_MIDDLE_INTERMEDIATE -> RIGHT_MIDDLE_INTERMEDIATE
+			LEFT_MIDDLE_DISTAL -> RIGHT_MIDDLE_DISTAL
+			LEFT_RING_PROXIMAL -> RIGHT_RING_PROXIMAL
+			LEFT_RING_INTERMEDIATE -> RIGHT_RING_INTERMEDIATE
+			LEFT_RING_DISTAL -> RIGHT_RING_DISTAL
+			LEFT_LITTLE_PROXIMAL -> RIGHT_LITTLE_PROXIMAL
+			LEFT_LITTLE_INTERMEDIATE -> RIGHT_LITTLE_INTERMEDIATE
+			LEFT_LITTLE_DISTAL -> RIGHT_LITTLE_DISTAL
+			RIGHT_THUMB_PROXIMAL -> LEFT_THUMB_PROXIMAL
+			RIGHT_THUMB_INTERMEDIATE -> LEFT_THUMB_INTERMEDIATE
+			RIGHT_THUMB_DISTAL -> LEFT_THUMB_DISTAL
+			RIGHT_INDEX_PROXIMAL -> LEFT_INDEX_PROXIMAL
+			RIGHT_INDEX_INTERMEDIATE -> LEFT_INDEX_INTERMEDIATE
+			RIGHT_INDEX_DISTAL -> LEFT_INDEX_DISTAL
+			RIGHT_MIDDLE_PROXIMAL -> LEFT_MIDDLE_PROXIMAL
+			RIGHT_MIDDLE_INTERMEDIATE -> LEFT_MIDDLE_INTERMEDIATE
+			RIGHT_MIDDLE_DISTAL -> LEFT_MIDDLE_DISTAL
+			RIGHT_RING_PROXIMAL -> LEFT_RING_PROXIMAL
+			RIGHT_RING_INTERMEDIATE -> LEFT_RING_INTERMEDIATE
+			RIGHT_RING_DISTAL -> LEFT_RING_DISTAL
+			RIGHT_LITTLE_PROXIMAL -> LEFT_LITTLE_PROXIMAL
+			RIGHT_LITTLE_INTERMEDIATE -> LEFT_LITTLE_INTERMEDIATE
+			RIGHT_LITTLE_DISTAL -> LEFT_LITTLE_DISTAL
+			else -> bone
+		}
+
+		/**
+		 * Returns true if the bone is part of the left arm (incl. fingers, excl. shoulder)
+		 */
+		fun isLeftArmBone(bone: UnityBone): Boolean = bone == LEFT_UPPER_ARM || bone == LEFT_LOWER_ARM || bone == LEFT_HAND ||
+			bone == LEFT_THUMB_PROXIMAL || bone == LEFT_THUMB_INTERMEDIATE || bone == LEFT_THUMB_DISTAL ||
+			bone == LEFT_INDEX_PROXIMAL || bone == LEFT_INDEX_INTERMEDIATE || bone == LEFT_INDEX_DISTAL ||
+			bone == LEFT_MIDDLE_PROXIMAL || bone == LEFT_MIDDLE_INTERMEDIATE || bone == LEFT_MIDDLE_DISTAL ||
+			bone == LEFT_RING_PROXIMAL || bone == LEFT_RING_INTERMEDIATE || bone == LEFT_RING_DISTAL ||
+			bone == LEFT_LITTLE_PROXIMAL || bone == LEFT_LITTLE_INTERMEDIATE || bone == LEFT_LITTLE_DISTAL
+
+		/**
+		 * Returns true if the bone is part of the right arm (incl. fingers, excl. shoulder)
+		 */
+		fun isRightArmBone(bone: UnityBone): Boolean = bone == RIGHT_UPPER_ARM || bone == RIGHT_LOWER_ARM || bone == RIGHT_HAND ||
+			bone == RIGHT_THUMB_PROXIMAL || bone == RIGHT_THUMB_INTERMEDIATE || bone == RIGHT_THUMB_DISTAL ||
+			bone == RIGHT_INDEX_PROXIMAL || bone == RIGHT_INDEX_INTERMEDIATE || bone == RIGHT_INDEX_DISTAL ||
+			bone == RIGHT_MIDDLE_PROXIMAL || bone == RIGHT_MIDDLE_INTERMEDIATE || bone == RIGHT_MIDDLE_DISTAL ||
+			bone == RIGHT_RING_PROXIMAL || bone == RIGHT_RING_INTERMEDIATE || bone == RIGHT_RING_DISTAL ||
+			bone == RIGHT_LITTLE_PROXIMAL || bone == RIGHT_LITTLE_INTERMEDIATE || bone == RIGHT_LITTLE_DISTAL
+
+		/**
+		 * Returns true if the bone is the left upper arm or proximal left finger bone
+		 */
+		fun isLeftStartOfArmOrFingerBone(bone: UnityBone): Boolean = bone == LEFT_UPPER_ARM || bone == LEFT_THUMB_PROXIMAL ||
+			bone == LEFT_INDEX_PROXIMAL || bone == LEFT_MIDDLE_PROXIMAL || bone == LEFT_RING_PROXIMAL || bone == LEFT_LITTLE_PROXIMAL
+
+		/**
+		 * Returns true if the bone is the right upper arm or proximal right finger bone
+		 */
+		fun isRightStartOfArmOrFingerBone(bone: UnityBone): Boolean = bone == RIGHT_UPPER_ARM || bone == RIGHT_THUMB_PROXIMAL ||
+			bone == RIGHT_INDEX_PROXIMAL || bone == RIGHT_MIDDLE_PROXIMAL || bone == RIGHT_RING_PROXIMAL || bone == RIGHT_LITTLE_PROXIMAL
+
+		/**
+		 * Returns true if the bone is part of the left fingers
+		 */
+		fun isLeftFingerBone(bone: UnityBone): Boolean = bone == LEFT_THUMB_PROXIMAL || bone == LEFT_THUMB_INTERMEDIATE || bone == LEFT_THUMB_DISTAL ||
+			bone == LEFT_INDEX_PROXIMAL || bone == LEFT_INDEX_INTERMEDIATE || bone == LEFT_INDEX_DISTAL ||
+			bone == LEFT_MIDDLE_PROXIMAL || bone == LEFT_MIDDLE_INTERMEDIATE || bone == LEFT_MIDDLE_DISTAL ||
+			bone == LEFT_RING_PROXIMAL || bone == LEFT_RING_INTERMEDIATE || bone == LEFT_RING_DISTAL ||
+			bone == LEFT_LITTLE_PROXIMAL || bone == LEFT_LITTLE_INTERMEDIATE || bone == LEFT_LITTLE_DISTAL
+
+		/**
+		 * Returns true if the bone part of the right fingers
+		 */
+		fun isRightFingerBone(bone: UnityBone): Boolean = bone == RIGHT_THUMB_PROXIMAL || bone == RIGHT_THUMB_INTERMEDIATE || bone == RIGHT_THUMB_DISTAL ||
+			bone == RIGHT_INDEX_PROXIMAL || bone == RIGHT_INDEX_INTERMEDIATE || bone == RIGHT_INDEX_DISTAL ||
+			bone == RIGHT_MIDDLE_PROXIMAL || bone == RIGHT_MIDDLE_INTERMEDIATE || bone == RIGHT_MIDDLE_DISTAL ||
+			bone == RIGHT_RING_PROXIMAL || bone == RIGHT_RING_INTERMEDIATE || bone == RIGHT_RING_DISTAL ||
+			bone == RIGHT_LITTLE_PROXIMAL || bone == RIGHT_LITTLE_INTERMEDIATE || bone == RIGHT_LITTLE_DISTAL
 	}
 }

server/core/src/main/java/dev/slimevr/osc/VMCHandler.kt

@@ -345,13 +345,13 @@ class VMCHandler(
 					oscBundle.addPacket(OSCMessage("/VMC/Ext/Root/Pos", oscArgs.clone()))
 
 					for (unityBone in UnityBone.entries) {
-						if (unityBone.boneType == null) continue
-
 						// Get opposite bone if tracking must be mirrored
-						val boneType = (if (mirrorTracking) tryGetOppositeArmBone(unityBone) else unityBone).boneType
+						val boneType = (if (mirrorTracking) UnityBone.tryGetOppositeArmBone(unityBone) else unityBone).boneType
+
+						if (boneType == null) continue
 
 						// Get SlimeVR bone
-						val bone = humanPoseManager.getBone(boneType!!)
+						val bone = humanPoseManager.getBone(boneType)
 
 						// Update unity hierarchy from bone's global rotation
 						val boneRotation = if (mirrorTracking) {
@@ -384,20 +384,28 @@ class VMCHandler(
 					}
 
 					// Update Unity skeleton
-					outputUnityArmature!!.update()
+					outputUnityArmature?.update()
 
 					// Add Unity humanoid bones transforms
-					for (bone in UnityBone.entries) {
-						if (bone.boneType != null &&
-							!(humanPoseManager.isTrackingLeftArmFromController && isLeftArmUnityBone(bone)) &&
-							!(humanPoseManager.isTrackingRightArmFromController && isRightArmUnityBone(bone))
+					for (unityBone in UnityBone.entries) {
+						// Don't send bones for which we don't have an equivalent
+						// Don't send fingers if we don't have any tracker for them
+						// Don't send arm bones if we're tracking from the controller
+						if (unityBone.boneType != null &&
+							(!UnityBone.isLeftFingerBone(unityBone) || humanPoseManager.skeleton.hasLeftFingerTracker || (mirrorTracking && humanPoseManager.skeleton.hasRightFingerTracker)) &&
+							(!UnityBone.isRightFingerBone(unityBone) || humanPoseManager.skeleton.hasRightFingerTracker || (mirrorTracking && humanPoseManager.skeleton.hasLeftFingerTracker)) &&
+							!(humanPoseManager.isTrackingLeftArmFromController && (UnityBone.isLeftArmBone(unityBone) || unityBone == UnityBone.LEFT_SHOULDER)) &&
+							!(humanPoseManager.isTrackingRightArmFromController && (UnityBone.isRightArmBone(unityBone) || unityBone == UnityBone.RIGHT_SHOULDER))
 						) {
 							oscArgs.clear()
-							oscArgs.add(bone.stringVal)
-							addTransformToArgs(
-								outputUnityArmature!!.getLocalTranslationForBone(bone),
-								outputUnityArmature!!.getLocalRotationForBone(bone),
-							)
+							oscArgs.add(unityBone.stringVal)
+							outputUnityArmature?.let {
+								addTransformToArgs(
+									it.getLocalTranslationForBone(unityBone),
+									it.getLocalRotationForBone(unityBone),
+								)
+							}
+
 							oscBundle.addPacket(OSCMessage("/VMC/Ext/Bone/Pos", oscArgs.clone()))
 						}
 					}
@@ -491,32 +499,6 @@ class VMCHandler(
 		oscArgs.add(-rot.w)
 	}
 
-	/**
-	 * Returns the bone on the opposite limb, or the original bone if
-	 * it not a limb bone.
-	 */
-	private fun tryGetOppositeArmBone(bone: UnityBone): UnityBone = when (bone) {
-		UnityBone.LEFT_SHOULDER -> UnityBone.RIGHT_SHOULDER
-		UnityBone.LEFT_UPPER_ARM -> UnityBone.RIGHT_UPPER_ARM
-		UnityBone.LEFT_LOWER_ARM -> UnityBone.RIGHT_LOWER_ARM
-		UnityBone.LEFT_HAND -> UnityBone.RIGHT_HAND
-		UnityBone.RIGHT_SHOULDER -> UnityBone.LEFT_SHOULDER
-		UnityBone.RIGHT_UPPER_ARM -> UnityBone.LEFT_UPPER_ARM
-		UnityBone.RIGHT_LOWER_ARM -> UnityBone.LEFT_LOWER_ARM
-		UnityBone.RIGHT_HAND -> UnityBone.LEFT_HAND
-		UnityBone.LEFT_UPPER_LEG -> UnityBone.RIGHT_UPPER_LEG
-		UnityBone.LEFT_LOWER_LEG -> UnityBone.RIGHT_LOWER_LEG
-		UnityBone.LEFT_FOOT -> UnityBone.RIGHT_FOOT
-		UnityBone.RIGHT_UPPER_LEG -> UnityBone.LEFT_UPPER_LEG
-		UnityBone.RIGHT_LOWER_LEG -> UnityBone.LEFT_LOWER_LEG
-		UnityBone.RIGHT_FOOT -> UnityBone.LEFT_FOOT
-		else -> bone
-	}
-
-	private fun isLeftArmUnityBone(bone: UnityBone): Boolean = bone == UnityBone.LEFT_SHOULDER || bone == UnityBone.LEFT_UPPER_ARM || bone == UnityBone.LEFT_LOWER_ARM || bone == UnityBone.LEFT_HAND
-
-	private fun isRightArmUnityBone(bone: UnityBone): Boolean = bone == UnityBone.RIGHT_SHOULDER || bone == UnityBone.RIGHT_UPPER_ARM || bone == UnityBone.RIGHT_LOWER_ARM || bone == UnityBone.RIGHT_HAND
-
 	override fun getOscSender(): OSCPortOut = oscSender!!
 
 	override fun getPortOut(): Int = lastPortOut

server/core/src/main/java/dev/slimevr/protocol/datafeed/DataFeedBuilder.java

@@ -59,7 +59,7 @@ public class DataFeedBuilder {
 						)
 				);
 
-			HardwareInfo.addNetworkProtocolVersion(fbb, udpDevice.firmwareBuild);
+			HardwareInfo.addNetworkProtocolVersion(fbb, udpDevice.protocolVersion);
 		}
 
 		// BRUH MOMENT
@@ -142,6 +142,8 @@ public class DataFeedBuilder {
 		TrackerInfo.addMagnetometer(fbb, tracker.getMagStatus().getSolarType());
 		TrackerInfo.addIsHmd(fbb, tracker.isHmd());
 
+		TrackerInfo.addDataSupport(fbb, tracker.getTrackerDataType().getSolarType());
+
 		return TrackerInfo.endTrackerInfo(fbb);
 	}
 

server/core/src/main/java/dev/slimevr/tracking/processor/BoneType.java

@@ -39,7 +39,37 @@ public enum BoneType {
 	LEFT_HAND(BodyPart.LEFT_HAND),
 	RIGHT_HAND(BodyPart.RIGHT_HAND),
 	LEFT_HAND_TRACKER,
-	RIGHT_HAND_TRACKER;
+	RIGHT_HAND_TRACKER,
+	LEFT_THUMB_PROXIMAL(BodyPart.LEFT_THUMB_PROXIMAL),
+	LEFT_THUMB_INTERMEDIATE(BodyPart.LEFT_THUMB_INTERMEDIATE),
+	LEFT_THUMB_DISTAL(BodyPart.LEFT_THUMB_DISTAL),
+	LEFT_INDEX_PROXIMAL(BodyPart.LEFT_INDEX_PROXIMAL),
+	LEFT_INDEX_INTERMEDIATE(BodyPart.LEFT_INDEX_INTERMEDIATE),
+	LEFT_INDEX_DISTAL(BodyPart.LEFT_INDEX_DISTAL),
+	LEFT_MIDDLE_PROXIMAL(BodyPart.LEFT_MIDDLE_PROXIMAL),
+	LEFT_MIDDLE_INTERMEDIATE(BodyPart.LEFT_MIDDLE_INTERMEDIATE),
+	LEFT_MIDDLE_DISTAL(BodyPart.LEFT_MIDDLE_DISTAL),
+	LEFT_RING_PROXIMAL(BodyPart.LEFT_RING_PROXIMAL),
+	LEFT_RING_INTERMEDIATE(BodyPart.LEFT_RING_INTERMEDIATE),
+	LEFT_RING_DISTAL(BodyPart.LEFT_RING_DISTAL),
+	LEFT_LITTLE_PROXIMAL(BodyPart.LEFT_LITTLE_PROXIMAL),
+	LEFT_LITTLE_INTERMEDIATE(BodyPart.LEFT_LITTLE_INTERMEDIATE),
+	LEFT_LITTLE_DISTAL(BodyPart.LEFT_LITTLE_DISTAL),
+	RIGHT_THUMB_PROXIMAL(BodyPart.RIGHT_THUMB_PROXIMAL),
+	RIGHT_THUMB_INTERMEDIATE(BodyPart.RIGHT_THUMB_INTERMEDIATE),
+	RIGHT_THUMB_DISTAL(BodyPart.RIGHT_THUMB_DISTAL),
+	RIGHT_INDEX_PROXIMAL(BodyPart.RIGHT_INDEX_PROXIMAL),
+	RIGHT_INDEX_INTERMEDIATE(BodyPart.RIGHT_INDEX_INTERMEDIATE),
+	RIGHT_INDEX_DISTAL(BodyPart.RIGHT_INDEX_DISTAL),
+	RIGHT_MIDDLE_PROXIMAL(BodyPart.RIGHT_MIDDLE_PROXIMAL),
+	RIGHT_MIDDLE_INTERMEDIATE(BodyPart.RIGHT_MIDDLE_INTERMEDIATE),
+	RIGHT_MIDDLE_DISTAL(BodyPart.RIGHT_MIDDLE_DISTAL),
+	RIGHT_RING_PROXIMAL(BodyPart.RIGHT_RING_PROXIMAL),
+	RIGHT_RING_INTERMEDIATE(BodyPart.RIGHT_RING_INTERMEDIATE),
+	RIGHT_RING_DISTAL(BodyPart.RIGHT_RING_DISTAL),
+	RIGHT_LITTLE_PROXIMAL(BodyPart.RIGHT_LITTLE_PROXIMAL),
+	RIGHT_LITTLE_INTERMEDIATE(BodyPart.RIGHT_LITTLE_INTERMEDIATE),
+	RIGHT_LITTLE_DISTAL(BodyPart.RIGHT_LITTLE_DISTAL);
 
 	public static final BoneType[] values = values();
 

server/core/src/main/java/dev/slimevr/tracking/processor/config/SkeletonConfigManager.kt

@@ -287,6 +287,51 @@ class SkeletonConfigManager(
 				0f,
 			)
 
+			BoneType.LEFT_THUMB_PROXIMAL, BoneType.LEFT_THUMB_INTERMEDIATE, BoneType.LEFT_THUMB_DISTAL,
+			BoneType.RIGHT_THUMB_PROXIMAL, BoneType.RIGHT_THUMB_INTERMEDIATE, BoneType.RIGHT_THUMB_DISTAL,
+			-> setNodeOffset(
+				nodeOffset,
+				0f,
+				-getOffset(SkeletonConfigOffsets.HAND_Y) * 0.2f,
+				-getOffset(SkeletonConfigOffsets.HAND_Y) * 0.1f,
+			)
+
+			BoneType.LEFT_INDEX_PROXIMAL, BoneType.LEFT_INDEX_INTERMEDIATE, BoneType.LEFT_INDEX_DISTAL,
+			BoneType.RIGHT_INDEX_PROXIMAL, BoneType.RIGHT_INDEX_INTERMEDIATE, BoneType.RIGHT_INDEX_DISTAL,
+			-> setNodeOffset(
+				nodeOffset,
+				0f,
+				-getOffset(SkeletonConfigOffsets.HAND_Y) * 0.25f,
+				0f,
+			)
+
+			BoneType.LEFT_MIDDLE_PROXIMAL, BoneType.LEFT_MIDDLE_INTERMEDIATE, BoneType.LEFT_MIDDLE_DISTAL,
+			BoneType.RIGHT_MIDDLE_PROXIMAL, BoneType.RIGHT_MIDDLE_INTERMEDIATE, BoneType.RIGHT_MIDDLE_DISTAL,
+			-> setNodeOffset(
+				nodeOffset,
+				0f,
+				-getOffset(SkeletonConfigOffsets.HAND_Y) * 0.3f,
+				0f,
+			)
+
+			BoneType.LEFT_RING_PROXIMAL, BoneType.LEFT_RING_INTERMEDIATE, BoneType.LEFT_RING_DISTAL,
+			BoneType.RIGHT_RING_PROXIMAL, BoneType.RIGHT_RING_INTERMEDIATE, BoneType.RIGHT_RING_DISTAL,
+			-> setNodeOffset(
+				nodeOffset,
+				0f,
+				-getOffset(SkeletonConfigOffsets.HAND_Y) * 0.28f,
+				0f,
+			)
+
+			BoneType.LEFT_LITTLE_PROXIMAL, BoneType.LEFT_LITTLE_INTERMEDIATE, BoneType.LEFT_LITTLE_DISTAL,
+			BoneType.RIGHT_LITTLE_PROXIMAL, BoneType.RIGHT_LITTLE_INTERMEDIATE, BoneType.RIGHT_LITTLE_DISTAL,
+			-> setNodeOffset(
+				nodeOffset,
+				0f,
+				-getOffset(SkeletonConfigOffsets.HAND_Y) * 0.2f,
+				0f,
+			)
+
 			else -> {}
 		}
 	}

server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/HumanSkeleton.kt

@@ -12,6 +12,7 @@ import dev.slimevr.tracking.trackers.TrackerPosition
 import dev.slimevr.tracking.trackers.TrackerRole
 import dev.slimevr.tracking.trackers.TrackerUtils.getFirstAvailableTracker
 import dev.slimevr.tracking.trackers.TrackerUtils.getTrackerForSkeleton
+import dev.slimevr.tracking.trackers.udp.TrackerDataType
 import dev.slimevr.util.ann.VRServerThread
 import io.eiren.util.ann.ThreadSafe
 import io.eiren.util.collections.FastList
@@ -61,6 +62,38 @@ class HumanSkeleton(
 	val leftHandBone = Bone(BoneType.LEFT_HAND)
 	val rightHandBone = Bone(BoneType.RIGHT_HAND)
 
+	// Finger bones
+	val leftThumbProximalBone = Bone(BoneType.LEFT_THUMB_PROXIMAL)
+	val leftThumbIntermediateBone = Bone(BoneType.LEFT_THUMB_INTERMEDIATE)
+	val leftThumbDistalBone = Bone(BoneType.LEFT_THUMB_DISTAL)
+	val leftIndexProximalBone = Bone(BoneType.LEFT_INDEX_PROXIMAL)
+	val leftIndexIntermediateBone = Bone(BoneType.LEFT_INDEX_INTERMEDIATE)
+	val leftIndexDistalBone = Bone(BoneType.LEFT_INDEX_DISTAL)
+	val leftMiddleProximalBone = Bone(BoneType.LEFT_MIDDLE_PROXIMAL)
+	val leftMiddleIntermediateBone = Bone(BoneType.LEFT_MIDDLE_INTERMEDIATE)
+	val leftMiddleDistalBone = Bone(BoneType.LEFT_MIDDLE_DISTAL)
+	val leftRingProximalBone = Bone(BoneType.LEFT_RING_PROXIMAL)
+	val leftRingIntermediateBone = Bone(BoneType.LEFT_RING_INTERMEDIATE)
+	val leftRingDistalBone = Bone(BoneType.LEFT_RING_DISTAL)
+	val leftLittleProximalBone = Bone(BoneType.LEFT_LITTLE_PROXIMAL)
+	val leftLittleIntermediateBone = Bone(BoneType.LEFT_LITTLE_INTERMEDIATE)
+	val leftLittleDistalBone = Bone(BoneType.LEFT_LITTLE_DISTAL)
+	val rightThumbProximalBone = Bone(BoneType.RIGHT_THUMB_PROXIMAL)
+	val rightThumbIntermediateBone = Bone(BoneType.RIGHT_THUMB_INTERMEDIATE)
+	val rightThumbDistalBone = Bone(BoneType.RIGHT_THUMB_DISTAL)
+	val rightIndexProximalBone = Bone(BoneType.RIGHT_INDEX_PROXIMAL)
+	val rightIndexIntermediateBone = Bone(BoneType.RIGHT_INDEX_INTERMEDIATE)
+	val rightIndexDistalBone = Bone(BoneType.RIGHT_INDEX_DISTAL)
+	val rightMiddleProximalBone = Bone(BoneType.RIGHT_MIDDLE_PROXIMAL)
+	val rightMiddleIntermediateBone = Bone(BoneType.RIGHT_MIDDLE_INTERMEDIATE)
+	val rightMiddleDistalBone = Bone(BoneType.RIGHT_MIDDLE_DISTAL)
+	val rightRingProximalBone = Bone(BoneType.RIGHT_RING_PROXIMAL)
+	val rightRingIntermediateBone = Bone(BoneType.RIGHT_RING_INTERMEDIATE)
+	val rightRingDistalBone = Bone(BoneType.RIGHT_RING_DISTAL)
+	val rightLittleProximalBone = Bone(BoneType.RIGHT_LITTLE_PROXIMAL)
+	val rightLittleIntermediateBone = Bone(BoneType.RIGHT_LITTLE_INTERMEDIATE)
+	val rightLittleDistalBone = Bone(BoneType.RIGHT_LITTLE_DISTAL)
+
 	// Tracker bones
 	val headTrackerBone = Bone(BoneType.HEAD_TRACKER)
 	val chestTrackerBone = Bone(BoneType.CHEST_TRACKER)
@@ -77,12 +110,10 @@ class HumanSkeleton(
 	// Buffers
 	var hasSpineTracker = false
 	var hasKneeTrackers = false
-	var hasLeftLegTracker = false
-	var hasRightLegTracker = false
-	var hasLeftFootTracker = false
-	var hasRightFootTracker = false
 	var hasLeftArmTracker = false
 	var hasRightArmTracker = false
+	var hasLeftFingerTracker = false
+	var hasRightFingerTracker = false
 
 	// Input trackers
 	var headTracker: Tracker? by Delegates.observable(null) { _, old, new ->
@@ -110,6 +141,36 @@ class HumanSkeleton(
 	var rightHandTracker: Tracker? = null
 	var leftShoulderTracker: Tracker? = null
 	var rightShoulderTracker: Tracker? = null
+	var leftThumbProximalTracker: Tracker? = null
+	var leftThumbIntermediateTracker: Tracker? = null
+	var leftThumbDistalTracker: Tracker? = null
+	var leftIndexProximalTracker: Tracker? = null
+	var leftIndexIntermediateTracker: Tracker? = null
+	var leftIndexDistalTracker: Tracker? = null
+	var leftMiddleProximalTracker: Tracker? = null
+	var leftMiddleIntermediateTracker: Tracker? = null
+	var leftMiddleDistalTracker: Tracker? = null
+	var leftRingProximalTracker: Tracker? = null
+	var leftRingIntermediateTracker: Tracker? = null
+	var leftRingDistalTracker: Tracker? = null
+	var leftLittleProximalTracker: Tracker? = null
+	var leftLittleIntermediateTracker: Tracker? = null
+	var leftLittleDistalTracker: Tracker? = null
+	var rightThumbProximalTracker: Tracker? = null
+	var rightThumbIntermediateTracker: Tracker? = null
+	var rightThumbDistalTracker: Tracker? = null
+	var rightIndexProximalTracker: Tracker? = null
+	var rightIndexIntermediateTracker: Tracker? = null
+	var rightIndexDistalTracker: Tracker? = null
+	var rightMiddleProximalTracker: Tracker? = null
+	var rightMiddleIntermediateTracker: Tracker? = null
+	var rightMiddleDistalTracker: Tracker? = null
+	var rightRingProximalTracker: Tracker? = null
+	var rightRingIntermediateTracker: Tracker? = null
+	var rightRingDistalTracker: Tracker? = null
+	var rightLittleProximalTracker: Tracker? = null
+	var rightLittleIntermediateTracker: Tracker? = null
+	var rightLittleDistalTracker: Tracker? = null
 
 	// Output trackers
 	var computedHeadTracker: Tracker? = null
@@ -259,24 +320,63 @@ class HumanSkeleton(
 			rightLowerArmBone.attachChild(rightHandBone)
 			rightHandBone.attachChild(rightHandTrackerBone)
 		}
+
+		// Fingers
+		leftHandBone.attachChild(leftThumbProximalBone)
+		leftThumbProximalBone.attachChild(leftThumbIntermediateBone)
+		leftThumbIntermediateBone.attachChild(leftThumbDistalBone)
+		leftHandBone.attachChild(leftIndexProximalBone)
+		leftIndexProximalBone.attachChild(leftIndexIntermediateBone)
+		leftIndexIntermediateBone.attachChild(leftIndexDistalBone)
+		leftHandBone.attachChild(leftMiddleProximalBone)
+		leftMiddleProximalBone.attachChild(leftMiddleIntermediateBone)
+		leftMiddleIntermediateBone.attachChild(leftMiddleDistalBone)
+		leftHandBone.attachChild(leftRingProximalBone)
+		leftRingProximalBone.attachChild(leftRingIntermediateBone)
+		leftRingIntermediateBone.attachChild(leftRingDistalBone)
+		leftHandBone.attachChild(leftLittleProximalBone)
+		leftLittleProximalBone.attachChild(leftLittleIntermediateBone)
+		leftLittleIntermediateBone.attachChild(leftLittleDistalBone)
+		rightHandBone.attachChild(rightThumbProximalBone)
+		rightThumbProximalBone.attachChild(rightThumbIntermediateBone)
+		rightThumbIntermediateBone.attachChild(rightThumbDistalBone)
+		rightHandBone.attachChild(rightIndexProximalBone)
+		rightIndexProximalBone.attachChild(rightIndexIntermediateBone)
+		rightIndexIntermediateBone.attachChild(rightIndexDistalBone)
+		rightHandBone.attachChild(rightMiddleProximalBone)
+		rightMiddleProximalBone.attachChild(rightMiddleIntermediateBone)
+		rightMiddleIntermediateBone.attachChild(rightMiddleDistalBone)
+		rightHandBone.attachChild(rightRingProximalBone)
+		rightRingProximalBone.attachChild(rightRingIntermediateBone)
+		rightRingIntermediateBone.attachChild(rightRingDistalBone)
+		rightHandBone.attachChild(rightLittleProximalBone)
+		rightLittleProximalBone.attachChild(rightLittleIntermediateBone)
+		rightLittleIntermediateBone.attachChild(rightLittleDistalBone)
 	}
 
 	/**
 	 * Set input trackers from a list
 	 */
 	fun setTrackersFromList(trackers: List<Tracker>) {
+		// Head
 		headTracker = getTrackerForSkeleton(trackers, TrackerPosition.HEAD)
 		neckTracker = getTrackerForSkeleton(trackers, TrackerPosition.NECK)
+
+		// Spine
 		upperChestTracker = getTrackerForSkeleton(trackers, TrackerPosition.UPPER_CHEST)
 		chestTracker = getTrackerForSkeleton(trackers, TrackerPosition.CHEST)
 		waistTracker = getTrackerForSkeleton(trackers, TrackerPosition.WAIST)
 		hipTracker = getTrackerForSkeleton(trackers, TrackerPosition.HIP)
+
+		// Legs
 		leftUpperLegTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_UPPER_LEG)
 		leftLowerLegTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_LOWER_LEG)
 		leftFootTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_FOOT)
 		rightUpperLegTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_UPPER_LEG)
 		rightLowerLegTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_LOWER_LEG)
 		rightFootTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_FOOT)
+
+		// Arms
 		leftLowerArmTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_LOWER_ARM)
 		rightLowerArmTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_LOWER_ARM)
 		leftUpperArmTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_UPPER_ARM)
@@ -286,15 +386,53 @@ class HumanSkeleton(
 		leftShoulderTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_SHOULDER)
 		rightShoulderTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_SHOULDER)
 
-		// Check for specific conditions and store them in booleans.
+		// Fingers
+		leftThumbProximalTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_THUMB_PROXIMAL)
+		leftThumbIntermediateTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_THUMB_INTERMEDIATE)
+		leftThumbDistalTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_THUMB_DISTAL)
+		leftIndexProximalTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_INDEX_PROXIMAL)
+		leftIndexIntermediateTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_INDEX_INTERMEDIATE)
+		leftIndexDistalTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_INDEX_DISTAL)
+		leftMiddleProximalTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_MIDDLE_PROXIMAL)
+		leftMiddleIntermediateTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_MIDDLE_INTERMEDIATE)
+		leftMiddleDistalTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_MIDDLE_DISTAL)
+		leftRingProximalTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_RING_PROXIMAL)
+		leftRingIntermediateTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_RING_INTERMEDIATE)
+		leftRingDistalTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_RING_DISTAL)
+		leftLittleProximalTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_LITTLE_PROXIMAL)
+		leftLittleIntermediateTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_LITTLE_INTERMEDIATE)
+		leftLittleDistalTracker = getTrackerForSkeleton(trackers, TrackerPosition.LEFT_LITTLE_DISTAL)
+		rightThumbProximalTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_THUMB_PROXIMAL)
+		rightThumbIntermediateTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_THUMB_INTERMEDIATE)
+		rightThumbDistalTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_THUMB_DISTAL)
+		rightIndexProximalTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_INDEX_PROXIMAL)
+		rightIndexIntermediateTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_INDEX_INTERMEDIATE)
+		rightIndexDistalTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_INDEX_DISTAL)
+		rightMiddleProximalTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_MIDDLE_PROXIMAL)
+		rightMiddleIntermediateTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_MIDDLE_INTERMEDIATE)
+		rightMiddleDistalTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_MIDDLE_DISTAL)
+		rightRingProximalTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_RING_PROXIMAL)
+		rightRingIntermediateTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_RING_INTERMEDIATE)
+		rightRingDistalTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_RING_DISTAL)
+		rightLittleProximalTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_LITTLE_PROXIMAL)
+		rightLittleIntermediateTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_LITTLE_INTERMEDIATE)
+		rightLittleDistalTracker = getTrackerForSkeleton(trackers, TrackerPosition.RIGHT_LITTLE_DISTAL)
+
+		// Check for specific conditions and cache them
 		hasSpineTracker = upperChestTracker != null || chestTracker != null || waistTracker != null || hipTracker != null
 		hasKneeTrackers = leftUpperLegTracker != null && rightUpperLegTracker != null
-		hasLeftLegTracker = leftUpperLegTracker != null || leftLowerLegTracker != null || leftFootTracker != null
-		hasRightLegTracker = rightUpperLegTracker != null || rightLowerLegTracker != null || rightFootTracker != null
-		hasLeftFootTracker = leftFootTracker != null
-		hasRightFootTracker = rightFootTracker != null
 		hasLeftArmTracker = leftLowerArmTracker != null || leftUpperArmTracker != null
 		hasRightArmTracker = rightLowerArmTracker != null || rightUpperArmTracker != null
+		hasLeftFingerTracker = leftThumbProximalTracker != null || leftThumbIntermediateTracker != null || leftThumbDistalTracker != null ||
+			leftIndexProximalTracker != null || leftIndexIntermediateTracker != null || leftIndexDistalTracker != null ||
+			leftMiddleProximalTracker != null || leftMiddleIntermediateTracker != null || leftMiddleDistalTracker != null ||
+			leftRingProximalTracker != null || leftRingIntermediateTracker != null || leftRingDistalTracker != null ||
+			leftLittleProximalTracker != null || leftLittleIntermediateTracker != null || leftLittleDistalTracker != null
+		hasRightFingerTracker = rightThumbProximalTracker != null || rightThumbIntermediateTracker != null || rightThumbDistalTracker != null ||
+			rightIndexProximalTracker != null || rightIndexIntermediateTracker != null || rightIndexDistalTracker != null ||
+			rightMiddleProximalTracker != null || rightMiddleIntermediateTracker != null || rightMiddleDistalTracker != null ||
+			rightRingProximalTracker != null || rightRingIntermediateTracker != null || rightRingDistalTracker != null ||
+			rightLittleProximalTracker != null || rightLittleIntermediateTracker != null || rightLittleDistalTracker != null
 
 		// Rebuilds the arm skeleton nodes attachments
 		assembleSkeletonArms(true)
@@ -394,6 +532,7 @@ class HumanSkeleton(
 
 		// Spine
 		updateSpineTransforms()
+
 		// Left leg
 		updateLegTransforms(
 			leftUpperLegBone,
@@ -405,6 +544,7 @@ class HumanSkeleton(
 			leftLowerLegTracker,
 			leftFootTracker,
 		)
+
 		// Right leg
 		updateLegTransforms(
 			rightUpperLegBone,
@@ -416,6 +556,7 @@ class HumanSkeleton(
 			rightLowerLegTracker,
 			rightFootTracker,
 		)
+
 		// Left arm
 		updateArmTransforms(
 			isTrackingLeftArmFromController,
@@ -430,6 +571,7 @@ class HumanSkeleton(
 			leftLowerArmTracker,
 			leftHandTracker,
 		)
+
 		// Right arm
 		updateArmTransforms(
 			isTrackingRightArmFromController,
@@ -444,6 +586,116 @@ class HumanSkeleton(
 			rightLowerArmTracker,
 			rightHandTracker,
 		)
+
+		// Left thumb
+		updateFingerTransforms(
+			leftHandTrackerBone.getGlobalRotation(),
+			leftThumbProximalBone,
+			leftThumbIntermediateBone,
+			leftThumbDistalBone,
+			leftThumbProximalTracker,
+			leftThumbIntermediateTracker,
+			leftThumbDistalTracker,
+		)
+
+		// Left index
+		updateFingerTransforms(
+			leftHandTrackerBone.getGlobalRotation(),
+			leftIndexProximalBone,
+			leftIndexIntermediateBone,
+			leftIndexDistalBone,
+			leftIndexProximalTracker,
+			leftIndexIntermediateTracker,
+			leftIndexDistalTracker,
+		)
+
+		// Left middle
+		updateFingerTransforms(
+			leftHandTrackerBone.getGlobalRotation(),
+			leftMiddleProximalBone,
+			leftMiddleIntermediateBone,
+			leftMiddleDistalBone,
+			leftMiddleProximalTracker,
+			leftMiddleIntermediateTracker,
+			leftMiddleDistalTracker,
+		)
+
+		// Left ring
+		updateFingerTransforms(
+			leftHandTrackerBone.getGlobalRotation(),
+			leftRingProximalBone,
+			leftRingIntermediateBone,
+			leftRingDistalBone,
+			leftRingProximalTracker,
+			leftRingIntermediateTracker,
+			leftRingDistalTracker,
+		)
+
+		// Left little
+		updateFingerTransforms(
+			leftHandTrackerBone.getGlobalRotation(),
+			leftLittleProximalBone,
+			leftLittleIntermediateBone,
+			leftLittleDistalBone,
+			leftLittleProximalTracker,
+			leftLittleIntermediateTracker,
+			leftLittleDistalTracker,
+		)
+
+		// Right thumb
+		updateFingerTransforms(
+			rightHandTrackerBone.getGlobalRotation(),
+			rightThumbProximalBone,
+			rightThumbIntermediateBone,
+			rightThumbDistalBone,
+			rightThumbProximalTracker,
+			rightThumbIntermediateTracker,
+			rightThumbDistalTracker,
+		)
+
+		// Right index
+		updateFingerTransforms(
+			rightHandTrackerBone.getGlobalRotation(),
+			rightIndexProximalBone,
+			rightIndexIntermediateBone,
+			rightIndexDistalBone,
+			rightIndexProximalTracker,
+			rightIndexIntermediateTracker,
+			rightIndexDistalTracker,
+		)
+
+		// Right middle
+		updateFingerTransforms(
+			rightHandTrackerBone.getGlobalRotation(),
+			rightMiddleProximalBone,
+			rightMiddleIntermediateBone,
+			rightMiddleDistalBone,
+			rightMiddleProximalTracker,
+			rightMiddleIntermediateTracker,
+			rightMiddleDistalTracker,
+		)
+
+		// Right ring
+		updateFingerTransforms(
+			rightHandTrackerBone.getGlobalRotation(),
+			rightRingProximalBone,
+			rightRingIntermediateBone,
+			rightRingDistalBone,
+			rightRingProximalTracker,
+			rightRingIntermediateTracker,
+			rightRingDistalTracker,
+		)
+
+		// Right little
+		updateFingerTransforms(
+			rightHandTrackerBone.getGlobalRotation(),
+			rightLittleProximalBone,
+			rightLittleIntermediateBone,
+			rightLittleDistalBone,
+			rightLittleProximalTracker,
+			rightLittleIntermediateTracker,
+			rightLittleDistalTracker,
+		)
 	}
 
 	/**
@@ -767,6 +1019,70 @@ class HumanSkeleton(
 		}
 	}
 
+	/**
+	 * Update a finger's 3 bones' transforms
+	 */
+	private fun updateFingerTransforms(
+		handRotation: Quaternion,
+		proximalBone: Bone,
+		intermediateBone: Bone,
+		distalBone: Bone,
+		proximalTracker: Tracker?,
+		intermediateTracker: Tracker?,
+		distalTracker: Tracker?,
+	) {
+		if (distalTracker == null && intermediateTracker == null && proximalTracker == null) {
+			// Set fingers' rotations to the hand's if no finger tracker
+			proximalBone.setRotation(handRotation)
+			intermediateBone.setRotation(handRotation)
+			distalBone.setRotation(handRotation)
+		}
+
+		// Note: we use interpQ instead of interpR in order to slerp over 180 degrees.
+		// Start of finger
+		proximalTracker?.let {
+			val fingerRot = if (it.trackerDataType == TrackerDataType.FLEX_RESISTANCE ||
+				it.trackerDataType == TrackerDataType.FLEX_ANGLE
+			) {
+				handRotation * it.getRotation()
+			} else {
+				it.getRotation()
+			}
+
+			proximalBone.setRotation(fingerRot)
+			if (intermediateTracker == null) intermediateBone.setRotation(handRotation.interpQ(fingerRot, 2.12f))
+			if (distalTracker == null) distalBone.setRotation(handRotation.interpQ(fingerRot, 3.03f))
+		}
+		// Middle of finger
+		intermediateTracker?.let {
+			val fingerRot = if (it.trackerDataType == TrackerDataType.FLEX_RESISTANCE ||
+				it.trackerDataType == TrackerDataType.FLEX_ANGLE
+			) {
+				handRotation * it.getRotation()
+			} else {
+				it.getRotation()
+			}
+
+			if (proximalTracker == null) proximalBone.setRotation(handRotation.interpQ(fingerRot, 0.47f))
+			intermediateBone.setRotation(fingerRot)
+			if (distalTracker == null) distalBone.setRotation(handRotation.interpQ(fingerRot, 1.43f))
+		}
+		// Tip of finger
+		distalTracker?.let {
+			val fingerRot = if (it.trackerDataType == TrackerDataType.FLEX_RESISTANCE ||
+				it.trackerDataType == TrackerDataType.FLEX_ANGLE
+			) {
+				handRotation * it.getRotation()
+			} else {
+				it.getRotation()
+			}
+
+			if (proximalTracker == null && intermediateTracker == null) proximalBone.setRotation(handRotation.interpQ(fingerRot, 0.33f))
+			if (intermediateTracker == null) intermediateBone.setRotation(handRotation.interpQ(fingerRot, 0.7f))
+			distalBone.setRotation(fingerRot)
+		}
+	}
+
 	/**
 	 * Rotates the first Quaternion to match its yaw and roll to the rotation of
 	 * the second Quaternion
@@ -959,6 +1275,36 @@ class HumanSkeleton(
 		BoneType.RIGHT_HAND -> rightHandBone
 		BoneType.LEFT_HAND_TRACKER -> leftHandTrackerBone
 		BoneType.RIGHT_HAND_TRACKER -> rightHandTrackerBone
+		BoneType.LEFT_THUMB_PROXIMAL -> leftThumbProximalBone
+		BoneType.LEFT_THUMB_INTERMEDIATE -> leftThumbIntermediateBone
+		BoneType.LEFT_THUMB_DISTAL -> leftThumbDistalBone
+		BoneType.LEFT_INDEX_PROXIMAL -> leftIndexProximalBone
+		BoneType.LEFT_INDEX_INTERMEDIATE -> leftIndexIntermediateBone
+		BoneType.LEFT_INDEX_DISTAL -> leftIndexDistalBone
+		BoneType.LEFT_MIDDLE_PROXIMAL -> leftMiddleProximalBone
+		BoneType.LEFT_MIDDLE_INTERMEDIATE -> leftMiddleIntermediateBone
+		BoneType.LEFT_MIDDLE_DISTAL -> leftMiddleDistalBone
+		BoneType.LEFT_RING_PROXIMAL -> leftRingProximalBone
+		BoneType.LEFT_RING_INTERMEDIATE -> leftRingIntermediateBone
+		BoneType.LEFT_RING_DISTAL -> leftRingDistalBone
+		BoneType.LEFT_LITTLE_PROXIMAL -> leftLittleProximalBone
+		BoneType.LEFT_LITTLE_INTERMEDIATE -> leftLittleIntermediateBone
+		BoneType.LEFT_LITTLE_DISTAL -> leftLittleDistalBone
+		BoneType.RIGHT_THUMB_PROXIMAL -> rightThumbProximalBone
+		BoneType.RIGHT_THUMB_INTERMEDIATE -> rightThumbIntermediateBone
+		BoneType.RIGHT_THUMB_DISTAL -> rightThumbDistalBone
+		BoneType.RIGHT_INDEX_PROXIMAL -> rightIndexProximalBone
+		BoneType.RIGHT_INDEX_INTERMEDIATE -> rightIndexIntermediateBone
+		BoneType.RIGHT_INDEX_DISTAL -> rightIndexDistalBone
+		BoneType.RIGHT_MIDDLE_PROXIMAL -> rightMiddleProximalBone
+		BoneType.RIGHT_MIDDLE_INTERMEDIATE -> rightMiddleIntermediateBone
+		BoneType.RIGHT_MIDDLE_DISTAL -> rightMiddleDistalBone
+		BoneType.RIGHT_RING_PROXIMAL -> rightRingProximalBone
+		BoneType.RIGHT_RING_INTERMEDIATE -> rightRingIntermediateBone
+		BoneType.RIGHT_RING_DISTAL -> rightRingDistalBone
+		BoneType.RIGHT_LITTLE_PROXIMAL -> rightLittleProximalBone
+		BoneType.RIGHT_LITTLE_INTERMEDIATE -> rightLittleIntermediateBone
+		BoneType.RIGHT_LITTLE_DISTAL -> rightLittleDistalBone
 	}
 
 	/**
@@ -988,6 +1334,36 @@ class HumanSkeleton(
 			rightLowerArmBone,
 			leftHandBone,
 			rightHandBone,
+			leftThumbProximalBone,
+			leftThumbIntermediateBone,
+			leftThumbDistalBone,
+			leftIndexProximalBone,
+			leftIndexIntermediateBone,
+			leftIndexDistalBone,
+			leftMiddleProximalBone,
+			leftMiddleIntermediateBone,
+			leftMiddleDistalBone,
+			leftRingProximalBone,
+			leftRingIntermediateBone,
+			leftRingDistalBone,
+			leftLittleProximalBone,
+			leftLittleIntermediateBone,
+			leftLittleDistalBone,
+			rightThumbProximalBone,
+			rightThumbIntermediateBone,
+			rightThumbDistalBone,
+			rightIndexProximalBone,
+			rightIndexIntermediateBone,
+			rightIndexDistalBone,
+			rightMiddleProximalBone,
+			rightMiddleIntermediateBone,
+			rightMiddleDistalBone,
+			rightRingProximalBone,
+			rightRingIntermediateBone,
+			rightRingDistalBone,
+			rightLittleProximalBone,
+			rightLittleIntermediateBone,
+			rightLittleDistalBone,
 		)
 
 	/**
@@ -1007,6 +1383,36 @@ class HumanSkeleton(
 			rightHandBone,
 			leftHandTrackerBone,
 			rightHandTrackerBone,
+			leftThumbProximalBone,
+			leftThumbIntermediateBone,
+			leftThumbDistalBone,
+			leftIndexProximalBone,
+			leftIndexIntermediateBone,
+			leftIndexDistalBone,
+			leftMiddleProximalBone,
+			leftMiddleIntermediateBone,
+			leftMiddleDistalBone,
+			leftRingProximalBone,
+			leftRingIntermediateBone,
+			leftRingDistalBone,
+			leftLittleProximalBone,
+			leftLittleIntermediateBone,
+			leftLittleDistalBone,
+			rightThumbProximalBone,
+			rightThumbIntermediateBone,
+			rightThumbDistalBone,
+			rightIndexProximalBone,
+			rightIndexIntermediateBone,
+			rightIndexDistalBone,
+			rightMiddleProximalBone,
+			rightMiddleIntermediateBone,
+			rightMiddleDistalBone,
+			rightRingProximalBone,
+			rightRingIntermediateBone,
+			rightRingDistalBone,
+			rightLittleProximalBone,
+			rightLittleIntermediateBone,
+			rightLittleDistalBone,
 		)
 
 	val hmdHeight: Float
@@ -1053,6 +1459,36 @@ class HumanSkeleton(
 			rightHandTracker,
 			leftShoulderTracker,
 			rightShoulderTracker,
+			leftThumbProximalTracker,
+			leftThumbIntermediateTracker,
+			leftThumbDistalTracker,
+			leftIndexProximalTracker,
+			leftIndexIntermediateTracker,
+			leftIndexDistalTracker,
+			leftMiddleProximalTracker,
+			leftMiddleIntermediateTracker,
+			leftMiddleDistalTracker,
+			leftRingProximalTracker,
+			leftRingIntermediateTracker,
+			leftRingDistalTracker,
+			leftLittleProximalTracker,
+			leftLittleIntermediateTracker,
+			leftLittleDistalTracker,
+			rightThumbProximalTracker,
+			rightThumbIntermediateTracker,
+			rightThumbDistalTracker,
+			rightIndexProximalTracker,
+			rightIndexIntermediateTracker,
+			rightIndexDistalTracker,
+			rightMiddleProximalTracker,
+			rightMiddleIntermediateTracker,
+			rightMiddleDistalTracker,
+			rightRingProximalTracker,
+			rightRingIntermediateTracker,
+			rightRingDistalTracker,
+			rightLittleProximalTracker,
+			rightLittleIntermediateTracker,
+			rightLittleDistalTracker,
 		)
 
 	fun resetTrackersFull(resetSourceName: String?) {

server/core/src/main/java/dev/slimevr/tracking/trackers/Tracker.kt

@@ -5,6 +5,7 @@ import dev.slimevr.config.TrackerConfig
 import dev.slimevr.tracking.trackers.TrackerPosition.Companion.getByDesignation
 import dev.slimevr.tracking.trackers.udp.IMUType
 import dev.slimevr.tracking.trackers.udp.MagnetometerStatus
+import dev.slimevr.tracking.trackers.udp.TrackerDataType
 import io.eiren.util.BufferedTimer
 import io.github.axisangles.ktmath.Quaternion
 import io.github.axisangles.ktmath.Vector3
@@ -67,6 +68,11 @@ class Tracker @JvmOverloads constructor(
 	val needsMounting: Boolean = false,
 	val isHmd: Boolean = false,
 	magStatus: MagnetometerStatus = MagnetometerStatus.NOT_SUPPORTED,
+	/**
+	 * Rotation by default.
+	 * NOT the same as hasRotation (other data types emulate rotation)
+	 */
+	val trackerDataType: TrackerDataType = TrackerDataType.ROTATION,
 ) {
 	private val timer = BufferedTimer(1f)
 	private var timeAtLastUpdate: Long = System.currentTimeMillis()
@@ -75,6 +81,7 @@ class Tracker @JvmOverloads constructor(
 	var position = Vector3.NULL
 	val resetsHandler: TrackerResetsHandler = TrackerResetsHandler(this)
 	val filteringHandler: TrackerFilteringHandler = TrackerFilteringHandler()
+	val trackerFlexHandler: TrackerFlexHandler = TrackerFlexHandler(this)
 	var batteryVoltage: Float? = null
 	var batteryLevel: Float? = null
 	var ping: Int? = null
@@ -150,7 +157,7 @@ class Tracker @JvmOverloads constructor(
 
 	fun checkReportRequireReset() {
 		if (needsReset && trackerPosition != null && lastResetStatus == 0u &&
-			!status.reset && (isImu() || !statusResetRecently)
+			!status.reset && (isImu() || !statusResetRecently && trackerDataType != TrackerDataType.FLEX_ANGLE)
 		) {
 			reportRequireReset()
 		} else if (lastResetStatus != 0u && (trackerPosition == null || status.reset)) {
@@ -319,16 +326,16 @@ class Tracker @JvmOverloads constructor(
 	 * it too much should be avoided for performance reasons.
 	 */
 	fun getRotation(): Quaternion {
-		var rot = if (allowFiltering && filteringHandler.enabled) {
+		var rot = if (allowFiltering && filteringHandler.filteringEnabled) {
 			// Get filtered rotation
 			filteringHandler.getFilteredRotation()
 		} else {
 			// Get unfiltered rotation
-			_rotation
+			filteringHandler.getTrackedRotation()
 		}
 
 		// Reset if needed and is not computed and internal
-		if (needsReset && !(isComputed && isInternal)) {
+		if (needsReset && !(isComputed && isInternal) && trackerDataType == TrackerDataType.ROTATION) {
 			// Adjust to reset, mounting and drift compensation
 			rot = resetsHandler.getReferenceAdjustedDriftRotationFrom(rot)
 		}
@@ -351,16 +358,16 @@ class Tracker @JvmOverloads constructor(
 	 * This is used for debugging/visualizing tracker data
 	 */
 	fun getIdentityAdjustedRotation(): Quaternion {
-		var rot = if (filteringHandler.enabled) {
+		var rot = if (filteringHandler.filteringEnabled) {
 			// Get filtered rotation
 			filteringHandler.getFilteredRotation()
 		} else {
 			// Get unfiltered rotation
-			_rotation
+			filteringHandler.getTrackedRotation()
 		}
 
 		// Reset if needed or is a computed tracker besides head
-		if (needsReset && !(isComputed && trackerPosition != TrackerPosition.HEAD)) {
+		if (needsReset && !(isComputed && trackerPosition != TrackerPosition.HEAD) && trackerDataType == TrackerDataType.ROTATION) {
 			// Adjust to reset and mounting
 			rot = resetsHandler.getIdentityAdjustedDriftRotationFrom(rot)
 		}
@@ -372,7 +379,7 @@ class Tracker @JvmOverloads constructor(
 	 * Gets the raw (unadjusted) rotation of the tracker.
 	 * If this is an IMU, this will be the raw sensor rotation.
 	 */
-	fun getRawRotation(): Quaternion = _rotation
+	fun getRawRotation() = _rotation
 
 	/**
 	 * Sets the raw (unadjusted) rotation of the tracker.
@@ -388,7 +395,11 @@ class Tracker @JvmOverloads constructor(
 		this._acceleration = vec
 	}
 
-	fun isImu(): Boolean = imuType != null
+	/**
+	 * True if the raw rotation is coming directly from an IMU (no cameras or lighthouses)
+	 * For example, flex sensor trackers are not considered as IMU trackers (see TrackerDataType)
+	 */
+	fun isImu(): Boolean = imuType != null && trackerDataType == TrackerDataType.ROTATION
 
 	/**
 	 * Please don't use this and instead set it via [Device.setMag]
@@ -406,4 +417,11 @@ class Tracker @JvmOverloads constructor(
 	 */
 	val tps: Float
 		get() = timer.averageFPS
+
+	/**
+	 * Call when doing a full reset to reset the tracking of rotations >180 degrees
+	 */
+	fun resetFilteringQuats() {
+		filteringHandler.resetQuats(_rotation)
+	}
 }

server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerFilteringHandler.kt

@@ -12,8 +12,9 @@ import io.github.axisangles.ktmath.Quaternion
  */
 class TrackerFilteringHandler {
 
-	private var movingAverage: QuaternionMovingAverage? = null
-	var enabled = false
+	private var filteringMovingAverage: QuaternionMovingAverage? = null
+	private var trackingMovingAverage = QuaternionMovingAverage(TrackerFilters.NONE)
+	var filteringEnabled = false
 
 	/**
 	 * Reads/loads filtering settings from given config
@@ -21,15 +22,15 @@ class TrackerFilteringHandler {
 	fun readFilteringConfig(config: FiltersConfig, currentRawRotation: Quaternion) {
 		val type = TrackerFilters.getByConfigkey(config.type)
 		if (type == TrackerFilters.SMOOTHING || type == TrackerFilters.PREDICTION) {
-			movingAverage = QuaternionMovingAverage(
+			filteringMovingAverage = QuaternionMovingAverage(
 				type,
 				config.amount,
 				currentRawRotation,
 			)
-			enabled = true
+			filteringEnabled = true
 		} else {
-			movingAverage = null
-			enabled = false
+			filteringMovingAverage = null
+			filteringEnabled = false
 		}
 	}
 
@@ -37,18 +38,33 @@ class TrackerFilteringHandler {
 	 * Update the moving average to make it smooth
 	 */
 	fun update() {
-		movingAverage?.update()
+		trackingMovingAverage.update()
+		filteringMovingAverage?.update()
 	}
 
 	/**
 	 * Updates the latest rotation
 	 */
 	fun dataTick(currentRawRotation: Quaternion) {
-		movingAverage?.addQuaternion(currentRawRotation)
+		trackingMovingAverage.addQuaternion(currentRawRotation)
+		filteringMovingAverage?.addQuaternion(currentRawRotation)
 	}
 
+	/**
+	 * Call when doing a full reset to reset the tracking of rotations >180 degrees
+	 */
+	fun resetQuats(currentRawRotation: Quaternion) {
+		trackingMovingAverage.resetQuats(currentRawRotation)
+		filteringMovingAverage?.resetQuats(currentRawRotation)
+	}
+
+	/**
+	 * Gets the tracked rotation from the moving average (allows >180 degrees)
+	 */
+	fun getTrackedRotation() = trackingMovingAverage.filteredQuaternion
+
 	/**
 	 * Get the filtered rotation from the moving average
 	 */
-	fun getFilteredRotation(): Quaternion = movingAverage?.filteredQuaternion ?: Quaternion.IDENTITY
+	fun getFilteredRotation() = filteringMovingAverage?.filteredQuaternion ?: Quaternion.IDENTITY
 }

server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerFlexHandler.kt

@@ -0,0 +1,176 @@
+package dev.slimevr.tracking.trackers
+
+import com.jme3.math.FastMath
+import io.github.axisangles.ktmath.EulerAngles
+import io.github.axisangles.ktmath.EulerOrder
+import kotlin.math.*
+
+/**
+ * Class handling flex sensor data (angle and resistance)
+ * Resistance is expected to go up with bend by default, but a mounting reset allows the contrary
+ */
+class TrackerFlexHandler(val tracker: Tracker) {
+	private var minResistance = Float.MIN_VALUE
+	private var maxResistance = Float.MAX_VALUE
+
+	// Used to support resistance going both ways.
+	// Default is higher = more bend, but can change after a full and mounting reset.
+	private var lastMinResetResistance = Float.MIN_VALUE
+	private var resistanceReversed = false
+	private var lastResistance = 0f
+	private val thumbInitialOffset = FastMath.PI / 8 // 22.5 deg
+
+	/**
+	 * Resets the min resistance from the last resistance value received.
+	 * Triggered from full reset
+	 */
+	fun resetMin() {
+		minResistance = lastResistance
+		lastMinResetResistance = lastResistance
+
+		setFlexResistance(lastResistance)
+		tracker.dataTick()
+	}
+
+	/**
+	 * Resets the max resistance from the last resistance value received.
+	 * Triggered from mounting reset
+	 */
+	fun resetMax() {
+		// Account for the resistance being able to be reversed
+		if (resistanceReversed != lastResistance < lastMinResetResistance) {
+			// Switching
+			resistanceReversed = lastResistance < lastMinResetResistance
+			minResistance = maxResistance
+			maxResistance = lastMinResetResistance
+		} else {
+			// Not switching
+			maxResistance = lastResistance
+		}
+
+		setFlexResistance(lastResistance)
+		tracker.dataTick()
+	}
+
+	/**
+	 * Sets the flex resistance which is then calculated into an angle
+	 */
+	fun setFlexResistance(resistance: Float) {
+		// Dynamically calibrate the minimum resistance
+		minResistance = if (minResistance == Float.MIN_VALUE) {
+			resistance
+		} else if (!resistanceReversed) {
+			min(minResistance, resistance)
+		} else {
+			max(minResistance, resistance)
+		}
+
+		// Dynamically calibrate the maximum resistance
+		maxResistance = if (maxResistance == Float.MAX_VALUE) {
+			resistance
+		} else if (!resistanceReversed) {
+			max(maxResistance, resistance)
+		} else {
+			min(maxResistance, resistance)
+		}
+
+		// Get max angle
+		val maxBend = getMaxAngleForTrackerPosition(tracker.trackerPosition)
+
+		// Get angle and set it
+		val angle = if (minResistance == maxResistance) {
+			// Avoid division by 0
+			0f
+		} else {
+			maxBend * (resistance - minResistance) / (maxResistance - minResistance)
+		}
+		setFlexAngle(angle)
+
+		lastResistance = resistance
+	}
+
+	/**
+	 * Sets an angle (rad) about the X axis
+	 */
+	fun setFlexAngle(angle: Float) {
+		// Sets the rotation of the tracker by the angle about a given axis depending on
+		// the tracker's TrackerPosition
+		when (tracker.trackerPosition) {
+			TrackerPosition.LEFT_INDEX_PROXIMAL, TrackerPosition.LEFT_INDEX_INTERMEDIATE,
+			TrackerPosition.LEFT_INDEX_DISTAL, TrackerPosition.LEFT_MIDDLE_PROXIMAL,
+			TrackerPosition.LEFT_MIDDLE_INTERMEDIATE, TrackerPosition.LEFT_MIDDLE_DISTAL,
+			TrackerPosition.LEFT_RING_PROXIMAL, TrackerPosition.LEFT_RING_INTERMEDIATE,
+			TrackerPosition.LEFT_RING_DISTAL, TrackerPosition.LEFT_LITTLE_PROXIMAL,
+			TrackerPosition.LEFT_LITTLE_INTERMEDIATE, TrackerPosition.LEFT_LITTLE_DISTAL,
+			TrackerPosition.RIGHT_SHOULDER,
+			-> tracker.setRotation(EulerAngles(EulerOrder.YZX, 0f, 0f, angle).toQuaternion())
+
+			TrackerPosition.RIGHT_INDEX_PROXIMAL, TrackerPosition.RIGHT_INDEX_INTERMEDIATE,
+			TrackerPosition.RIGHT_INDEX_DISTAL, TrackerPosition.RIGHT_MIDDLE_PROXIMAL,
+			TrackerPosition.RIGHT_MIDDLE_INTERMEDIATE, TrackerPosition.RIGHT_MIDDLE_DISTAL,
+			TrackerPosition.RIGHT_RING_PROXIMAL, TrackerPosition.RIGHT_RING_INTERMEDIATE,
+			TrackerPosition.RIGHT_RING_DISTAL, TrackerPosition.RIGHT_LITTLE_PROXIMAL,
+			TrackerPosition.RIGHT_LITTLE_INTERMEDIATE, TrackerPosition.RIGHT_LITTLE_DISTAL,
+			TrackerPosition.LEFT_SHOULDER,
+			-> tracker.setRotation(EulerAngles(EulerOrder.YZX, 0f, 0f, -angle).toQuaternion())
+
+			TrackerPosition.LEFT_THUMB_PROXIMAL, TrackerPosition.LEFT_THUMB_INTERMEDIATE, TrackerPosition.LEFT_THUMB_DISTAL,
+			-> tracker.setRotation(EulerAngles(EulerOrder.YZX, thumbInitialOffset - angle, -angle * 0.05f, angle * 0.1f).toQuaternion())
+
+			TrackerPosition.RIGHT_THUMB_PROXIMAL, TrackerPosition.RIGHT_THUMB_INTERMEDIATE, TrackerPosition.RIGHT_THUMB_DISTAL,
+			-> tracker.setRotation(EulerAngles(EulerOrder.YZX, thumbInitialOffset - angle, angle * 0.05f, -angle * 0.1f).toQuaternion())
+
+			// Default to X axis (pitch)
+			else -> tracker.setRotation(EulerAngles(EulerOrder.YZX, angle, 0f, 0f).toQuaternion())
+		}
+	}
+
+	/**
+	 * Gets the max angle for a TrackerPosition
+	 */
+	private fun getMaxAngleForTrackerPosition(trackerPosition: TrackerPosition?): Float {
+		if (trackerPosition == null) return FastMath.PI // 180 degrees
+
+		return when (trackerPosition) {
+			// 270 degrees
+			TrackerPosition.LEFT_INDEX_DISTAL, TrackerPosition.LEFT_MIDDLE_DISTAL,
+			TrackerPosition.LEFT_RING_DISTAL, TrackerPosition.LEFT_LITTLE_DISTAL,
+			TrackerPosition.RIGHT_INDEX_DISTAL, TrackerPosition.RIGHT_MIDDLE_DISTAL,
+			TrackerPosition.RIGHT_RING_DISTAL, TrackerPosition.RIGHT_LITTLE_DISTAL,
+			-> FastMath.PI + FastMath.HALF_PI
+
+			// 202.5 degrees
+			TrackerPosition.LEFT_THUMB_DISTAL, TrackerPosition.RIGHT_THUMB_DISTAL,
+			-> FastMath.PI + thumbInitialOffset
+
+			// 180 degrees
+			TrackerPosition.LEFT_INDEX_INTERMEDIATE, TrackerPosition.LEFT_MIDDLE_INTERMEDIATE,
+			TrackerPosition.LEFT_RING_INTERMEDIATE, TrackerPosition.LEFT_LITTLE_INTERMEDIATE,
+			TrackerPosition.RIGHT_INDEX_INTERMEDIATE, TrackerPosition.RIGHT_MIDDLE_INTERMEDIATE,
+			TrackerPosition.RIGHT_RING_INTERMEDIATE, TrackerPosition.RIGHT_LITTLE_INTERMEDIATE,
+			-> FastMath.PI
+
+			// 112.5 degrees
+			TrackerPosition.LEFT_THUMB_INTERMEDIATE, TrackerPosition.RIGHT_THUMB_INTERMEDIATE,
+			-> FastMath.HALF_PI + thumbInitialOffset
+
+			// 90 degrees
+			TrackerPosition.LEFT_INDEX_PROXIMAL, TrackerPosition.LEFT_MIDDLE_PROXIMAL,
+			TrackerPosition.LEFT_RING_PROXIMAL, TrackerPosition.LEFT_LITTLE_PROXIMAL,
+			TrackerPosition.RIGHT_INDEX_PROXIMAL, TrackerPosition.RIGHT_MIDDLE_PROXIMAL,
+			TrackerPosition.RIGHT_RING_PROXIMAL, TrackerPosition.RIGHT_LITTLE_PROXIMAL,
+			-> FastMath.HALF_PI
+
+			// 67.5 degrees
+			TrackerPosition.LEFT_THUMB_PROXIMAL, TrackerPosition.RIGHT_THUMB_PROXIMAL,
+			-> FastMath.QUARTER_PI + thumbInitialOffset
+
+			// 45 degrees
+			TrackerPosition.LEFT_SHOULDER, TrackerPosition.RIGHT_SHOULDER,
+			-> FastMath.QUARTER_PI
+
+			// 135 degrees
+			else -> FastMath.HALF_PI + FastMath.QUARTER_PI
+		}
+	}
+}

server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerPosition.kt

@@ -13,39 +13,88 @@ enum class TrackerPosition(
 	val designation: String,
 	val trackerRole: TrackerRole?,
 	val bodyPart: Int,
+	val id: Int,
 ) {
 	// If updating BodyPart of a TrackerRole,
 	// please also update SteamVRBridge#updateShareSettingsAutomatically()
-	HEAD("body:head", TrackerRole.HMD, BodyPart.HEAD),
-	NECK("body:neck", TrackerRole.NECK, BodyPart.NECK),
-	UPPER_CHEST("body:upper_chest", TrackerRole.CHEST, BodyPart.UPPER_CHEST),
-	CHEST("body:chest", null, BodyPart.CHEST),
-	WAIST("body:waist", null, BodyPart.WAIST),
-	HIP("body:hip", TrackerRole.WAIST, BodyPart.HIP),
-	LEFT_UPPER_LEG("body:left_upper_leg", TrackerRole.LEFT_KNEE, BodyPart.LEFT_UPPER_LEG),
-	RIGHT_UPPER_LEG("body:right_upper_leg", TrackerRole.RIGHT_KNEE, BodyPart.RIGHT_UPPER_LEG),
-	LEFT_LOWER_LEG("body:left_lower_leg", null, BodyPart.LEFT_LOWER_LEG),
-	RIGHT_LOWER_LEG("body:right_lower_leg", null, BodyPart.RIGHT_LOWER_LEG),
-	LEFT_FOOT("body:left_foot", TrackerRole.LEFT_FOOT, BodyPart.LEFT_FOOT),
-	RIGHT_FOOT("body:right_foot", TrackerRole.RIGHT_FOOT, BodyPart.RIGHT_FOOT),
-	LEFT_LOWER_ARM("body:left_lower_arm", null, BodyPart.LEFT_LOWER_ARM),
-	RIGHT_LOWER_ARM("body:right_lower_arm", null, BodyPart.RIGHT_LOWER_ARM),
-	LEFT_UPPER_ARM("body:left_upper_arm", TrackerRole.LEFT_ELBOW, BodyPart.LEFT_UPPER_ARM),
-	RIGHT_UPPER_ARM("body:right_upper_arm", TrackerRole.RIGHT_ELBOW, BodyPart.RIGHT_UPPER_ARM),
-	LEFT_HAND("body:left_hand", TrackerRole.LEFT_HAND, BodyPart.LEFT_HAND),
-	RIGHT_HAND("body:right_hand", TrackerRole.RIGHT_HAND, BodyPart.RIGHT_HAND),
-	LEFT_SHOULDER("body:left_shoulder", TrackerRole.LEFT_SHOULDER, BodyPart.LEFT_SHOULDER),
-	RIGHT_SHOULDER("body:right_shoulder", TrackerRole.RIGHT_SHOULDER, BodyPart.RIGHT_SHOULDER),
+	HEAD("body:head", TrackerRole.HMD, BodyPart.HEAD, 1),
+	NECK("body:neck", TrackerRole.NECK, BodyPart.NECK, 2),
+	UPPER_CHEST("body:upper_chest", TrackerRole.CHEST, BodyPart.UPPER_CHEST, 3),
+	CHEST("body:chest", null, BodyPart.CHEST, 4),
+	WAIST("body:waist", null, BodyPart.WAIST, 5),
+	HIP("body:hip", TrackerRole.WAIST, BodyPart.HIP, 6),
+	LEFT_UPPER_LEG("body:left_upper_leg", TrackerRole.LEFT_KNEE, BodyPart.LEFT_UPPER_LEG, 7),
+	RIGHT_UPPER_LEG("body:right_upper_leg", TrackerRole.RIGHT_KNEE, BodyPart.RIGHT_UPPER_LEG, 8),
+	LEFT_LOWER_LEG("body:left_lower_leg", null, BodyPart.LEFT_LOWER_LEG, 9),
+	RIGHT_LOWER_LEG("body:right_lower_leg", null, BodyPart.RIGHT_LOWER_LEG, 10),
+	LEFT_FOOT("body:left_foot", TrackerRole.LEFT_FOOT, BodyPart.LEFT_FOOT, 11),
+	RIGHT_FOOT("body:right_foot", TrackerRole.RIGHT_FOOT, BodyPart.RIGHT_FOOT, 12),
+	LEFT_LOWER_ARM("body:left_lower_arm", null, BodyPart.LEFT_LOWER_ARM, 13),
+	RIGHT_LOWER_ARM("body:right_lower_arm", null, BodyPart.RIGHT_LOWER_ARM, 14),
+	LEFT_UPPER_ARM("body:left_upper_arm", TrackerRole.LEFT_ELBOW, BodyPart.LEFT_UPPER_ARM, 15),
+	RIGHT_UPPER_ARM("body:right_upper_arm", TrackerRole.RIGHT_ELBOW, BodyPart.RIGHT_UPPER_ARM, 16),
+	LEFT_HAND("body:left_hand", TrackerRole.LEFT_HAND, BodyPart.LEFT_HAND, 17),
+	RIGHT_HAND("body:right_hand", TrackerRole.RIGHT_HAND, BodyPart.RIGHT_HAND, 18),
+	LEFT_SHOULDER("body:left_shoulder", TrackerRole.LEFT_SHOULDER, BodyPart.LEFT_SHOULDER, 19),
+	RIGHT_SHOULDER("body:right_shoulder", TrackerRole.RIGHT_SHOULDER, BodyPart.RIGHT_SHOULDER, 20),
+	LEFT_THUMB_PROXIMAL("body:left_thumb_proximal", null, BodyPart.LEFT_THUMB_PROXIMAL, 21),
+	LEFT_THUMB_INTERMEDIATE("body:left_thumb_intermediate", null, BodyPart.LEFT_THUMB_INTERMEDIATE, 22),
+	LEFT_THUMB_DISTAL("body:left_thumb_distal", null, BodyPart.LEFT_THUMB_DISTAL, 23),
+	LEFT_INDEX_PROXIMAL("body:left_index_proximal", null, BodyPart.LEFT_INDEX_PROXIMAL, 24),
+	LEFT_INDEX_INTERMEDIATE("body:left_index_intermediate", null, BodyPart.LEFT_INDEX_INTERMEDIATE, 25),
+	LEFT_INDEX_DISTAL("body:left_index_distal", null, BodyPart.LEFT_INDEX_DISTAL, 26),
+	LEFT_MIDDLE_PROXIMAL("body:left_middle_proximal", null, BodyPart.LEFT_MIDDLE_PROXIMAL, 27),
+	LEFT_MIDDLE_INTERMEDIATE("body:left_middle_intermediate", null, BodyPart.LEFT_MIDDLE_INTERMEDIATE, 28),
+	LEFT_MIDDLE_DISTAL("body:left_middle_distal", null, BodyPart.LEFT_MIDDLE_DISTAL, 29),
+	LEFT_RING_PROXIMAL("body:left_ring_proximal", null, BodyPart.LEFT_RING_PROXIMAL, 30),
+	LEFT_RING_INTERMEDIATE("body:left_ring_intermediate", null, BodyPart.LEFT_RING_INTERMEDIATE, 31),
+	LEFT_RING_DISTAL("body:left_ring_distal", null, BodyPart.LEFT_RING_DISTAL, 32),
+	LEFT_LITTLE_PROXIMAL("body:left_little_proximal", null, BodyPart.LEFT_LITTLE_PROXIMAL, 33),
+	LEFT_LITTLE_INTERMEDIATE("body:left_little_intermediate", null, BodyPart.LEFT_LITTLE_INTERMEDIATE, 34),
+	LEFT_LITTLE_DISTAL("body:left_little_distal", null, BodyPart.LEFT_LITTLE_DISTAL, 35),
+	RIGHT_THUMB_PROXIMAL("body:right_thumb_proximal", null, BodyPart.RIGHT_THUMB_PROXIMAL, 36),
+	RIGHT_THUMB_INTERMEDIATE("body:right_thumb_intermediate", null, BodyPart.RIGHT_THUMB_INTERMEDIATE, 37),
+	RIGHT_THUMB_DISTAL("body:right_thumb_distal", null, BodyPart.RIGHT_THUMB_DISTAL, 38),
+	RIGHT_INDEX_PROXIMAL("body:right_index_proximal", null, BodyPart.RIGHT_INDEX_PROXIMAL, 39),
+	RIGHT_INDEX_INTERMEDIATE("body:right_index_intermediate", null, BodyPart.RIGHT_INDEX_INTERMEDIATE, 40),
+	RIGHT_INDEX_DISTAL("body:right_index_distal", null, BodyPart.RIGHT_INDEX_DISTAL, 41),
+	RIGHT_MIDDLE_PROXIMAL("body:right_middle_proximal", null, BodyPart.RIGHT_MIDDLE_PROXIMAL, 42),
+	RIGHT_MIDDLE_INTERMEDIATE("body:right_middle_intermediate", null, BodyPart.RIGHT_MIDDLE_INTERMEDIATE, 43),
+	RIGHT_MIDDLE_DISTAL("body:right_middle_distal", null, BodyPart.RIGHT_MIDDLE_DISTAL, 44),
+	RIGHT_RING_PROXIMAL("body:right_ring_proximal", null, BodyPart.RIGHT_RING_PROXIMAL, 45),
+	RIGHT_RING_INTERMEDIATE("body:right_ring_intermediate", null, BodyPart.RIGHT_RING_INTERMEDIATE, 46),
+	RIGHT_RING_DISTAL("body:right_ring_distal", null, BodyPart.RIGHT_RING_DISTAL, 47),
+	RIGHT_LITTLE_PROXIMAL("body:right_little_proximal", null, BodyPart.RIGHT_LITTLE_PROXIMAL, 48),
+	RIGHT_LITTLE_INTERMEDIATE("body:right_little_intermediate", null, BodyPart.RIGHT_LITTLE_INTERMEDIATE, 49),
+	RIGHT_LITTLE_DISTAL("body:right_little_distal", null, BodyPart.RIGHT_LITTLE_DISTAL, 50),
 	;
 
 	/**
 	 * Returns the default mounting orientation for the body part
 	 */
 	fun defaultMounting(): Quaternion = when (this) {
-		LEFT_LOWER_ARM, LEFT_HAND -> Quaternion.SLIMEVR.LEFT
-		RIGHT_LOWER_ARM, RIGHT_HAND -> Quaternion.SLIMEVR.RIGHT
+		LEFT_LOWER_ARM, LEFT_HAND,
+		LEFT_INDEX_PROXIMAL, LEFT_INDEX_INTERMEDIATE,
+		LEFT_INDEX_DISTAL, LEFT_MIDDLE_PROXIMAL,
+		LEFT_MIDDLE_INTERMEDIATE, LEFT_MIDDLE_DISTAL,
+		LEFT_RING_PROXIMAL, LEFT_RING_INTERMEDIATE,
+		LEFT_RING_DISTAL, LEFT_LITTLE_PROXIMAL,
+		LEFT_LITTLE_INTERMEDIATE, LEFT_LITTLE_DISTAL,
+		-> Quaternion.SLIMEVR.LEFT
+
+		RIGHT_LOWER_ARM, RIGHT_HAND,
+		RIGHT_INDEX_PROXIMAL, RIGHT_INDEX_INTERMEDIATE,
+		RIGHT_INDEX_DISTAL, RIGHT_MIDDLE_PROXIMAL,
+		RIGHT_MIDDLE_INTERMEDIATE, RIGHT_MIDDLE_DISTAL,
+		RIGHT_RING_PROXIMAL, RIGHT_RING_INTERMEDIATE,
+		RIGHT_RING_DISTAL, RIGHT_LITTLE_PROXIMAL,
+		RIGHT_LITTLE_INTERMEDIATE, RIGHT_LITTLE_DISTAL,
+		-> Quaternion.SLIMEVR.RIGHT
+
 		LEFT_UPPER_ARM, LEFT_LOWER_LEG -> Quaternion.SLIMEVR.FRONT_LEFT
+
 		RIGHT_UPPER_ARM, RIGHT_LOWER_LEG -> Quaternion.SLIMEVR.FRONT_RIGHT
+
 		else -> Quaternion.SLIMEVR.FRONT
 	}
 
@@ -56,6 +105,7 @@ enum class TrackerPosition(
 				this[position.bodyPart] = position
 			}
 		}
+		private val byId = entries.associateBy { it.id }
 		private val byDesignation = entries.associateBy { it.designation.lowercase() }
 		private val byTrackerRole = entries.filter { it.trackerRole != null }.associateBy { it.trackerRole!! }
 
@@ -82,5 +132,8 @@ enum class TrackerPosition(
 
 		@JvmStatic
 		fun getByBodyPart(bodyPart: Int): TrackerPosition? = byBodyPart[bodyPart]
+
+		@JvmStatic
+		fun getById(id: Int): TrackerPosition? = byId[id]
 	}
 }

server/core/src/main/java/dev/slimevr/tracking/trackers/TrackerResetsHandler.kt

@@ -7,6 +7,7 @@ import dev.slimevr.config.ArmsResetModes
 import dev.slimevr.config.DriftCompensationConfig
 import dev.slimevr.config.ResetsConfig
 import dev.slimevr.filtering.CircularArrayList
+import dev.slimevr.tracking.trackers.udp.TrackerDataType
 import io.eiren.math.FloatMath.animateEase
 import io.github.axisangles.ktmath.EulerAngles
 import io.github.axisangles.ktmath.EulerOrder
@@ -213,10 +214,19 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 * 0). This allows the tracker to be strapped to body at any pitch and roll.
 	 */
 	fun resetFull(reference: Quaternion) {
+		if (tracker.trackerDataType == TrackerDataType.FLEX_RESISTANCE) {
+			tracker.trackerFlexHandler.resetMin()
+			postProcessResetFull()
+			return
+		} else if (tracker.trackerDataType == TrackerDataType.FLEX_ANGLE) {
+			postProcessResetFull()
+			return
+		}
+
 		// Adjust for T-Pose (down)
-		tposeDownFix = if ((isLeftArmTracker() && armsResetMode == ArmsResetModes.TPOSE_DOWN)) {
+		tposeDownFix = if (((isLeftArmTracker() || isLeftFingerTracker()) && armsResetMode == ArmsResetModes.TPOSE_DOWN)) {
 			EulerAngles(EulerOrder.YZX, 0f, 0f, -FastMath.HALF_PI).toQuaternion()
-		} else if ((isRightArmTracker() && armsResetMode == ArmsResetModes.TPOSE_DOWN)) {
+		} else if (((isRightArmTracker() || isRightFingerTracker()) && armsResetMode == ArmsResetModes.TPOSE_DOWN)) {
 			EulerAngles(EulerOrder.YZX, 0f, 0f, FastMath.HALF_PI).toQuaternion()
 		} else {
 			Quaternion.IDENTITY
@@ -276,10 +286,16 @@ class TrackerResetsHandler(val tracker: Tracker) {
 
 		calculateDrift(oldRot)
 
+		postProcessResetFull()
+	}
+
+	private fun postProcessResetFull() {
 		if (this.tracker.lastResetStatus != 0u) {
 			VRServer.instance.statusSystem.removeStatus(this.tracker.lastResetStatus)
 			this.tracker.lastResetStatus = 0u
 		}
+
+		tracker.resetFilteringQuats()
 	}
 
 	/**
@@ -289,6 +305,12 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 * position should be corrected in the source.
 	 */
 	fun resetYaw(reference: Quaternion) {
+		if (tracker.trackerDataType == TrackerDataType.FLEX_RESISTANCE ||
+			tracker.trackerDataType == TrackerDataType.FLEX_ANGLE
+		) {
+			return
+		}
+
 		// Old rot for drift compensation
 		val oldRot = adjustToReference(tracker.getRawRotation())
 		lastResetQuaternion = oldRot
@@ -314,6 +336,8 @@ class TrackerResetsHandler(val tracker: Tracker) {
 			this.tracker.statusResetRecently = false
 			this.tracker.lastResetStatus = 0u
 		}
+
+		tracker.resetFilteringQuats()
 	}
 
 	/**
@@ -321,7 +345,15 @@ class TrackerResetsHandler(val tracker: Tracker) {
 	 * and stores it in mountRotFix, and adjusts yawFix
 	 */
 	fun resetMounting(reference: Quaternion) {
-		if (!resetMountingFeet && isFootTracker()) return
+		if (tracker.trackerDataType == TrackerDataType.FLEX_RESISTANCE) {
+			tracker.trackerFlexHandler.resetMax()
+			tracker.resetFilteringQuats()
+			return
+		} else if (tracker.trackerDataType == TrackerDataType.FLEX_ANGLE) {
+			return
+		} else if (!resetMountingFeet && isFootTracker()) {
+			return
+		}
 
 		// Get the current calibrated rotation
 		var rotBuf = adjustToDrift(tracker.getRawRotation() * mountingOrientation)
@@ -338,15 +370,17 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		// Calculate the yaw angle using tan
 		var yawAngle = atan2(rotVector.x, rotVector.z)
 
-		// Adjust for T-Pose
+		// Adjust for T-Pose and fingers
 		if ((isLeftArmTracker() && armsResetMode == ArmsResetModes.TPOSE_DOWN) ||
-			(isRightArmTracker() && armsResetMode == ArmsResetModes.TPOSE_UP)
+			(isRightArmTracker() && armsResetMode == ArmsResetModes.TPOSE_UP) ||
+			isLeftFingerTracker()
 		) {
 			// Tracker goes right
 			yawAngle -= FastMath.HALF_PI
 		}
 		if ((isLeftArmTracker() && armsResetMode == ArmsResetModes.TPOSE_UP) ||
-			(isRightArmTracker() && armsResetMode == ArmsResetModes.TPOSE_DOWN)
+			(isRightArmTracker() && armsResetMode == ArmsResetModes.TPOSE_DOWN) ||
+			isRightFingerTracker()
 		) {
 			// Tracker goes left
 			yawAngle += FastMath.HALF_PI
@@ -365,6 +399,8 @@ class TrackerResetsHandler(val tracker: Tracker) {
 
 		// save mounting reset
 		if (saveMountingReset) tracker.saveMountingResetOrientation(mountRotFix)
+
+		tracker.resetFilteringQuats()
 	}
 
 	fun clearMounting() {
@@ -573,4 +609,46 @@ class TrackerResetsHandler(val tracker: Tracker) {
 		}
 		return false
 	}
+
+	private fun isLeftFingerTracker(): Boolean {
+		tracker.trackerPosition?.let {
+			return it == TrackerPosition.LEFT_THUMB_PROXIMAL ||
+				it == TrackerPosition.LEFT_THUMB_INTERMEDIATE ||
+				it == TrackerPosition.LEFT_THUMB_DISTAL ||
+				it == TrackerPosition.LEFT_INDEX_PROXIMAL ||
+				it == TrackerPosition.LEFT_INDEX_INTERMEDIATE ||
+				it == TrackerPosition.LEFT_INDEX_DISTAL ||
+				it == TrackerPosition.LEFT_MIDDLE_PROXIMAL ||
+				it == TrackerPosition.LEFT_MIDDLE_INTERMEDIATE ||
+				it == TrackerPosition.LEFT_MIDDLE_DISTAL ||
+				it == TrackerPosition.LEFT_RING_PROXIMAL ||
+				it == TrackerPosition.LEFT_RING_INTERMEDIATE ||
+				it == TrackerPosition.LEFT_RING_DISTAL ||
+				it == TrackerPosition.LEFT_LITTLE_PROXIMAL ||
+				it == TrackerPosition.LEFT_LITTLE_INTERMEDIATE ||
+				it == TrackerPosition.LEFT_LITTLE_DISTAL
+		}
+		return false
+	}
+
+	private fun isRightFingerTracker(): Boolean {
+		tracker.trackerPosition?.let {
+			return it == TrackerPosition.RIGHT_THUMB_PROXIMAL ||
+				it == TrackerPosition.RIGHT_THUMB_INTERMEDIATE ||
+				it == TrackerPosition.RIGHT_THUMB_DISTAL ||
+				it == TrackerPosition.RIGHT_INDEX_PROXIMAL ||
+				it == TrackerPosition.RIGHT_INDEX_INTERMEDIATE ||
+				it == TrackerPosition.RIGHT_INDEX_DISTAL ||
+				it == TrackerPosition.RIGHT_MIDDLE_PROXIMAL ||
+				it == TrackerPosition.RIGHT_MIDDLE_INTERMEDIATE ||
+				it == TrackerPosition.RIGHT_MIDDLE_DISTAL ||
+				it == TrackerPosition.RIGHT_RING_PROXIMAL ||
+				it == TrackerPosition.RIGHT_RING_INTERMEDIATE ||
+				it == TrackerPosition.RIGHT_RING_DISTAL ||
+				it == TrackerPosition.RIGHT_LITTLE_PROXIMAL ||
+				it == TrackerPosition.RIGHT_LITTLE_INTERMEDIATE ||
+				it == TrackerPosition.RIGHT_LITTLE_DISTAL
+		}
+		return false
+	}
 }

server/core/src/main/java/dev/slimevr/tracking/trackers/udp/FirmwareConstants.kt

@@ -107,6 +107,22 @@ enum class MCUType(val id: UInt) {
 	}
 }
 
+enum class TrackerDataType(val id: UInt) {
+	ROTATION(0u),
+	FLEX_RESISTANCE(1u),
+	FLEX_ANGLE(2u),
+	;
+
+	fun getSolarType(): Int = this.id.toInt()
+
+	companion object {
+		private val byId = entries.associateBy { it.id }
+
+		@JvmStatic
+		fun getById(id: UInt): TrackerDataType? = byId[id]
+	}
+}
+
 @JvmInline
 value class ConfigTypeId(val v: UShort)
 

server/core/src/main/java/dev/slimevr/tracking/trackers/udp/TrackersUDPServer.kt

@@ -5,8 +5,7 @@ import dev.slimevr.NetworkProtocol
 import dev.slimevr.VRServer
 import dev.slimevr.config.config
 import dev.slimevr.protocol.rpc.MAG_TIMEOUT
-import dev.slimevr.tracking.trackers.Tracker
-import dev.slimevr.tracking.trackers.TrackerStatus
+import dev.slimevr.tracking.trackers.*
 import io.eiren.util.Util
 import io.eiren.util.collections.FastList
 import io.eiren.util.logging.LogManager
@@ -87,7 +86,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				ipAddress = addr
 				name = handshake.macString?.let { "udp://$it" }
 				descriptiveName = "udp:/$addr"
-				firmwareBuild = handshake.firmwareBuild
+				protocolVersion = handshake.protocolVersion
 				firmwareVersion = handshake.firmware
 				connectionsByAddress[address] = this
 
@@ -97,8 +96,8 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 						"""
 						[TrackerServer] Tracker $i handed over to address $socketAddr.
 						Board type: ${handshake.boardType},
-						imu type: ${handshake.imuType},
-						firmware: ${handshake.firmware} ($firmwareBuild),
+						firmware name: ${handshake.firmware},
+						protocol version: $protocolVersion,
 						mac: ${handshake.macString},
 						name: $name
 						""".trimIndent(),
@@ -111,7 +110,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				name = handshake.macString?.let { "udp://$it" }
 					?: "udp:/$addr"
 				descriptiveName = "udp:/$addr"
-				firmwareBuild = handshake.firmwareBuild
+				protocolVersion = handshake.protocolVersion
 				firmwareVersion = handshake.firmware
 				val i = connections.indexOf(this)
 				LogManager
@@ -119,8 +118,8 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 						"""
 						[TrackerServer] Tracker $i reconnected from address $socketAddr.
 						Board type: ${handshake.boardType},
-						imu type: ${handshake.imuType},
-						firmware: ${handshake.firmware} ($firmwareBuild),
+						firmware name: ${handshake.firmware},
+						protocol version: $protocolVersion,
 						mac: ${handshake.macString},
 						name: $name
 						""".trimIndent(),
@@ -137,7 +136,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				handshake.mcuType,
 			)
 			VRServer.instance.deviceManager.addDevice(connection)
-			connection.firmwareBuild = handshake.firmwareBuild
+			connection.protocolVersion = handshake.protocolVersion
 			connection.protocol = if (handshake.firmware?.isEmpty() == true) {
 				// Only old owoTrack doesn't report firmware and have different packet IDs with SlimeVR
 				NetworkProtocol.OWO_LEGACY
@@ -165,18 +164,18 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 						"""
 						[TrackerServer] Tracker $i connected from address $socketAddr.
 						Board type: ${handshake.boardType},
-						imu type: ${handshake.imuType},
-						firmware: ${handshake.firmware} (${connection.firmwareBuild}),
+						firmware name: ${handshake.firmware},
+						protocol version: ${connection.protocolVersion},
 						mac: ${handshake.macString},
 						name: ${connection.name}
 						""".trimIndent(),
 					)
 			}
-			if (connection.protocol == NetworkProtocol.OWO_LEGACY || connection.firmwareBuild < 9) {
+			if (connection.protocol == NetworkProtocol.OWO_LEGACY || connection.protocolVersion < 9) {
 				// Set up new sensor for older firmware.
 				// Firmware after 7 should send sensor status packet and sensor
 				// will be created when it's received
-				setUpSensor(connection, 0, handshake.imuType, 1, MagnetometerStatus.NOT_SUPPORTED)
+				setUpSensor(connection, 0, handshake.imuType, 1, MagnetometerStatus.NOT_SUPPORTED, null, TrackerDataType.ROTATION)
 			}
 			connection
 		}
@@ -188,7 +187,7 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 	}
 
 	private val mainScope = CoroutineScope(SupervisorJob())
-	private fun setUpSensor(connection: UDPDevice, trackerId: Int, sensorType: IMUType, sensorStatus: Int, magStatus: MagnetometerStatus) {
+	private fun setUpSensor(connection: UDPDevice, trackerId: Int, sensorType: IMUType, sensorStatus: Int, magStatus: MagnetometerStatus, trackerPosition: TrackerPosition?, trackerDataType: TrackerDataType) {
 		LogManager.info("[TrackerServer] Sensor $trackerId for ${connection.name} status: $sensorStatus")
 		var imuTracker = connection.getTracker(trackerId)
 		if (imuTracker == null) {
@@ -202,21 +201,22 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				VRServer.getNextLocalTrackerId(),
 				connection.name + "/" + trackerId,
 				"IMU Tracker $formattedHWID",
-				null,
+				trackerPosition,
 				trackerNum = trackerId,
 				hasRotation = true,
 				hasAcceleration = true,
 				userEditable = true,
-				imuType = sensorType,
+				imuType = if (trackerDataType == TrackerDataType.ROTATION) sensorType else null,
 				allowFiltering = true,
 				needsReset = true,
 				needsMounting = true,
 				usesTimeout = true,
 				magStatus = magStatus,
+				trackerDataType = trackerDataType,
 			)
 			connection.trackers[trackerId] = imuTracker
 			trackersConsumer.accept(imuTracker)
-			LogManager.info("[TrackerServer] Added sensor $trackerId for ${connection.name}, type $sensorType")
+			LogManager.info("[TrackerServer] Added sensor $trackerId for ${connection.name}, ImuType $sensorType, DataType $trackerDataType, default TrackerPosition $trackerPosition")
 		}
 		val status = UDPPacket15SensorInfo.getStatus(sensorStatus)
 		if (status != null) imuTracker.status = status
@@ -479,6 +479,8 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 					packet.sensorType,
 					packet.sensorStatus,
 					magStatus,
+					packet.trackerPosition, 
+					packet.trackerDataType,
 				)
 				// Send ack
 				bb.limit(bb.capacity())
@@ -561,6 +563,17 @@ class TrackersUDPServer(private val port: Int, name: String, private val tracker
 				LogManager.info("[TrackerServer] Acknowledged config change on ${connection.descriptiveName} (${trackers.map { it.trackerNum }.joinToString()}). Config changed on ${packet.configType}")
 			}
 
+			is UDPPacket26FlexData -> {
+				tracker = connection?.getTracker(packet.sensorId)
+				if (tracker == null) return
+				if (tracker.trackerDataType == TrackerDataType.FLEX_RESISTANCE) {
+					tracker.trackerFlexHandler.setFlexResistance(packet.flexData)
+				} else if (tracker.trackerDataType == TrackerDataType.FLEX_ANGLE) {
+					tracker.trackerFlexHandler.setFlexAngle(packet.flexData)
+				}
+				tracker.dataTick()
+			}
+
 			is UDPPacket200ProtocolChange -> {}
 		}
 	}

server/core/src/main/java/dev/slimevr/tracking/trackers/udp/UDPDevice.kt

@@ -48,7 +48,7 @@ class UDPDevice(
 	var protocol: NetworkProtocol? = null
 
 	@JvmField
-	var firmwareBuild = 0
+	var protocolVersion = 0
 
 	@JvmField
 	var timedOut = false

server/core/src/main/java/dev/slimevr/tracking/trackers/udp/UDPPacket.kt

@@ -1,5 +1,6 @@
 package dev.slimevr.tracking.trackers.udp
 
+import dev.slimevr.tracking.trackers.TrackerPosition
 import dev.slimevr.tracking.trackers.TrackerStatus
 import io.github.axisangles.ktmath.Quaternion
 import io.github.axisangles.ktmath.Vector3
@@ -95,7 +96,7 @@ data class UDPPacket3Handshake(
 	var boardType: BoardType = BoardType.UNKNOWN,
 	var imuType: IMUType = IMUType.UNKNOWN,
 	var mcuType: MCUType = MCUType.UNKNOWN,
-	var firmwareBuild: Int = 0,
+	var protocolVersion: Int = 0,
 	var firmware: String? = null,
 	var macString: String? = null,
 ) : UDPPacket(3) {
@@ -115,7 +116,7 @@ data class UDPPacket3Handshake(
 			buf.int
 			buf.int // IMU info
 		}
-		if (buf.remaining() > 3) firmwareBuild = buf.int
+		if (buf.remaining() > 3) protocolVersion = buf.int
 		var length = 0
 		if (buf.remaining() > 0) length = buf.get().toInt()
 		// firmware version length is 1 longer than
@@ -224,6 +225,8 @@ data class UDPPacket15SensorInfo(
 	var sensorStatus: Int = 0,
 	var sensorType: IMUType = IMUType.UNKNOWN,
 	var sensorConfig: SensorConfig? = null,
+	var trackerDataType: TrackerDataType = TrackerDataType.ROTATION,
+	var trackerPosition: TrackerPosition? = null,
 ) : UDPPacket(15),
 	SensorSpecificPacket {
 	override var sensorId = 0
@@ -231,12 +234,13 @@ data class UDPPacket15SensorInfo(
 		sensorId = buf.get().toInt() and 0xFF
 		sensorStatus = buf.get().toInt() and 0xFF
 		if (buf.remaining() > 0) {
-			sensorType =
-				IMUType.getById(buf.get().toUInt() and 0xFFu) ?: IMUType.UNKNOWN
+			sensorType = IMUType.getById(buf.get().toUInt() and 0xFFu) ?: IMUType.UNKNOWN
 		}
 		if (buf.remaining() > 1) {
 			sensorConfig = SensorConfig(buf.getShort().toUShort())
 		}
+		if (buf.remaining() > 0) trackerPosition = TrackerPosition.getById(buf.get().toInt() and 0xFF)
+		if (buf.remaining() > 0) trackerDataType = TrackerDataType.getById(buf.get().toUInt() and 0xFFu) ?: TrackerDataType.ROTATION
 	}
 
 	companion object {
@@ -378,6 +382,18 @@ data class UDPPacket25SetConfigFlag(
 	}
 }
 
+data class UDPPacket26FlexData(
+	var flexData: Float = 0f,
+) : UDPPacket(26),
+	SensorSpecificPacket {
+
+	override var sensorId = 0
+	override fun readData(buf: ByteBuffer) {
+		sensorId = buf.get().toInt() and 0xFF
+		flexData = UDPUtils.getSafeBufferFloat(buf)
+	}
+}
+
 data class UDPPacket200ProtocolChange(
 	var targetProtocol: Int = 0,
 	var targetProtocolVersion: Int = 0,

server/core/src/main/java/dev/slimevr/tracking/trackers/udp/UDPProtocolParser.kt

@@ -115,6 +115,7 @@ class UDPProtocolParser {
 		PACKET_USER_ACTION -> UDPPacket21UserAction()
 		PACKET_FEATURE_FLAGS -> UDPPacket22FeatureFlags()
 		PACKET_ACK_CONFIG_CHANGE -> UDPPacket24AckConfigChange()
+		PACKET_FLEX_DATA -> UDPPacket26FlexData()
 		PACKET_PROTOCOL_CHANGE -> UDPPacket200ProtocolChange()
 		else -> null
 	}
@@ -150,6 +151,7 @@ class UDPProtocolParser {
 		const val PACKET_ROTATION_AND_ACCELERATION = 23
 		const val PACKET_ACK_CONFIG_CHANGE = 24
 		const val PACKET_SET_CONFIG_FLAG = 25
+		const val PACKET_FLEX_DATA = 26
 		const val PACKET_BUNDLE = 100
 		const val PACKET_BUNDLE_COMPACT = 101
 		const val PACKET_PROTOCOL_CHANGE = 200