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Concepts

How VHI is put together and why. Read these in order the first time; after that they stand alone.

  • Architecture - the scene tree, how a 26-bone FBX maps to a 16-joint subskeleton, and the threading model that keeps LSL and gRPC off Godot's main thread.
  • The two hands - the control hand vs. the predicted hand: what each one is for and what drives it.
  • LSL streams - the per-DOF inlets VHI consumes, the two whole-pose outlets it publishes, and why the two directions differ in shape.
  • gRPC control plane - why discrete commands go over gRPC while continuous poses stay on LSL, and how the in-process server works.
  • What drives the control hand - stream presence decides between the pose streams and the movement state machine; what each one refuses while the other is live.
  • Movements - the predefined movement set, the AI vs. Classifier modes, and the TOML config that defines the poses.