@elizaos/plugin-ainex

elizaOS plugin that drives the Hiwonder AiNex humanoid robot — and later other humanoids — through a single websocket bridge.

The bridge process (Python, ported from ainex-robot-code/bridge/) brokers traffic between the agent and either:

• the real robot (servos, IMU, camera, battery), or
• a MuJoCo simulator running the same robot profile, or
• a learned-policy backend (RL skill, OpenPI VLA, etc.).

This plugin is the thin TypeScript surface the Eliza agent uses to talk to that bridge. Heavy logic (sim, training, gait, perception) lives in packages/robot/ and its Python sidecar.

What this plugin gives the agent

• Actions (placeholders today; wired up in later waves):
  • AINEX_WALK_FORWARD, AINEX_WALK_BACKWARD
  • AINEX_SIDE_STEP_LEFT, AINEX_SIDE_STEP_RIGHT
  • AINEX_TURN_LEFT, AINEX_TURN_RIGHT
  • AINEX_STOP, AINEX_STAND, AINEX_SIT
  • AINEX_WAVE, AINEX_BOW
  • AINEX_PICK_UP, AINEX_PLACE_DOWN
  • AINEX_SET_SERVO, AINEX_RUN_ACTION_GROUP
• Providers:
  • AINEX_ROBOT_STATE — current pose, joint angles, IMU, walk-controller state
  • AINEX_PERCEPTION — camera frame metadata + bridge-side detections (hands off to plugin-vision)
  • AINEX_POLICY_STATUS — active learned-policy lifecycle
  • AINEX_BATTERY — voltage and charge state
• Service AinexService — owns the websocket bridge client connection.

Environment variables

Variable	Default	Purpose
MILADY_AINEX_BRIDGE_URL	ws://localhost:9100	Websocket URL for the AiNex bridge server.
MILADY_AINEX_PROFILE	hiwonder-ainex	Robot profile descriptor name to load on the bridge.
MILADY_AINEX_CAMERA_FPS	10	Frame rate to subscribe to from the robot's camera stream.

The plugin auto-enables when MILADY_AINEX_BRIDGE_URL is set, or when features.ainex is enabled in agent config.

Related packages

• packages/robot/ — Python robotics stack (MuJoCo sim, Brax-PPO RL, bridge, perception, trajectory DB) plus a thin TS surface for shared types and re-exports. See packages/robot/README.md.
• plugins/plugin-vision/ — camera + scene-analysis plugin that will consume the robot camera as a pluggable frame source (W5.1).

Status

Skeleton only. All actions / providers / the bridge client return placeholder responses until wave W4.1 lands the real bridge client and W4.2 wires the providers + service to live data.