Various implementations disclosed herein include devices, systems, and methods for generating body pose information for a person in a physical environment. In various implementations, a device includes an environmental sensor, a non-transitory memory and one or more processors coupled with the environmental sensor and the non-transitory memory. In some implementations, a method includes obtaining, via the environmental sensor, spatial data corresponding to a physical environment. The physical environment includes a person and a fixed spatial point. The method includes identifying a portion of the spatial data that corresponds to a body portion of the person. In some implementations, the method includes determining a position of the body portion relative to the fixed spatial point based on the portion of the spatial data. In some implementations, the method includes generating pose information for the person based on the position of body portion in relation to the fixed spatial point.