Cerebrate provides mechatronic control code for artists. It was created in 2005 for Fernandez, an autonomous cactus by Vincent Kohler and Roland Philippsen, for an expo at the Villa Bernasconi in Lancy during Science et Cité in Geneva. In 2006, Blink and Ibou were added to control blinking light patterns and statue motions for Vincent's Pavés and Hibou. Haiko is voxel visualization software added in 2008 as a pet project to eventually add the minimalist pixel dog to the XScreenSaver collection.
It's all on github.com/poftwaresatent/cerebrate:
$ git clone https://github.com/poftwaresatent/cerebrate.git