  We present an open-source library for seamless robot control through motion
capture using smartphones and smartwatches. Our library features three modes:
Watch Only Mode, enabling control with a single smartwatch; Upper Arm Mode,
offering heightened accuracy by incorporating the smartphone attached to the
upper arm; and Pocket Mode, determining body orientation via the smartphone
placed in any pocket. These modes are applied in two real-robot tasks,
showcasing placement accuracy within 2 cm compared to a gold-standard motion
capture system. WearMoCap stands as a suitable alternative to conventional
motion capture systems, particularly in environments where ubiquity is
essential. The library is available at: www.github.com/wearable-motion-capture.
