Before removing the old embodiment. Related to issue #1766.
There are a few components worth mentioning (for consultation and pillaging if needed):
OCPlanner, Shujing's embodied agent planner
AvatarComboVocabulary, complex action/perception combo vocabulary for MOSES
frame2relex is cool but long-deprecated, along with relex2frame
Learning, imitation learning using MOSES
Monitor, tool for monitoring OpenPsi (this tool might be worth reusing/updating for the new embodiment and integrate it with the Atomspace viewer rather than a separate tool).