Spine Nodes

Spine Nodes are the individual modules that make up the PreciCore pipeline. They're at very different stages, and this page's job is to be honest about which: real code running on the current transport, or design intent with no code yet. See Architecture for how they're meant to fit together.

Nodes

Node	Description	Status
Kinematic Engine	Forward/inverse kinematics for the 6-joint arm	Real, running — a Zig node using a from-scratch DLS solver (`red`)
CrackHead	MuJoCo physics simulation	Real, running — Zig, subscribing to live joint angles
Input nodes	Keyboard, iPhone IMU (Xbox controller has no code yet)	Real, running for keyboard/iPhone IMU
Big-Boss	Namespace visualizer / planned runner + log-gatherer	Real UI shell, not yet reading a live namespace
Purifier	Kalman filter for tremor reduction	No code — design only
Robot Controller	Owns arm state, calls Kinematic Engine, dispatches to hardware/sim	No code — this is a target-architecture split, not an existing node

Pipeline overview (target)

Input nodes → Purifier → Robot Controller ⇄ Kinematic Engine (RPC)
                                    │
                                    ├──→ Embedded / Hardware
                                    └──→ CrackHead

Every node is meant to talk to every other node exclusively through Spine — no import-time dependency between them. That already holds for the pieces that exist: kinematic-engine, for instance, only knows about whatever Subscriber/Publisher it's given, with zero awareness of what's upstream or downstream.

Nodes​

Pipeline overview (target)​

See also​

Nodes

Pipeline overview (target)

See also