Skill

Getup

Description

A Behaviour module that will run the appropriate getup script for the robot. First a StandStill task is emitted, then the getup task is delayed so that the robot can settle into it's final position to improve side detection accuracy. Additionally, if after the delay the robot detects that it is on its left/right side, another delay will be emitted.

Usage

Include this module to allow the robot to get up after it has fallen over.

Consumes

• message::skill::GetUp as a Task to trigger execution
• message::input::Sensors to determine which get up script to execute

Emits

• message::behaviour::state::Stability to update the stability when starting and finishing getting up
• message::actuation::BodySequence as a Task containing the script sequence for getting up

Dependencies

• Director
• The Script extension to convert scripts into BodySequences

GPT

Description

A module that integrates with OpenAI's GPT-3.5 model to send text prompts and receive generated responses.

Usage

Include this module to allow your system to interact with OpenAI's GPT for natural language processing tasks.

Consumes

• message::skill::GPTChatRequest: A request containing text that needs to be processed by GPT.

Emits

• message::skill::Say: A Task requesting to speak using the output of the GPT model based on the input request.

Dependencies

• Director
• nlohmann::json: For JSON data serialisation and deserialisation.
• utility::openai::openai: A utility to interface with the OpenAI API.

KickWalk

Description

Allows the robot to perform kicks while walking. This module emits a modified walk command, making the walk engine take a single large step when a kick task is emitted. These kicks integrate seamlessly with the robot's regular walk.

Usage

Include this module to allow the robot to kick while walking. This is useful for dynamic soccer gameplay where the robot needs to kick the ball while maintaining movement.

Consumes

• message::skill::Kick Task requesting the robot to kick
• message::skill::Walk A Task requesting to walk, containing a vector with the desired velocity target and a boolean indicating whether to kick.

Emits

• message::skill::Walk A Task requesting to walk, containing a vector with the desired velocity target and a boolean indicating whether to kick.

Dependencies

• Director

Look

Description

Converts head look-at commands into head rotation commands for the Booster Robotics SDK, to move the K1's head using its built-in head control.

Takes the look direction from a message::skill::Look task, optionally smooths it with an exponential filter, converts it into head yaw/pitch angles, and emits a message::booster::BoosterHeadRot for the Booster HardwareIO to forward to the SDK.

Usage

Include this module to allow the robot to look in a given direction on the K1. Use in place of skill::Look, which instead drives the head via the NUbots servo/kinematics stack.

Consumes

• message::skill::Look A Task requesting to look in a direction, containing the vector rPCt (camera to target, in torso space) and a smooth flag.

Emits

• message::booster::BoosterHeadRot containing the desired head yaw/pitch rotation, consumed by the Booster HardwareIO.

Dependencies

• Director
• Eigen

Say

Description

Module that enables the robot to vocalise specified text using a text-to-speech tool and optionally perform a nodding gesture to indicate speaking.

Usage

Include this module whenever the robot needs to vocalise or acknowledge messages via speech-like actions.

Consumes

• message::skill::Say: A Task requesting to vocalise a text string. Contains the text to be spoken and an optional nod gesture request.

Emits

• message::actuation::HeadSequence: A Task to instruct the robot's head to perform specific sequences, such as a nodding gesture.

Dependencies

• Director
• mimic3: External python based command-line text-to-speech tool.
• aplay: Command-line sound player for Linux.

SimK1Walk

Runs the mujoco_playground K1 joystick walk policy (79-obs / 22-action ONNX) on the robot side at 50 Hz and streams the resulting joint position targets to platform::Booster::HardwareIO as message::booster::BoosterLowCmd, which forwards them to the Booster SDK rt/joint_ctrl topic (honoured in CUSTOM mode).

It is the walk used by the nusim/* roles: NUSim ignores the firmware Move() RPC that skill::Walk drives, so in sim locomotion inference lives in the NUbots stack and the simulator only tracks servo joint commands. The robot roles use skill::Walk.

Consumes

• message::skill::Walk (Director task) with the target velocity
• message::platform::RawSensors for joint feedback, gyro and the IMU attitude
• message::booster::BoosterHeadRot for the head targets (the policy does not own the head)
• message::booster::BoosterModeState (cached, optional) — logged with every observation so a capture can be segmented by the mode the robot was actually in

Emits

• message::booster::BoosterLowCmd (22 motors, SDK JointIndexK1 serial order)
• message::booster::BoosterMode (CUSTOM) when the walk task starts
• message::behaviour::state::WalkState

Contract

The observation/action layout is pinned in NUSim docs/OBS_ACTION_CONTRACT.md.

Two things are instrumented for hardware bring-up:

• At log_level: TRACE every tick emits WALKOBS <tick> mode=<K1Mode> t=<s> dt=<s> plus all 79 observations.
• Commanded joint positions are clamped to joint_lower/joint_upper (the trained model's ranges) and any clamp is logged at WARN

VisualKick

Description

Sends a command to the Booster Robotics SDK to initiate a visual kick, along with a kick reference to aim it. Starting the visual kick switches the robot into a mode that accepts kick references on the SDK's rt/kick_ball topic, so the reference is sent immediately after the start command.

Usage

Emit a Kick message when wanting to kick.

Consumes

• message::skill::Kick a request to kick. direction sets the kick direction (robot-relative) and power (magnitude); target sets the field-space point to aim at; leg is unused as the SDK chooses its own leg
• message::input::Sensors used with Field to compute the robot's field-space pose for the kick reference
• message::localisation::Field used with Sensors to compute the robot's field-space pose for the kick reference

Emits

• message::booster::BoosterVisualKick which the Booster HardwareIO forwards to the SDK via booster_client.VisualKick(start, version).
• message::booster::BoosterKick which the Booster HardwareIO publishes to the SDK's rt/kick_ball topic, carrying the robot's field-space pose and the goal target to aim at.

Dependencies

• Director

Walk

Description

Routes walk calls to the Booster Robotics SDK to use the K1's built-in locomotion.

Usage

Include this module to allow the robot to walk.

Consumes

• message::skill::Walk A Task requesting to walk, containing a vector with the desired velocity target.

Emits

• message::behaviour::state::Stability to indicate when the robot is walking (dynamically stable) and standing.

Dependencies

• Director
• Eigen