HTC Vive Tracker Instruction Manual

HTC Vive Tracker
Developer Guidelines
Ver. 1.5

Version Control
Version Number Version Date Version Reason
1.0 2016.09.26 Initial version
1.1 2016.12.05
1. Use case image revised.
2. Pogo pin rearranged.
3. USB cable connection method deleted.
4. Data format revised.
1.2 2017.01.09 1. SteamVR monitor images revised.
1.3 2017.01.19 1. Design of Pogo Pin Pad revised.
2. Firmware upgrade revised.
1.4 2017.05.08
1. Docking revised.
2. Data format revised.
3. Tracker on Unity or Unreal added.
4. FAQ added.
1.5 2017.07.17 1. Low pass filter (LPS) configuration
added.
©2016-2017 HTC Corporation. All Rights Reserved. HTC, the HTC logo, Vive, the Vive logo,
and all other HTC product and services names are the trademarks or registered trademarks of
HTC Corporation and its affiliates in the U.S. and other countries.

Contents
Introduction ................................................................................................................................ 1
Use cases .............................................................................................................................. 1
Hardware requirements ............................................................................................................. 2
Interface ................................................................................................................................. 4
Radio frequency (RF) ............................................................................................................. 5
Power ..................................................................................................................................... 6
Optics ..................................................................................................................................... 6
Docking .................................................................................................................................. 7
Docking embodiments .................................................................................................................... 7
Mechanical considerations ...................................................................................................... 11
Apparel size ......................................................................................................................... 12
Main feature ......................................................................................................................... 13
Docking mechanism ............................................................................................................. 14
Docking with standard tripod cradle head (w/o electric connection) .............................................. 14
Docking with side tightening wheel (w/ electric connection if needed) ........................................... 14
Accessory design ................................................................................................................. 15
Design of Pogo Pin Pad ................................................................................................................ 16
Coordinate system ............................................................................................................... 17
Software components .............................................................................................................. 24
System requirements ........................................................................................................... 24
Data format .......................................................................................................................... 26
Accessory integration ........................................................................................................... 29
Unity integration ................................................................................................................. 333
Tracker on Unity or Unreal ................................................................................................... 40
Firmware upgrade ................................................................................................................ 41
FAQ ......................................................................................................................................... 42

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Introduction
This document describes the development guidelines for VR accessory makers and content
developers. It contains information on how to use the HTC Vive Tracker to enable position
tracking and transmission of specific data (with or without the HTC Vive VR system).
Vive Tracker can pair with HTC’s wireless dongle or use its USB interface to transfer tracking
data to a PC. An accessory attached to Vive Tracker can:
 Simulate buttons of the Vive controller through the underlying Pogo pin.
 Send specific data to a PC via the USB interface of Vive Tracker or use its original
approach to do it.
Use cases
There are five use cases supported by Vive Tracker.
Use Case 1: Track passive objects with a USB cable in VR. In this case, the dongle is not
used, and Vive Tracker connects with a PC by USB directly to transfer tracking data.
Figure: Use case 1 of Vive Tracker
Use Case 2: Track passive objects using a USB cable interface in VR, with the accessory
passing data to a PC through USB, BT/Wi-Fi or propriety RF. This case is similar to Use Case
1, but the accessory transfers data to PC directly for a specific purpose based on its design.
Figure: Use case 2 of Vive Tracker

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Use Case 3: Track moving objects by wireless interface in VR. In this case, the dongle is used
to transfer tracking data from the Vive Tracker to a PC.
Figure: Use case 3 of Vive Tracker
Use Case 4: Track moving objects using a wireless interface in VR, with the accessory
passing data to a PC via USB, BT/Wi-Fi or propriety RF. This case is similar to Use Case 3,
but the accessory transfers data to/from a PC directly for a specific purpose based on its
design.
Figure: Use case 4 of Vive Tracker
Use Case 5: Track moving objects using a wireless interface in VR, with the accessory
simulating buttons of the Vive controller or passing data to a PC via the Vive Tracker. This
case is similar to Use Case 3, but the accessory connects with the Vive Tracker to transfer
data to/from a PC by Pogo pin or USB interface.
Figure: Use case 5 of Vive Tracker
Hardware requirements

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This section describes hardware requirements for accessories used with the Vive Tracker in
order to enable position tracking and input of specific data for the HTC Vive VR system.
A compatible accessory may be attached to the Vive Tracker to send specific data to a PC
through the USB interface of the Vive Tracker. The Vive Tracker needs to pair with the dongle
to transfer data to a PC. The figure below describes the conceptual architecture.
Figure: Conceptual Architecture of Vive Tracker
Accessory
Vive
Tracker Dongle PC
USB
USB
Wireless

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Interface
USB 2.0 full speed (client) from micro USB connector.
Absolute Maximum Rating
Symbol Parameter Min Max Unit
V
I
Input voltage - 0.5 3.6 V
V
ESD
Electrostatic discharge voltage , Human Body Model -- 4000 V
Electrical Characteristics (Supply voltage VDD = 3.3 V)
Symbol Parameter Min Typ Max Unit
V
OH
High-level output voltage VDD - 0.4 -- -- V
V
OL
Low-level output voltage -- -- 0.4 V
V
IH
High-level input voltage 0.7VDD -- -- V
V
IL
Low-level input voltage -- -- 0.3VDD V
I
OH
High-level output current 20 -- -- mA
I
OL
Low-level output current 4 -- -- mA
I
IH
High-level input current -- 0.5 10 nA
I
IL
Low-level input current -- 0.5 10 nA

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Radio frequency (RF)
To establish a stable wireless connection between the Vive Tracker and the dongle, the OTA
performance of Vive Tracker cannot downgrade to more than 3dB when an accessory is
attached to the Vive Tracker.
The following are recommendations for better RF performance:
Except for essential parts, such as the 1/4’’ screw, electric connection pad (which connects
with the Pogo pin), and related circuits of the electric connection pad, metal parts of the
accessory should keep at least 30mm distance away from the antenna to avoid OTA
performance reduction when the accessory is attached to Vive Tracker.
The figure below illustrates the “keep out” area where only nonmetallic parts of the accessory
should be inside (spherical radius=30mm and the center is antenna feed point).
Figure: Restricted Area of Antenna

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Power
Note
AC: D+ short to D-
PC: D+/D- communication
Table: Micro USB connector and Pogo pin indication
Optics
The field of view (FOV) of Vive Tracker is 270 degrees. Avoid placing the structure within the
view angle, since it will block responses from Vive Tracker sensors when placed in that
direction.
If the docking part extends beyond the recommended placing cone, extra views will be
blocked.
Figure: Docking part extends beyond recommended placing cone
M icro U S B connector V oltage requirem ent M ax charging current M ax charging tim e
AC 1000 m A 1.5 hrs
PC 500 m A 3 hrs
P ogo pin 3 Voltage requirem ent M ax charging current M ax charging tim e
PC 5V+/-5% 500 m A 3 hrs
5V+/-5%

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Docking
The following are requirements for docking compatibility:
a. The docking design of Vive Tracker follows the ISO standard (ISO 1222:2010).
Furthermore, Vive Tracker has constraining features, such as the longer screw cannot
fasten all the way in.
b. The user should be able to easily attach and detach Vive Tracker with two hands.
One hand holds Vive Tracker, and the other one holds the accessory.
c. The user should not be at risk of physical harm while attaching or detaching Vive
Tracker.
d. The user should be comfortable while attaching and detaching Vive Tracker.
e. The accessory attached with Vive Tracker should be in the shape of a physical object
to avoid hitting during operating.
f. Vive Tracker should not be blocked by the accessory and affect the tracking
performance.
g. It is strongly recommended that the accessory uses low reflection material for its outer
skin to avoid reflection interference with the tracking sensors, especially if the
accessory needs to be placed within the tracking sensors' FOV area.
Docking embodiments
Gun

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Sword
It is recommended to design the mounting mechanism close to the hand-held area, and set up
the length in the VR program.
Multi-purpose docking base
Users are able to attach the Vive Tracker to any object/surface that is intended to be tracked.
 If the object/surface is smooth and stiff, it is recommended to use stronger adhesive
tape for attaching the docking base to the specific object/surface (ex. 3M VHB tape).
 If the object/surface is rough and soft, it is recommended to use a strap for tightening
the docking base to the specific object/surface.

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Improper Vive Tracker placement may cause the accessory body to obstruct the tracking
performance. The mounting distance between tracking FOV and the related accessory size is
shown below:

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No tracking area
Recommended area to put docking
mechanism
270 degree tracking FOV

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Mechanical considerations
This section describes the mechanical considerations for developers to build various
accessories that are compatible to fit or mount with the Vive Tracker.
Figure: Vive Tracker

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Apparel size
Figure: Vive Tracker with different angle
The overall size of the Vive Tracker is Ф99.65mm * 42.27mm (H).

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Main feature
Figure: Main features
1. LED Indicator: Shows the status of Vive Tracker.
2. Power Button: Used for powering on/off, BLE pairing, etc.
3. Sensor: Receives signals from the base stations. The VR system uses the received signals
for computing the current location of Vive Tracker. Accessory should minimize surface
reflection (e.g. avoid white color surface) since it may cause faulty signal and affect
performance. Anti-reflection painting is preferred.
4. Docking Mechanism: Standard camera tripod docking method is used which is comprised
of:
4.1 1/4” Screw nut to fasten the accessory.
4.2 Stabilizing pin recess for constraining the tracking from rotation.
4.3 Pogo pin port (spring contact-type) for optional electrical connection to the accessory.
4.4 Friction pad for providing steady friction between the accessory and Vive Tracker.
5. USB Port: Used for electrical connection to the accessory through a micro USB cable.
3. Sensors
1. LED Indicator
2. Power Button
5. USB Port
4.3 Pogo Pin
(6 pins)
4.1 Standard Camera Mount
(1/4” Screw Nut)
4.2 Stabilizing Pin Recess
4.4 Friction Pad

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Docking mechanism
Vive Tracker applies the general camera tripod docking method, which follows ISO standards
(ISO 1222:2010).
The following are the schematic drawings of how the accessory will mount to the Vive Tracker.
Docking with standard tripod cradle head (w/o electric connection)
Figure: Docking with standard tripod cradle
Vive Tracker can be mounted on the cradle head first, and then attached to the main body of
the accessory (similar to how a camera is mounted on a tripod).
1/4
”
Bolt
Stabilizing Pin
Friction Pad

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Docking with side tightening wheel (w/ electric connection if needed)
Figure: Docking with side tightening wheel
In this example, the mechanical method allows developers to tighten the docking screw
through the side spinning wheel. It is recommended that the spinning wheel should have a
larger diameter (25 mm or greater) for better operation.
This example is able to use the Pogo pin for extending the electric connection to somewhere
else.
1/4” Bolt
Stabilizing Pin
Friction
Pad
Spinning
Wheel
Pogo Pin Pad
(Optional)
Electric
Connection Pad
(Optional)

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Accessory design
Below are the different accessory mechanisms, following ISO standards:
 1/4” bolt design
Please refer to ISO 1222-2010, Figure 1 on page 1.
 Stabilizing pin design
Vive Tracker leverages the design from ISO 1222-2010, Figure 5 on page 3. For details
on dimensions and tolerances, please refer to pages 13-17. It is suggested to apply the
Stabilizing Pin for better tracking performance.
 Screw thread design
The screw thread type that applies to Vive Tracker is 1/4” screw with 1.27 mm pitch. For
detailed information, please refer to ISO 1222-2010, pages 3-5.

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Design of Pogo Pin Pad
a. Pin definition (Vive Tracker)