  Software frameworks for behaviour are critical in robotics as they enable the
correct and efficient execution of functions. While modern behaviour systems
have improved their composability, they do not focus on smooth transitions and
often lack functionality. In this work, we present the Director, a novel
behaviour framework that addresses these problems. It has functionality for
soft transitions, multiple implementations of the same action chosen based on
conditionals, and strict resource control. The system was successfully used in
the 2022/2023 Virtual Season and RoboCup 2023 Bordeaux, in the Humanoid Kid
Size League. It is implemented at https://github.com/NUbots/DirectorSoccer,
which also contains over thirty automated tests and technical documentation on
its implementation in NUClear.
