Robot VR Tools - An Introduction

The HTC Vive can be used to track and control the walking robot CASSIE. While controlling a CASSIE game or demo is a feature expected to be implemented in the future, the main focus right now is to use the HTC Vive coupled with the SteamVR software to track the position of the robot in the real world.

The vive quick start guide for linux can be found here.

Tracking

Using Valve's OpenVR SDK

Valve released the OpenVR SDK to allow development for the Vive in C/C++.

Work so far on using openvr is documented on this wiki page and mostly the OpenVR tracking example repository.

Unity's SteamVR plugin

By developing a Unity game that uses the SteamVR plugin, a virtual scene can be easily generated using Unity's builtin tools. In addition to easily accessing tracking data, a game in Unity could also be a quick way to make a demo or controller using virtual reality for the robot.

Work in Unity is documented on this wiki page.