# Humanoid Design Notes

## 人设图

## Mechanical Details

Bone Dimension

![](https://1287130752-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FvVJ0h2a4qMIhB1I8GdV8%2Fuploads%2Fgit-blob-27e662df3a69ff64601ab138b3bab381d4cc4901%2Fimage.png?alt=media)

Number of joints: 39

head (neck): 3

arm: (3+2+3) x 2

body: 6

leg: (3+2+2) x 2

<figure><img src="https://1287130752-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FvVJ0h2a4qMIhB1I8GdV8%2Fuploads%2Fgit-blob-038a13bebcae16ab0e835b0105f51dd757fa7d15%2Fimage.jpg?alt=media" alt=""><figcaption></figcaption></figure>

<figure><img src="https://1287130752-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FvVJ0h2a4qMIhB1I8GdV8%2Fuploads%2Fgit-blob-e57d4e46ccc49d8614cd429c47b80f76b7cf2b44%2Fimage.jpg?alt=media" alt=""><figcaption></figcaption></figure>

## 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