Berkeley Humanoid Lite Docs
  • Home
  • Releases
  • Getting Started with Hardware
    • Materials and Parts (BOM)
    • Preparing the Tools
    • 3D Printing Instructions
    • Building the Actuator
    • Flashing the Motor Controllers
    • Building the Robot
  • Getting Started with Software
    • Software Development Environment Overview
    • Training Environment
    • Sim2sim Validation
    • The On-board Computer
    • Motion Capture System
  • lerobot Integration
  • In-depth Contents
    • Field Oriented Control (FOC) Operation
    • Motor Controller Firmware Execution Timing Information
    • Motor Characterization
    • Actuator Characterization
    • CAN Communication
    • Joint ID Mapping
    • Exporting Robot Description Files from Onshape
    • Domain Randomizations for Training Locomotion
  • Contribute
Powered by GitBook
On this page
  • Setting up the SteamVR tracking system
  • Setting up the motion capture codebase
  1. Getting Started with Software

Motion Capture System

PreviousThe On-board ComputerNextlerobot Integration

Last updated 7 days ago

To perform teleoperation control, we use the motion capture system to detect the user motion.

Note

Although it should be supported, we couldn't get the SteamVR working on Ubuntu. Here, we will be using another PC computer running Windows to drive the SteamVR setup. The motion capture data will be then streamed to the robot control system via UDP.

Please reach out if you have figured out how to set up the system entirely on Linux systems!

Setting up the SteamVR tracking system

Please refer to the resource on for detailed instructions on setting up the SteamVR tracking system.

Setting up the motion capture codebase

[Coming soon]

SteamVR
VIVE resources website