HTC VIVE Tracker 3.0 Instruction Manual

Version no.
Release date
Content
1.0
2021.01.18
Initial public version for VIVE Tracker (3.0)
© 2021 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.

Introduction.................................................................................................................................1
Use cases ............................................................................................................................................ 1
Hardware requirements ..............................................................................................................3
Interface............................................................................................................................................... 3
Radio frequency (RF)........................................................................................................................... 4
Power................................................................................................................................................... 5
Optics................................................................................................................................................... 5
Docking................................................................................................................................................ 6
Mechanical considerations ........................................................................................................9
Apparel size ......................................................................................................................................... 9
Main feature....................................................................................................................................... 10
Docking mechanism.......................................................................................................................... 11
Damping mechanism ........................................................................................................................ 12
Accessory design .............................................................................................................................. 13
Coordinate system ............................................................................................................................ 18
Software components ............................................................................................................. 20
System requirements ........................................................................................................................ 20
Data formats...................................................................................................................................... 21
Accessory integration ....................................................................................................................... 24
Unity integration................................................................................................................................ 28
VIVE Trackers and VIVE Roles........................................................................................................... 40
Tracker on Unity or Unreal ................................................................................................................ 42
Firmware upgrade ............................................................................................................................. 42

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
1 HTC Confidential and Proprietary
This document describes the development guidelines for VR accessory makers and content
developers. It contains information on how to use the VIVE Tracker (3.0) to enable positional
tracking and transmission of specific data (with or without the HTC VIVE VR system).
VIVE Tracker (3.0) 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 (3.0) can:
Simulate buttons of the VIVE Controller through the underlying Pogo pin port.
Send specific data to a PC through the USB interface of VIVE Tracker (3.0).
There are five use cases supported by VIVE Tracker (3.0).
Use Case 1: Track passive objects through USB interface in VR. In this case, the dongle is not
used. VIVE Tracker (3.0) is connected to the PC through USB to directly transfer tracking data.
Use Case 2: Track passive objects through USB interface in VR, with the accessory passing
data to a PC through USB, BT/Wi-Fi or propriety RF. This is similar to Use Case 1 but the
accessory directly transfers the tracking data to a PC for a specific purpose based on its
design.

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
2 HTC Confidential and Proprietary
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 (3.0) to a PC.
Use Case 4: Track moving objects using a wireless interface in VR, with the accessory
passing data to a PC through USB, BT/Wi-Fi or propriety RF. This is similar to Use Case 3 but
the accessory directly transfer the tracking data to/from a PC for a specific purpose based on
its design.
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 through the VIVE Tracker
(3.0). This is similar to Use Case 3 but the accessory connects with the VIVE Tracker (3.0) to
transfer a button event to a PC through the Pogo pins or USB interface.

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
3 HTC Confidential and Proprietary
This section describes hardware requirements for accessories used with the VIVE Tracker
(3.0) in order to enable positional tracking and input of specific data for the HTC VIVE VR
system.
A compatible accessory can be attached to the VIVE Tracker (3.0) to send specific data to a
PC through the USB interface of the VIVE Tracker (3.0). The VIVE Tracker (3.0) needs to be
paired with the dongle first to be able to transfer an event to a PC. The figure below describes
the conceptual architecture.
USB 2.0 full speed (client) from USB Type-C connector.
GPIO Pin Absolute Maximum Rating
Symbol
Parameter
Min
Max
Unit
VI
Input voltage
- 0.3
3.6
V
VESD
Electrostatic discharge voltage , Human Body Model
--
4000
V
Accessor
y
VIVE
Tracker
Dongle PC
USB
USB
Wireless

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
4 HTC Confidential and Proprietary
GPIO Pin Electrical Characteristics (Supply voltage VDD = 3.3 V)
Symbol
Parameter
Min
Typ
Max
Unit
VOH
High-level output voltage
VDD - 0.4
--
--
V
VOL
Low-level output voltage
--
--
0.4
V
VIH
High-level input voltage
0.7VDD
--
--
V
VIL
Low-level input voltage
--
--
0.3VDD
V
IOH
High-level output current
--
2
mA
IOL
Low-level output current
--
2
mA
IIH
High-level input current
-1
0.5
1
nA
IIL
Low-level input current
-1
0.5
1
nA
To establish a stable wireless connection between the VIVE Tracker (3.0) and the dongle, the
OTA performance of VIVE Tracker (3.0) cannot degrade to more than 3dB when an accessory
is attached to the VIVE Tracker (3.0).
The following are recommendations for better RF performance.
.
Figure: Illustrates the “keep out” area where only nonmetallic parts of the accessory should be inside (spherical
radius = 30 mm with the center being the antenna feed point)

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
5 HTC Confidential and Proprietary
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 be separated from the antenna by at least 30mm to prevent OTA
performance reduction when the accessory is attached to VIVE Tracker (3.0).
USB-C Connector
Voltage requirement
Max. Charging current
Charging time (approx.)
AC
5V+/-5%
700 mA
2 hrs
PC
500 mA
3 hrs
Pogo Pin 3
Voltage requirement
Max. Charging current
Charging time (approx.)
PC
5V+/-5%
500 mA
3 hrs
Note
AC: D+ short to D-
PC: D+/D- communication
The field of view (FOV) of VIVE Tracker (3.0) is 240 degrees. Avoid obstructing the FOV of
VIVE Tracker (3.0) as this will block responses from the tracker sensors.
If the parts of the docking extend beyond the recommended placement cone, additional views
will be blocked.
Figure: Part of dock extend beyond recommended placement cone

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
6 HTC Confidential and Proprietary
Requirements for docking compatibility:
a. The docking design of VIVE Tracker (3.0) follows the ISO standard (ISO 1222:2010).
Furthermore, VIVE Tracker (3.0) has some constraints such as the longer screws
cannot be screwed all the way in.
b. The user should be able to easily attach and detach VIVE Tracker (3.0) with two
hands. One hand holds VIVE Tracker (3.0), and the other hand holds the accessory.
c. The user should not be at risk of physical harm while attaching or detaching VIVE
Tracker (3.0).
d. The user should be comfortable while attaching and detaching VIVE Tracker (3.0).
e. The accessory attached with VIVE Tracker (3.0) should be in the shape of a physical
object to avoid hitting it while in use.
f. VIVE Tracker (3.0) should not be blocked by the accessory and affect the tracking
performance.
g. It is strongly recommended that the accessory uses low reflection materials for its
outer skin to avoid reflective interference with the tracking sensors, especially if the
accessory needs to be placed inside the FOV of VIVE Tracker (3.0).
Gun

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
7 HTC Confidential and Proprietary
Sword
It is recommended to place the mounting mechanism close to where the sword is held. Also,
it is recommended to set the sword length in the VR applications.
Multi-purpose docking base
Users can attach VIVE Tracker (3.0) to any object/surface that is intended to be tracked.
If the object/surface is smooth and stiff, it is recommended to use a strong adhesive
tape for attaching the docking base to the 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 object/surface.

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
8 HTC Confidential and Proprietary
Improper placement of VIVE Tracker (3.0) may cause a part of the accessory to block the FOV
of tracker and therefore affect the tracking performance. The mounting distance between
tracking FOV and the related accessory size is shown below:
Area not tracked
Recommended area to put docking
mechanism
240 degree tracking FOV

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
9 HTC Confidential and Proprietary
This section describes the mechanical considerations for developers to build various
accessories that are compatible to fit or mount with the VIVE Tracker (3.0).
Different angles of VIVE Tracker (3.0)
Dimension: 79.0mm (L) x 70.9mm (W) x 44.1mm (H)
Weight: 75g

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
10 HTC Confidential and Proprietary
1. LED Indicator: Shows the status of VIVE Tracker (3.0).
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 (3.0). Accessories should minimize
surface reflection (e.g. avoid white) since it may cause faulty signal and affect
performance. Anti-reflective painting is recommended.
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 tracker from rotating.
4.3 Pogo pin port (spring contact-type) for optional electrical connection to the
accessory.
4.4 Friction pad to provide a surface with friction between the accessory and VIVE
Tracker (3.0)
5. USB Port: Used for electrical connection to the accessory through a USB Type-C 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

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
11 HTC Confidential and Proprietary
VIVE Tracker (3.0) applies the general camera tripod docking method, which follows ISO
standards (ISO 1222:2010).
The following are the schematic drawings of how Tracker (3.0) can mount on an accessory.
VIVE Tracker (3.0) 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

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
12 HTC Confidential and Proprietary
During research and actual usage, it has been observed that continuous vibration in VIVE
Tracker (3.0) will affect the IMU performance, causing noticeable IMU drift. To address this, it
is suggested to use a damping system with the docking mechanism. The illustration below is
a reference for how existing damping rubbers (purchased as a drone accessory) can serve
this purpose.
When considering the vibration scales that the VR content plans to adopt, among the
factors that can be adjusted are the durometer of the damper rubber, the mounting
distance/position, and the usage of damper rubbers.
Docking Mechanism
Damper rubbers (*n)
Features on Accessory

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
13 HTC Confidential and Proprietary
Below are the different accessory mechanisms that follow ISO standards:
1/4” bolt design
Please refer to ISO 1222-2010, Figure 1 on page 1.
Stabilizing pin design
VIVE Tracker (3.0) 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 VIVE Tracker (3.0) uses 1/4” screw with 1.27 mm pitch. For
detailed information, please refer to ISO 1222-2010, pages 3-5.
a. Pin definition of VIVE Tracker (3.0)

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
14 HTC Confidential and Proprietary
b. Pogo Pin reference design
Electrical
Pin
no.
Type
Description
1
Digital output
General purpose output pin
2
GND
Ground
3
Digital/Power
input
1. General purpose input pin: Internal pull
up resistor to VDD, Active -low (Grip
button)
2. Power input pin
4
Digital input
General purpose input pin: Internal pull up
resistor to VDD, Active -low (Trigger button)
5
Digital input
General purpose input pin: Internal pull up
resistor to VDD, Active -low (Trackpad
button)
6
Digital input
General purpose input pin: Internal pull up
resistor to VDD, Active -low (Menu button)

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
15 HTC Confidential and Proprietary
Mechanical

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
16 HTC Confidential and Proprietary

VIVE Tracker (3.0)
HTC Corporation
Developer Guidelines
V1.0
12/16/2020
17 HTC Confidential and Proprietary