Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, employed within a robotics system. In one aspect, a robotics system includes an interface; an output; a processor; and a computer-readable storage device coupled to the processor and having instructions stored thereon which, when executed by the processor, cause processor to perform operations comprising: providing, through the interface, a simulation of the robotics system described by a Ubiquitous Simulation Model (USM) and depicted within a simulated environment; receiving a command through the interface; determining an applicable module configured to operate skills and knowledge for the command based on the USM and the simulated environment; processing the command with the module and the USM to determine an appropriate action, wherein the action is determined based on a coherent mode of conduct and self-presentation modeled for the robotics system; and performing the action with the output.