The simulation publishes world.* events onto an asyncio bus that also writes the append-only JSONL journal. The belief layer holds a WorldState, divergence compares it against what the simulation reports, and a divergence flag is what triggers replanning. The planner turns that into a Policy, a deterministic solver produces the Plan, verifiers check it, and action.* events go back to the bus and on to the simulation. The voice layer, HappyRobot with Jev and Humalike, exchanges events with the same bus, which also fronts the FastAPI gateway the React dashboard reads.