HTC Vive Tracker Instruction Manual

HTC Vive Tracker
Developer Guidelines
Ver. 1.3

Version Control
Version Number Version Date Version Reason
1.0
20
1
6.0
9.26
Initial version
1.1 2016.12.05
1. Use case image revised.
2. Pogo in rearranged.
3. USB cable connection method deleted.
4. Data format revised.
1.2
2017.
0
1.
0
9
1. SteamVR
monitor
images revised
.
1.3 2017.01.19 1. Design of Pogo Pin Pad revised.
2. Firmware u grade revised.
©2016-2017 HTC Cor oration. All Rights Reserved. HTC, the HTC logo, Vive, the Vive logo,
and all other HTC roduct and services names are the trademarks or registered trademarks of
HTC Cor oration and its affiliates in the U.S. and other countries.

Contents
Introduction .................................................................................................................................... 1
Use cases .................................................................................................................................... 1
Hardware requirements ................................................................................................................. 3
Interface ...................................................................................................................................... 4
Radio frequency (RF) .................................................................................................................. 5
Power .......................................................................................................................................... 6
O tics ......................................................................................................................................... 6
Docking ....................................................................................................................................... 7
Docking embodiments ......................................................................................................................... 7
Mechanical considerations .......................................................................................................... 10
A arel size .............................................................................................................................. 11
Main feature ............................................................................................................................. 12
Docking mechanism ................................................................................................................. 13
Docking with standard tri od cradle head (w/o electric connection) ................................................ 13
Docking with side tightening wheel (w/ electric connection if needed) ............................................. 14
Accessory design ..................................................................................................................... 15
Design of Pogo Pin Pad ..................................................................................................................... 16
Coordinate system ................................................................................................................... 16
Software com onents .................................................................................................................. 23
System requirements ............................................................................................................... 23
Data format ............................................................................................................................... 25
Accessory integration ............................................................................................................... 27
Unity integration ....................................................................................................................... 31
Firmware u grade .................................................................................................................... 39

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Introduction
This document describes the develo ment guidelines for VR accessory makers and content
develo ers. It contains information on how to use the HTC Vive Tracker to enable osition
tracking and transmission of s ecific data (with or without the HTC Vive VR system).
Vive Tracker can air 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 in.
•Send s ecific data to a PC via the USB interface of Vive Tracker or use its original
a roach to do it.
Use cases
There are five use cases su orted by Vive Tracker.
Use Case 1:
Use Case 1:Use Case 1:
Use Case 1: Track assive 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:
Use Case 2: Use Case 2:
Use Case 2: Track assive objects using a USB cable interface in VR, with the accessory
assing data to a PC through USB, BT/Wi-Fi or ro riety RF. This case is similar to Use Case 1,
but the accessory transfers data to PC directly for a s ecific ur ose based on its design.
Figure: Use case 2 of Vive Tracker

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Use Case 3:
Use Case 3:Use Case 3:
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:
Use Case 4:Use Case 4:
Use Case 4: Track moving objects using a wireless interface in VR, with the accessory assing
data to a PC via USB, BT/Wi-Fi or ro riety RF. This case is similar to Use Case 3, but the
accessory transfers data to/from a PC directly for a s ecific ur ose based on its design.
Figure: Use case 4 of Vive Tracker
Use Case 5:
Use Case 5:Use Case 5:
Use Case 5: Track moving objects using a wireless interface in VR, with the accessory
simulating buttons of the Vive controller or assing 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 in or USB interface.
Figure: Use case 5 of Vive Tracker

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Hardware requirements
This section describes hardware requirements for accessories used with the Vive Tracker in
order to enable osition tracking and in ut of s ecific data for the HTC Vive VR system.
A com atible accessory may be attached to the Vive Tracker to send s ecific data to a PC
through the USB interface of the Vive Tracker. The Vive Tracker needs to air with the dongle to
transfer data to a PC. The figure below describes the conce tual architecture.
Figure: Conce tual Architecture of Vive Tracker
Accessory
Vive
Tracker Dongle PC
USB
USB
Wireless

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Interface
USB 2.0 full s eed (client) from micro USB connector.
Absolute Maximum Rating
Absolute Maximum RatingAbsolute Maximum Rating
Absolute Maximum Rating
Symbol Parameter Min Max Unit
V
I
In ut voltage - 0.5 3.6 V
V
ESD
Electrostatic discharge voltage , Human Body Model -- 4000 V
Electrical Characteristics
Electrical CharacteristicsElectrical Characteristics
Electrical Characteristics (
((
(S
SS
Su ly voltage VDD = 3.3 V
u ly voltage VDD = 3.3 Vu ly voltage VDD = 3.3 V
u ly voltage VDD = 3.3 V)
))
)
Symbol Parameter Min Ty Max Unit
V
OH
High-level out ut voltage VDD - 0.4 -- -- V
V
OL
Low-level out ut voltage -- -- 0.4 V
V
IH
High-level in ut voltage 0.7VDD -- -- V
V
IL
Low-level in ut voltage -- -- 0.3VDD V
I
OH
High-level out ut current 20 -- -- mA
I
OL
Low-level out ut current 4 -- -- mA
I
IH
High-level in ut current -- 0.5 10 nA
I
IL
Low-level in ut current -- 0.5 10 nA

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adio frequency ( F)
To establish a stable wireless connection between the Vive Tracker and the dongle, the OTA
erformance 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 erformance:
Exce t essential arts, such as the 1/4’’ screw, electric connection ad (which connects with
the Pogo in), and related circuits of the electric connection ad, metal arts of the accessory
should kee at least 30mm distance away from the antenna to avoid OTA erformance
reduction when the accessory is attached to Vive Tracker.
The figure below illustrates the “kee out” area where only nonmetallic arts of the accessory
should be inside (s herical radius=30mm and the center is antenna feed oint).
Figure: Restricted Area of Antenna

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Power
Note
NoteNote
Note
AC: D+ short to D-
PC: D+/D- communication
Table: Micro USB connector and Pogo in indication
Optics
The field of view (FOV) of Vive Tracker is 270 degrees. Avoid lacing the structure within the
view angle, since it will block res onses from Vive Tracker sensors when laced in that
direction.
If docking art extends beyond the recommended lacing cone, extra views will be blocked.
Figure: Docking art extends beyond recommended lacing cone
Micro USB connector
Micro USB connectorMicro USB connector
Micro USB connector Voltage requirement
Voltage requirementVoltage requirement
Voltage requirement Max charging current
Max charging currentMax charging current
Max charging current Max charging time
Max charging timeMax charging time
Max charging time
AC 1000 mA 1.5 hrs
PC 500 mA 3 hrs
Pogo in 3
Pogo in 3Pogo in 3
Pogo in 3 Voltage requirement
Voltage requirementVoltage requirement
Voltage requirement Max charging current
Max charging currentMax charging current
Max charging current Max charging time
Max charging timeMax charging time
Max charging time
PC 5V+/-5% 500 mA 3 hrs
5V+/-5%

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Docking
The following are requirements for docking com atibility:
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 the tracker, and the other one holds the accessory.
c. The user should not be hysically harmed while attaching or detaching the tracker.
d. The user should be comfortable while attaching and detaching the tracker.
e. The form the accessory attached with the tracker should consist of the sha e of the
hysical object to avoid hitting during o erating.
f. The tracker should not be blocked by the accessory and affect the tracking
erformance.
g. The outer skin of the accessory must be low reflecting to avoid o tical erformance
influence.
Docking embodiments
Gun
GunGun
Gun

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Sword
SwordSword
Sword
It is recommended to design the mounting mechanism close to the hand-held area, and set u
the length in the VR rogram.
Multi
MultiMulti
Multi-
--
- ur ose
ur ose ur ose
ur ose d
dd
docking
ocking ocking
ocking b
bb
base
asease
ase
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
ta e for attaching the docking base to the s ecific object/surface (ex. 3M VHB ta e).
If the object/surface is rough and soft, it is recommended to use a stra for tightening
the docking base to the s ecific object/surface.

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Im ro er Vive Tracker lacement may cause the accessory body to obstruct the tracking
erformance. The mounting distance between tracking FOV and the related accessory size is
shown below:
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 develo ers to build various
accessories that are com atible 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
LED LED
LED Indicator
IndicatorIndicator
Indicator: Shows the status of Vive Tracker.
2. Power
Power Power
Power B
BB
Button
uttonutton
utton: Used for owering on/off, BLE airing, etc.
3. Sensor
SensorSensor
Sensor: Receives signals from Base Stations. The VR system uses the received signals for
com uting 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
erformance. Anti-reflection ainting is referred.
4. Docking
Docking Docking
Docking M
MM
Mechanism
echanismechanism
echanism: Standard camera tri od docking method is used which is com rised
of:
4.1 1/4” Screw nut to fasten the accessory.
4.2 Stabilizing in recess for constraining the tracking from rotation.
4.3 Pogo in ort (s ring contact-ty e) for o tional electrical connection to the accessory.
4.4 Friction ad for roviding steady friction between the accessory and Vive Tracker.
5. USB
USB USB
USB P
PP
Port
ortort
ort: 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 ins)
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 a lies the general camera tri od 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 tri od 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 tri od).
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 exam le, the mechanical method allows develo ers to tighten the docking screw through
the side s inning wheel. It is recommended that the s inning wheel should have a larger
diameter (25 mm or greater) for better o eration.
This exam le is able to use the Pogo in for extending the electric connection to somewhere
else.
1/4
”
Bolt
Stabilizing Pin
Friction
Pad
S inning
Wheel
Pogo Pin Pad
(O tional)
Electric
Connection Pad
(O tional)

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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 age 1.
• Stabilizing in design
Vive Tracker leverages the design from ISO 1222-2010, Figure 5 on age 3. For details
on dimensions and tolerances, lease refer to ages 13-17. It is suggested to a ly the
Stabilizing Pin for better tracking erformance .
• Screw thread design
The screw thread ty e that a lies to Vive Tracker is 1/4” screw with 1.27 mm itch. For
detailed information, lease refer to ISO 1222-2010, ages 3-5.

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

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b. Pogo Pin Pad reference design
Electrical