diff --git a/config.py b/config.py
index ec1b4f7..54c9a9b 100644
--- a/config.py
+++ b/config.py
@@ -4,6 +4,12 @@ class Config:
     CAMERA_TYPE = 'oak' # 'web' или 'oak'
     MIRROR_CAMERA = True
     
+    # ===== Скелет =====
+    POSE_DETECTOR = 'mediapipe'  # 'oak' или 'mediapipe'
+    OAK_MODEL_TYPE = 'efficienthrnet2'
+    OAK_DETECTION_THRESHOLD = 0.1 
+    OAK_SHAVES = 6
+    
     # ===== Преобразование позы в скорости =====
     ARM_CONTROL = {
         'linear_arm': 'right',
diff --git a/main.py b/main.py
index 1fe122c..a17a350 100644
--- a/main.py
+++ b/main.py
@@ -6,6 +6,7 @@ sys.path.insert(0, os.path.join(os.path.dirname(__file__), 'submodules', 'gestur
 import cv2
 from config import Config
 from skeleton.mediapipe_detector import MediaPipeDetector
+from skeleton.oak_pose_detector import OakPoseDetector
 from gesture_control.special_gestures import SpecialGestureDetector
 from ml_gestures_dynamic.predict import DynamicGesturePredictor
 
@@ -20,7 +21,20 @@ def main():
     cfg = Config()
     
     # Детектор скелета
-    detector = MediaPipeDetector()
+    if cfg.POSE_DETECTOR == 'oak':
+        if cfg.CAMERA_TYPE == 'web':
+            print(f"При вычислении скелета на oak, можно пользоваться только этой же камерой для захвата видео!")
+            return
+        detector = OakPoseDetector(
+            model_type=cfg.OAK_MODEL_TYPE,
+            detection_threshold=cfg.OAK_DETECTION_THRESHOLD,
+            shaves=cfg.OAK_SHAVES
+        )
+        camera = None
+    else:
+        detector = MediaPipeDetector()
+        # Захват кадра с камеры
+        camera = create_camera(camera_type=cfg.CAMERA_TYPE, camera_id=cfg.CAMERA_ID, mirror=cfg.MIRROR_CAMERA)
     
     # Детектор статичных жестов
     special_detector = SpecialGestureDetector(
@@ -47,9 +61,6 @@ def main():
         robot = DummySimRobot(cfg)
     else:
         robot = DebugRobot()
-    
-    # Захват кадра с камеры
-    camera = create_camera(camera_type=cfg.CAMERA_TYPE, camera_id=cfg.CAMERA_ID, mirror=cfg.MIRROR_CAMERA)
         
     enabled = False
     # включение управления жестами
@@ -60,13 +71,22 @@ def main():
     dome_processed = False
     
     while True:
-        frame = camera.get_frame()
-        if frame is None:
-            continue
-
-        result = detector.detect(frame)
-        if result['success']:
-            landmarks = result['landmarks']
+        # Получение кадра и скелета в зависимости от типа скелетного детектора
+        if cfg.POSE_DETECTOR == 'oak':
+            frame, landmarks = detector.get_frame_and_pose()
+            if frame is None:
+                continue
+        else:
+            frame = camera.get_frame()
+            if frame is None:
+                continue
+            result = detector.detect(frame)
+            if result['success']:
+                landmarks = result['landmarks']
+            else:
+                landmarks = None
+                
+        if landmarks is not None:
             
             # Статический жест
             special = special_detector.predict(landmarks)
@@ -111,7 +131,11 @@ def main():
             '''
                 
             # Отрисовка
-            vis = detector.draw_landmarks(frame, result['pose_landmarks'])
+            if cfg.POSE_DETECTOR == 'oak':
+                vis = detector.draw_landmarks(frame, landmarks) if landmarks is not None else frame
+            else:
+                vis = detector.draw_landmarks(frame, result['pose_landmarks']) if landmarks is not None else frame
+                    
             cv2.putText(vis, f"Move: {'ON' if enabled else 'OFF'}", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0,255,0) if enabled else (0,0,255), 2)
             cv2.putText(vis, f"L:{linear:.2f} A:{angular:.2f}", (10, 60), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255,255,0), 2)
             if special != 'none':
@@ -131,8 +155,13 @@ def main():
         
         if cv2.waitKey(1) & 0xFF == ord('q'):
             break
+    
+    if cfg.POSE_DETECTOR == 'oak':
+        detector.release()
+    else:
+        camera.release()
+        detector.pose.close()
         
-    camera.release()
     cv2.destroyAllWindows()
     robot.quit()
     
diff --git a/submodules/gesture_detection b/submodules/gesture_detection
index a751f51..e2e24a5 160000
--- a/submodules/gesture_detection
+++ b/submodules/gesture_detection
@@ -1 +1 @@
-Subproject commit a751f510788aa8cc30a30687eb2270244ec55279
+Subproject commit e2e24a5e7eb09e43cdb163985ec50e4d6ad32863
diff --git a/submodules/robot_controller_base b/submodules/robot_controller_base
index 9f65622..b34711e 160000
--- a/submodules/robot_controller_base
+++ b/submodules/robot_controller_base
@@ -1 +1 @@
-Subproject commit 9f65622b633900e07ee1f9dbe9e33a5add3167ae
+Subproject commit b34711ebc690cf9199b15bc3074e08f258303003