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Changelog

All notable changes to the PreciCore toolset are documented here.

spine-go / spine-zig v0.1.0​

July 2026

Spine was rebuilt from scratch on Unix domain sockets, replacing the KCP/mDNS design described in the entry below. This is the actual current release:

Added​

  • Spine — Go and Zig implementations, wire-compatible with each other (verified as separate live processes for every entity type), tagged v0.1.0. See Spine Overview.
  • Kinematic Engine — real, running Zig node using red, a from-scratch DLS solver, replacing an earlier Python solver capped at ~75 Hz.
  • CrackHead — real, running Zig MuJoCo simulation, subscribing to live joint angles.
  • Input nodes — Keyboard and iPhone IMU, both real and running on the current transport.
  • A real three-node pipeline (input → kinematics → simulation) verified running end-to-end as separate live processes.

Not yet carried over from the design below​

  • No mDNS discovery, no AES-GCM namespace encryption, no cross-machine transport — see Spine Overview for what's actually implemented vs. planned today.
  • No RCM-constrained motion planning, no Purifier, no Robot Controller node — see Architecture.

v0.1 — Initial Release (superseded)​

June 2026

This entry describes Spine's original design, since fully replaced by the Unix-socket rewrite above — kept here as a historical record, not a description of the current system.

Added​

  • Spine — Go, Python, and C++ implementations of the KCP/UDP pub/sub and RPC middleware with zero-config mDNS discovery and AES-GCM encrypted namespaces
  • CrackHead — MuJoCo-powered physics simulator for the 5-DOF robotic arm and virtual phantom cornea
  • Purifier — Kalman filter signal processing layer that stabilises and smooths raw operator input
  • Spine Nodes — Modular input layer supporting Xbox controller, iPhone IMU, and keyboard
  • Kinematics Engine — Inverse kinematics solver with RCM-constrained motion planning

Status​

All core packages are active and under development. The system is in pre-release — APIs may change between minor versions.

Upcoming​

  • The Robot Controller / Kinematic Engine RPC split (see Architecture)
  • Purifier (Kalman filter for tremor reduction)
  • Cross-machine Spine transport
  • Force feedback integration
  • Dedicated hardware driver nodes