Body

An injectable tick. A frame goes in. An intent comes out. Nothing here has been flashed to a board.

ara_body.py is the tick. Wheel stays at or under 0.4. Servo stays in -1..1. Charge under 0.15 rests. Strike, weapon, hidden-mic, and force return no intent.
jsonl_bus.py is the serial-shaped adapter: JSON lines in, JSON lines out. This process does not get /dev/gpiomem. A second process applies intents.
The state file is what survives reboot. Copy target on a Pi is /grok-core.
python3 bench.py prints BENCH_OK when the dry bench passes, including the refusal tick.

{"analog": {"light": 0.2, "touch": 0.7, "charge": 0.4}, "text": "quiet", "actuate": {"channel": "servo", "value": 0.3}}

Read body/README.md before handing this to a Pi. The bench is software. The robot is not built from this page.