# Humanoid Design Notes
## 人设图
## Mechanical Details
Bone Dimension
Number of joints: 39
head (neck): 3
arm: (3+2+3) x 2
body: 6
leg: (3+2+2) x 2
## Electrical Details
## Control System Details
### Input methods
* [x] XboxController (Python `dotxboxcontroller` [library](https://pypi.org/project/dotxboxcontroller/))
* [ ] IMU angle motion capture (MPU6050 / BNO085) + UWB positioning ++
* [ ] Vive VR
* [ ] Small scale model ++
* [ ] Camera Mocap
### Sync methods
* [ ] Blender
* [ ] Unreal
### Output methods
* [ ] Blender
* [ ] Unreal (digital twin to robot)
* [ ] Pi @ Robot, display control status (Operation GUI)
* [ ] Actual Robot
Joint Position Packet Format
```
joints = [arms[], legs[], hands[], head, neck, spines[], waist, hip]
joints[0:6]: left arm
joints[6:12]: right arm
joints[12:18]: left leg
joints[18:24]: right leg
joints[24:29]: left hand (5 fingers)
joints[29:34]: right hand (5 fingers)
joints[34]: head
joints[35]: neck
joints[36]: spine_0
joints[37]: spine_1
joints[38]: waist
joints[39]: hip
```
### Vision feedback
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