diff --git a/Code/README.md b/Code/README.md
new file mode 100644
index 0000000..88cdc24
--- /dev/null
+++ b/Code/README.md
@@ -0,0 +1,5 @@
+# 说明
+
+1. steamvr_config : 存放SteamVR的配置文件样例，将其内部的SteamVR文件夹替换SteamVR默认文件夹`C:\Program Files (x86)\Steam\steamapps\common`下面的SteamVR文件夹。如果SteamVR并没有安在默认位置，那么需要根据实际安装情况进行调整。
+2. triad_openvr : 一个openvr的封装库，用于获取设备的信息和位姿
+
diff --git a/Code/steamvr_config/SteamVR/driver/null/bin/win32/driver_null.dll b/Code/steamvr_config/SteamVR/driver/null/bin/win32/driver_null.dll
new file mode 100644
index 0000000..128da1c
Binary files /dev/null and b/Code/steamvr_config/SteamVR/driver/null/bin/win32/driver_null.dll differ
diff --git a/Code/steamvr_config/SteamVR/driver/null/bin/win32/driver_null.dll.sig b/Code/steamvr_config/SteamVR/driver/null/bin/win32/driver_null.dll.sig
new file mode 100644
index 0000000..f9ea668
Binary files /dev/null and b/Code/steamvr_config/SteamVR/driver/null/bin/win32/driver_null.dll.sig differ
diff --git a/Code/steamvr_config/SteamVR/driver/null/bin/win64/driver_null.dll b/Code/steamvr_config/SteamVR/driver/null/bin/win64/driver_null.dll
new file mode 100644
index 0000000..cfc4cb7
Binary files /dev/null and b/Code/steamvr_config/SteamVR/driver/null/bin/win64/driver_null.dll differ
diff --git a/Code/steamvr_config/SteamVR/driver/null/bin/win64/driver_null.dll.sig b/Code/steamvr_config/SteamVR/driver/null/bin/win64/driver_null.dll.sig
new file mode 100644
index 0000000..aad845f
Binary files /dev/null and b/Code/steamvr_config/SteamVR/driver/null/bin/win64/driver_null.dll.sig differ
diff --git a/Code/steamvr_config/SteamVR/driver/null/driver.vrdrivermanifest b/Code/steamvr_config/SteamVR/driver/null/driver.vrdrivermanifest
new file mode 100644
index 0000000..16e1468
--- /dev/null
+++ b/Code/steamvr_config/SteamVR/driver/null/driver.vrdrivermanifest
@@ -0,0 +1,11 @@
+{
+ "alwaysActivate": false,
+ "name" : "null",
+ "directory" : "",
+ "resourceOnly" : false,
+
+ "hmd_presence" :
+ [
+ "*.*"
+ ]
+}
diff --git a/Code/steamvr_config/SteamVR/driver/null/resources/settings/default.vrsettings b/Code/steamvr_config/SteamVR/driver/null/resources/settings/default.vrsettings
new file mode 100644
index 0000000..efbb8ad
--- /dev/null
+++ b/Code/steamvr_config/SteamVR/driver/null/resources/settings/default.vrsettings
@@ -0,0 +1,16 @@
+{
+ "driver_null": {
+ "enable": true,
+ "loadPriority": -999,
+ "serialNumber": "Null Serial Number",
+ "modelNumber": "Null Model Number",
+ "windowX": 0,
+ "windowY": 0,
+ "windowWidth": 2160,
+ "windowHeight": 1200,
+ "renderWidth": 1512,
+ "renderHeight": 1680,
+ "secondsFromVsyncToPhotons": 0.01111111,
+ "displayFrequency": 90.0
+ }
+}
\ No newline at end of file
diff --git a/Code/steamvr_config/SteamVR/resources/settings/default.vrsettings b/Code/steamvr_config/SteamVR/resources/settings/default.vrsettings
new file mode 100644
index 0000000..7214852
--- /dev/null
+++ b/Code/steamvr_config/SteamVR/resources/settings/default.vrsettings
@@ -0,0 +1,261 @@
+{
+ "!!__WARNING__": {
+ "000": "DO NOT EDIT THIS FILE TO CHANGE YOUR PERSONAL SETTINGS.",
+ "001": "THIS FILE WILL BE REPLACED WHEN STEAMVR UPDATES.",
+ "002": "These are the default values for settings which are not mentioned",
+ "003": "in the user's personal steamvr.vrsettings file (use vrpathreg.exe",
+ "004": "to find the location of this file). User settings which match the",
+ "005": "default in this file are not written to the user settings file, but",
+ "006": "any setting below may be placed in steamvr.vrsettings to override",
+ "007": "these defaults."
+ },
+ "steamvr": {
+ "requireHmd": false,
+ "forcedDriver": "null",
+ "forcedHmd": "",
+ "displayDebug": false,
+ "debugProcessPipe": "",
+ "enableDistortion": true,
+ "displayDebugX": 0,
+ "displayDebugY": 0,
+ "allowDisplayLockedMode": false,
+ "sendSystemButtonToAllApps": false,
+ "loglevel": 3,
+ "ipd": 0.063,
+ "ipdOffset": 0.0,
+ "background": "",
+ "backgroundUseDomeProjection": false,
+ "backgroundCameraHeight": 1.6,
+ "backgroundDomeRadius": 0.0,
+ "environment": "",
+ "hdcp14legacyCompatibility": false,
+ "gridColor": "",
+ "playAreaColor": "",
+ "showStage": false,
+ "showSkydome": true,
+ "drawTrackingReferences": true,
+ "showGridCircles": true,
+ "saveRecenterStandingZeroPose": true,
+ "saveRecenterSeatedZeroPose": true,
+ "activateMultipleDrivers": true,
+ "usingSpeakers": false,
+ "speakersForwardYawOffsetDegrees": 0.0,
+ "basestationPowerManagement": 0,
+ "ShowBaseStationPowerManagementTip": 1,
+ "neverKillProcesses": false,
+ "renderTargetMultiplier": 1.0,
+ "maxRecommendedResolution": 8192,
+ "supersampleScale": 1.0,
+ "allowSupersampleFiltering": true,
+ "supersampleManualOverride": false,
+ "motionSmoothing": true,
+ "forceFadeOnBadTracking": true,
+ "mirrorView": 0,
+ "showLegacyMirrorView": false,
+ "mirrorViewDisplayMode": 1,
+ "mirrorViewEye": 1,
+ "mirrorViewGeometryMaximized": false,
+ "showPerfGraph": false,
+ "startMonitorFromAppLaunch": true,
+ "startCompositorFromAppLaunch": true,
+ "startDashboardFromAppLaunch": true,
+ "startOverlayAppsFromDashboard": true,
+ "enableHomeApp": true,
+ "setInitialDefaultHomeApp": false,
+ "CycleBackgroundImageTimeSec": -1,
+ "retailDemo": false,
+ "panelMask": true,
+ "panelMaskVignette": true,
+ "panelMaskVignetteWidth": 2.0,
+ "inputBindingUI": true,
+ "legacyInputRebinding": true,
+ "debugInputBinding": false,
+ "doNotFadeToGrid": false,
+ "useNewChaperone": true,
+ "enableLinuxVulkanAsync": false,
+ "enableSafeMode": false,
+ "preferredRefreshRate": 90.0,
+ "hmdDisplayColorGainR": 1.0,
+ "hmdDisplayColorGainG": 1.0,
+ "hmdDisplayColorGainB": 1.0,
+ "customIconStyle": "gradientCorners:#5CBD76,#07AB9C,#6053F6,#0973FA",
+ "customOffIconStyle": "gradient:#514f54-#424449",
+ "trackingLossColor": "#4D6680",
+ "analogGain": 1.3,
+ "globalActionSetPriority": false,
+ "noEdgeExitHaptics": true,
+ "showAdvancedSettings": false,
+ "blockOculusSDKOnOpenVRLaunchOption": false,
+ "blockOculusSDKOnAllLaunches": false,
+ "overlayRenderQuality_2": 0,
+ "displayPortTrainingMode": 0
+ },
+ "direct_mode": {
+ "count": 3,
+ "edidPid0": 43521,
+ "edidPid1": 43522,
+ "edidPid2": 37288,
+ "edidVid0": 53794,
+ "edidVid1": 53794,
+ "edidVid2": 38489,
+ "enable": true
+ },
+ "userinterface": {
+ "StatusAlwaysOnTop": true,
+ "HidePopupsWhenStatusMinimized": false,
+ "screenshots": true,
+ "screenshotType": 2,
+ "laserMouseDebugging": false
+ },
+ "notifications": {
+ "DoNotDisturb": false
+ },
+ "keyboard": {
+ "TutorialCompletions": 0,
+ "ScaleX": 1.1,
+ "ScaleY": 1.1,
+ "OffsetLeftX": 0.0,
+ "OffsetRightX": 0.0,
+ "OffsetY": 0.0,
+ "Smoothing": false
+ },
+ "perfcheck": {
+ "perfGraphInHMD": false,
+ "allowTimingStore": false,
+ "saveTimingsOnExit": false,
+ "perfTestData": 0.0
+ },
+ "GpuSpeed": {
+ "gpuSpeed0": 0,
+ "gpuSpeed1": 0,
+ "gpuSpeed2": 0,
+ "gpuSpeed3": 0,
+ "gpuSpeed4": 0,
+ "gpuSpeed5": 0,
+ "gpuSpeed6": 0,
+ "gpuSpeed7": 0,
+ "gpuSpeed8": 0,
+ "gpuSpeed9": 0,
+ "gpuSpeedCount": 0,
+ "gpuSpeedDriver": "",
+ "gpuSpeedHorsepower": 0,
+ "gpuSpeedRenderTargetScale": 0.9999,
+ "gpuSpeedVendor": "",
+ "gpuSpeedVersion": 0
+ },
+ "collisionBounds": {
+ "CollisionBoundsStyle": 0,
+ "CollisionBoundsGroundPerimeterOn": false,
+ "CollisionBoundsCenterMarkerOn": false,
+ "CollisionBoundsPlaySpaceOn": false,
+ "CollisionBoundsFadeDistance": 0.7,
+ "CollisionBoundsWallHeight": 2.4,
+ "CollisionBoundsColorGammaR": 0,
+ "CollisionBoundsColorGammaG": 255,
+ "CollisionBoundsColorGammaB": 255,
+ "CollisionBoundsColorGammaA": 153,
+ "enableDriverBoundsImport" : true
+ },
+ "camera": {
+ "enableCamera": false,
+ "showOnController": false,
+ "enableCameraForCollisionBounds": false,
+ "roomView": 0,
+ "roomViewStyle": 0,
+ "cameraBoundsColorGammaR": 0,
+ "cameraBoundsColorGammaG": 255,
+ "cameraBoundsColorGammaB": 255,
+ "cameraBoundsColorGammaA": 153,
+ "cameraBoundsStrength": 78
+ },
+ "audio": {
+ "enablePlaybackMirror": false,
+ "playbackMirrorDevice": "",
+ "playbackMirrorDeviceName" : "",
+ "enablePlaybackMirrorIndependentVolume" : false,
+ "viveHDMIGain": true,
+ "dualSpeakerAndJackOutput": false,
+ "muteMicMonitor": false
+ },
+ "power": {
+ "powerOffOnExit": true,
+ "turnOffScreensTimeout": 5.0,
+ "turnOffControllersTimeout": 300.0,
+ "returnToWatchdogTimeout": 0.0,
+ "pauseCompositorOnStandby": true,
+ "autoLaunchSteamVROnButtonPress": true
+ },
+ "modelskins": {
+ },
+ "dashboard": {
+ "enableDashboard": true,
+ "allowCurvature": true,
+ "allowPlacementDuringRecenter": false,
+ "arcadeMode": false,
+ "cefMaxFrameRate": 120.0,
+ "dashboardScale": 1.0,
+ "desktopScale": 1.1,
+ "position_2": 1,
+ "webUI": true,
+ "useNewDesktop": true,
+ "enableWindowView": true,
+ "scaleSliderMin": 0.75,
+ "scaleSliderMax": 1.5,
+ "showPowerOptions": true,
+ "allowAppQuitting": true,
+ "showDesktop": true,
+ "lastAccessedExternalOverlayKey": "",
+ "verticalOffsetCm_2": 0,
+ "disableAnimations": false,
+ "standaloneSystemLayer": false,
+ "stickyDashboard": false,
+ "desktopIndex": 1,
+ "theaterScreen": "1",
+ "theaterScreenHeightMeters": 2.0,
+ "theaterModeBrightness": 0.5,
+ "theaterModeReflection": 0.5,
+ "enableLTCReflections": true,
+ "allowSteamOverlays": true,
+ "allowVRGamepadUI": true,
+ "allowDesktopBPMWithVRGamepadUI": false,
+ "steamMatchesHMDFramerate": true
+ },
+ "driver_imu": {
+ "enable": false
+ },
+ "driver_knuckles": {
+ "enable": false
+ },
+ "driver_utah": {
+ "enable": false
+ },
+ "driver_gamepad": {
+ "loadPriority": -50
+ },
+ "driver_ivry": {
+ "loadPriority": -100
+ },
+ "driver_kinoni": {
+ "loadPriority": -800
+ },
+ "driver_amdwvr": {
+ "loadPriority": -900
+ },
+ "input": {
+ "leftThumbstickRotation": 0,
+ "rightThumbstickRotation": 0,
+ "thumbstickDeadzone": 0,
+ "overlayMagnetismEnabled": true,
+ "overlayMagnetismLockDistance": 0.05,
+ "overlayMagnetismDeadZone": 0.6,
+ "overlayFilteringEnabled": true,
+ "overlayFilteringMinCutoff": 1,
+ "overlayFilteringBeta": 5,
+ "overlayFilteringDerivCutoff": 5
+ },
+"TrackingOverrides" : {
+"/devices/htc/vive_trackerLHR-FFA35F47" : "/user/head"
+},
+ "version": "1",
+ "jsonid": "vrsettings"
+}
diff --git a/Code/steamvr_config/SteamVR/resources/settings/driver_defaults.vrsettings b/Code/steamvr_config/SteamVR/resources/settings/driver_defaults.vrsettings
new file mode 100644
index 0000000..2e80053
--- /dev/null
+++ b/Code/steamvr_config/SteamVR/resources/settings/driver_defaults.vrsettings
@@ -0,0 +1,5 @@
+{
+ "enable": true,
+ "blocked_by_safe_mode": false,
+ "loadPriority": 0
+}
diff --git a/Image/SteamVR Log Setting.png b/Image/SteamVR Log Setting.png
new file mode 100644
index 0000000..09a9d97
Binary files /dev/null and b/Image/SteamVR Log Setting.png differ
diff --git a/Image/Tracker Cannot locate.png b/Image/Tracker Cannot locate.png
new file mode 100644
index 0000000..4ddb57c
Binary files /dev/null and b/Image/Tracker Cannot locate.png differ
diff --git a/Image/控制器ID查看.png b/Image/控制器ID查看.png
new file mode 100644
index 0000000..bb9a867
Binary files /dev/null and b/Image/控制器ID查看.png differ
diff --git a/README.md b/README.md
index 0097c5d..68a52f7 100644
--- a/README.md
+++ b/README.md
@@ -37,4 +37,96 @@ python tracker_test.py
## 2.2 SteamVR的配置
- 正常来说，SteamVR的启动必须需要头显才能启动，所以需要对SteamVR的部分配置文件进行修改，以得到无头显启动的目的。
\ No newline at end of file
+ 正常来说，SteamVR的启动必须需要头显才能启动。所以，采取的方式有两种，第一种是绕过头盔启动。第二种方式是把控制器的虚拟为头盔。
+
+#### 2.2.1 查看SteamVR的log
+
+ 既然是设备是通过steamVR来驱动链接的，那么在steamVR启动的时候，肯定就要做设备初始化等等的工作，那么设备加载初始化的时候，到底是加载了那些文件了，导致非要加载头显HMD。我们可以通过查看log来查看SteamVR到底加载了那些驱动和设置。查看log的方式如下图所示：
+
+
+ 
+
+
+#### 2.2.2 配置文件的修改——绕过头盔启动
+
+ 在找到SteamVR的log后(log文件：`vrserver.txt`)，我们可以对log进行分析：
+
+```shell
+... [Settings] Load Default Json Settings from ...\common\SteamVR\drivers\htc\resources\settings\default.vrsettings
+... [Settings] Load Default Json Settings from ...\common\SteamVR\drivers\lighthouse\resources\settings\default.vrsettings
+... [Settings] Load Default Json Settings from ...\common\SteamVR\drivers\null\resources\settings\default.vrsettings
+... [Settings] Load Default Json Settings from ...\common\SteamVR\resources\settings\default.vrsettings
+... [Settings] Load Json Settings from C:\Program Files (x86)\Steam\config\steamvr.vrsettings
+```
+
+ 实际经过发现，**只需要修改2个文件就可以实现绕过头显启动，分别为上面的第3和第4个文件**。
+
+ 一般来说，SteamVR的驱动路径为`C:\Program Files (x86)\Steam\steamapps\common\SteamVR`，如果找不到也可以在Steam平台上找到SteamVR，然后选择`右键->管理->浏览本地文件`。
+
+ 找到并修改`Resource\Settings\default.vrsettings`:
+
+```json
+// requireHmd == false可以使得SteamVR面板的头盔图标亮起, 但是一会儿就处于休眠状态
+"requireHmd" : false
+// 强制驱动为null driver, null driver是steamvr的一个空驱动
+"forcedDriver" : "null"
+// 强制多个驱动，估计是增加可以激活lighthouse的控制器
+"activateMultipleDrivers" : true
+```
+
+ 找到`drivers\null\resources\settings\default.vrsettings`进行修改：
+
+```json
+{
+ "driver_null" : {
+ // 由false修改为ture
+ "enable" : true,
+ "serialNumber" : "Null Serial Number",
+ "modelNumber" : "Null Model Number",
+ "windowX" : 0,
+ "windowY" : 0,
+ "windowWidth" : 2160,
+ "windowHeight" : 1200,
+ "renderWidth" : 1512,
+ "renderHeight" : 1680,
+ "secondsFromVsyncToPhotons" : 0.01111111,
+ "displayFrequency" : 90.0
+ }
+}
+```
+
+#### 2.2.3 配置文件的修改——控制器的虚拟为头盔
+
+ 配置文件完整样例在：`Code\steamvr_config`下，下面是修改的原理介绍以及实际修改方法。
+
+ **要将控制器虚拟为头盔，操作和2.2.2的配置一致，但是需要额外添加配置**。通过SteamVR的选项`菜单->设备->管理追踪器->管理定位器`，即可看到控制器的ID信息。如下图所示，本机的定位ID为：LHR-FFA35F47
+
+ 
+
+
+ 对应的修改配置文件，我们在配置文件接近结尾处，添加Json的键值对`TrackingOverrides`, 将控制器的路径映射到头显。值得注意的是，控制器的路径和设备有关，需要根据实际设备的信息调整，不能盲目修改。
+
+```json
+{
+ // 上方省略
+ // 这个地方添加了追踪映射
+ "TrackingOverrides" : {
+ // 注意LHR-FFA35F47一般是控制器设备的信息，根据实际设备进行填写
+ "/devices/htc/vive_trackerLHR-FFA35F47" : "/user/head"
+ },
+ // 以下不用修改
+ "version": "1",
+ "jsonid": "vrsettings"
+}
+```
+
+## 三、问题和解决方案
+
+### 3.1 此设备目前不在定位，请确认其在一个定位器的定位范围内。
+
+ 上述问题在SteamVR的面板显示如下图所示。这种问题产生的原因是因为基站的位置放置错误。两个基站放置的太近了，一般两个基站需要相距1米以上。
+
+
+ 
+
+