Spine Nodes

Spine Nodes are the individual modules that make up the PreciCore system. Each node connects to the Spine communication backbone and handles a specific part of the pipeline — from physics simulation to operator input.

Nodes

Node	Description	Status
crack-head	MuJoCo-powered physics simulator	✅ Active
kinematics-engine	Inverse kinematics and motion planning	✅ Active
purifier	Kalman filter for tremor reduction	✅ Active
input	Operator input layer	✅ Active

Pipeline overview

Input nodes  →  input/raw  →  Purifier  →  input/clean  →  Kinematics Engine  →  arm/target  →  CrackHead / Hardware

Each node communicates exclusively through Spine topics. There are no direct dependencies between nodes — any node can be replaced, restarted, or swapped out without modifying any other node.

See also

• Architecture — full system diagram with all data flows
• Spine — the communication backbone all nodes run on