ff.fixed_jointedJoint Fixed
Form-factor profile: stand · tabletop · robot arm.
Roles
RoleReal part
role.attendHead · wrist
role.postureTorso
role.locomote—
role.gesture(attend)
substituteLocomote → lean (posture)
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).