ff.wheeled_jointedJoint Driving
Form-factor profile: wheels + head / arm.
Roles
RoleReal part
role.attendHead
role.posture(torso)
role.locomoteWheels
role.gestureArm (if any)
substituteGesture → body turn
Profile fields: roles (role → real joints) · limits (joint ranges · max_speed · max_accel) · channels (face class · speaker · light) · substitute (stand-ins for missing roles) · behaviors (each of the 16 behaviors as is / substituted / skipped).