Controllers for connecting embodiments (robots, simulators, sensors, IoT devices) to FEAGI's neural engine. This repository contains controllers for common platforms, and you can create your own.

Prerequisite: FEAGI and Brain Visualizer must be started before launching any controller. See FEAGI Installation Guide for setup.

• Controller = Software that bridges an embodiment to FEAGI (this repository)
• Agent = Autonomous entity with decision-making capability
• Embodied Agent = Embodiment + Controller + FEAGI Brain working together

The controller is the bridge. The agent is the result when everything works together with autonomy.

This repository is organized into two main categories:

Real-world hardware platforms organized by manufacturer:

• Robots: Petoi (Bittle), Elephant Robotics (MyCobot), Digital Dream Labs (Cozmo), Freenove, uFactory (Lite 6), Neuromaker (Hand 2)
• Microcontrollers: Arduino, ESP32, Raspberry Pi, Micro:bit
• BCI: Interaxon
• Sensors: Hokuyo LiDAR
• Drones: Ryze (Tello)
• Other: Elecfreaks (Cutebot), Neuraville (audio, video, webcam), Keystudio

Virtual environments for development and testing:

• MuJoCo: Physics simulation (humanoid, ant, reacher). Generic controller at simulators/mujoco/.
• Gazebo: Robotics simulator
• Webots: Robot simulator
• Blender: 3D environment integration

1. Start FEAGI and Brain Visualizer first (required):

   feagi start
   feagi bv start

   See FEAGI Installation Guide if not yet installed.

2. Clone the repository:

   git clone https://github.com/feagi/embodiment-controllers.git
   cd embodiment-controllers

   Or, if using the FEAGI 2.0 monorepo: cd embodiment-controllers from the project root.

3. Navigate to your controller:

   cd embodiments/petoi/bittle
   # or (MuJoCo: controller at simulators/mujoco root)
   cd simulators/mujoco

4. Set up Python environment:

   python3 -m venv venv
   source venv/bin/activate  # Linux/macOS
   # Windows: venv\Scripts\activate
   pip install -r requirements.txt

5. Run the controller:

   # Local FEAGI (default 127.0.0.1:8000)
   python controller.py
   
   # Remote FEAGI
   python controller.py --ip 192.168.1.100 --port 8000

   MuJoCo and some controllers require additional arguments (e.g. --feagi-zmq-motor-port, --model_xml). See each controller's README.md for details.

Want to connect FEAGI to your own robot or device?

1. Read the standard: CONTROLLER_STANDARD.md
2. Use the template: embodiments/template/
3. Follow the structure: Required files and conventions
4. Test thoroughly: Local, Docker, and cloud environments
5. Submit a PR: Contribute back to the community

For detailed guidance, see:

• CONTROLLER_STANDARD.md - Technical requirements
• docs/create_controller.md - Development guide
• connectivity.md - Connection options

Controllers in this repository are open source (Apache 2.0) and community-maintained.

Want your controller to be easily installable by end users through the FEAGI Marketplace?

1. Ensure your controller follows CONTROLLER_STANDARD.md
2. Submit to the marketplace (coming soon: marketplace.feagi.io/submit)
3. Neuraville will review, package, and distribute
4. Users can install with one click from FEAGI Desktop or Cloud

The marketplace handles:

• Quality assurance
• Professional packaging
• Media and documentation
• Easy installation
• User support

embodiment-controllers/
├── embodiments/
│   ├── arduino/
│   ├── petoi/
│   │   ├── bittle/
│   │   ├── bluetooth/
│   │   └── pyserial/
│   ├── elephant_robotics/
│   ├── esp32/
│   ├── microbit/
│   ├── digital_dream_labs/
│   │   └── cozmo_1.0/
│   ├── template/
│   └── ...
├── simulators/
│   ├── mujoco/          # Generic controller (ant, humanoid, reacher models)
│   ├── gazebo/
│   ├── webots/
│   └── blender/
├── docs/
│   └── create_controller.md
├── CONTROLLER_STANDARD.md    # Technical requirements
├── connectivity.md           # Connection guide
└── README.md                 # You are here

Join the FEAGI community:

• Discord: FEAGI Community
• Twitter/X: @neuraville
• YouTube: Neuraville Channel
• LinkedIn: FEAGI Group

We welcome contributions! Please:

1. Fork this repository
2. Follow CONTROLLER_STANDARD.md
3. Test your controller thoroughly
4. Submit a pull request

See also: FEAGI Contribution Guide

All controllers in this repository are distributed under the Apache 2.0 License.