Agent and Robot Configuration

Agents are configured via JSON5 files in the config/ directory. Key configuration elements:

{

  "hertz": 0.5,

  "name": "agent_name",

  "api_key": "your_key_here",

  "system_prompt": "...",

  "agent_inputs": [

    {

      "type": "VlmInput"

    }

  ],

  "cortex_llm": {

    "type": "OpenAILLM",

    "config": {

      "base_url": "", // Optional: URL of the LLM endpoint

      "agent_name": "Iris" // Optional: Name of the agent

    }

  },

  "simulators": [

    {

      "type": "WebSim"

    }

  ],

  "agent_actions": [

    {

      "name": "move",

      "implementation": "passthrough",

      "connector": "ros2"

    }

  ]

}

• Hertz Defines the base tick rate of the agent. This rate can be overridden to allow the agent to respond quickly to changing environments using event-triggered callbacks through real-time middleware.

• Name A unique identifier for the agent.

• System Prompt Defines the agent’s personality and behavior. This acts as the system prompt for the agent’s operations.

• Cortex LLM Configuration for the language model (LLM) used by the agent.

  • Type: Specifies the LLM plugin.

  • Config: Configuration for the LLM, including the API endpoint and API key. If you do not change the file, and use the openmind_free api key, the LLM operates with a rate limiter with Openmind’s public endpoint.

OpenMind OpenAI Proxy endpoint is:

[https://api.openmind.org/api/core/openai](https://api.openmind.org/api/core/openai)

OpenMind DeepSeek Proxy endpoint is:

[https://api.openmind.org/api/core/deepseek](https://api.openmind.org/api/core/deepseek)

OpenMind Gemini Proxy endpoint is:

[https://api.openmind.org/api/core/gemini](https://api.openmind.org/api/core/gemini)

​

LLM Configuration

"cortex_llm": {

  "type": "OpenAILLM",

  "config": {

    "base_url": "...", // Optional: URL of the LLM endpoint

    "api_key": "..."   // Optional: Override the default API key

  }

}

You can directly access other OpenAI style endpoints by specifying a custom API endpoint in your configuration file. To do this, provide a suitable base_url and the api_key for OpenAI, DeepSeek, or other providers. Possible base_url choices are:

• https://api.openai.com/v1
• https://api.deepseek.com/v1
• https://api.openai.com/v1

​

Simulators

Lists the simulation modules used by the agent. These define the simulated environment or entities the agent interacts with.

"simulators": [

  {

    "type": "WebSim"

  }

]

​

Agent Actions

Defines the agent’s available capabilities, including action names, their implementation, and the connector used to execute them.

"agent_actions": [

  {

    "name": "move", // Action name

    "implementation": "passthrough", // Implementation to use

    "connector": "ros2" // Connector handler

  }

]