migrate: replace NextAuth.js with Better Auth

- Install better-auth and @better-auth/drizzle-adapter
- Create src/lib/auth.ts with Better Auth configuration using bcrypt
- Update database schema: change auth table IDs from uuid to text
- Update route handler from /api/auth/[...nextauth] to /api/auth/[...all]
- Update tRPC context and middleware for Better Auth session handling
- Update client components to use Better Auth APIs (signIn, signOut)
- Update seed script with text-based IDs and correct account schema
- Fix type errors in wizard components (robotId, optional chaining)
- Fix API paths: api.robots.initialize -> api.robots.plugins.initialize
- Update auth router to use text IDs for Better Auth compatibility

Note: Auth tables were reset - users will need to re-register.

src/components/dashboard/app-sidebar.tsx

@@ -3,7 +3,7 @@
 import React, { useEffect, useRef } from "react";
 import Link from "next/link";
 import { usePathname } from "next/navigation";
-import { signOut, useSession } from "next-auth/react";
+import { signOut, useSession } from "~/lib/auth-client";
 import { toast } from "sonner";
 import {
   BarChart3,
@@ -203,7 +203,8 @@ export function AppSidebar({
     : [];
 
   const handleSignOut = async () => {
-    await signOut({ callbackUrl: "/" });
+    await signOut();
+    window.location.href = "/";
   };
 
   const handleStudySelect = async (studyId: string) => {

src/components/trials/wizard/WizardInterface.tsx

@@ -167,7 +167,7 @@ export const WizardInterface = React.memo(function WizardInterface({
   });
 
   // Robot initialization mutation (for startup routine)
-  const initializeRobotMutation = api.robots.initialize.useMutation({
+  const initializeRobotMutation = api.robots.plugins.initialize.useMutation({
     onSuccess: () => {
       toast.success("Robot initialized", {
         description: "Autonomous Life disabled and robot awake.",
@@ -188,7 +188,7 @@ export const WizardInterface = React.memo(function WizardInterface({
   });
 
   const executeSystemActionMutation =
-    api.robots.executeSystemAction.useMutation();
+    api.robots.plugins.executeSystemAction.useMutation();
   const [isCompleting, setIsCompleting] = useState(false);
 
   // Map database step types to component step types
@@ -579,14 +579,20 @@ export const WizardInterface = React.memo(function WizardInterface({
   };
 
   const handleNextStep = (targetIndex?: number) => {
-    console.log(`[DEBUG] handleNextStep called: targetIndex=${targetIndex}, currentStepIndex=${currentStepIndex}`);
-    console.log(`[DEBUG] Steps: ${steps.map((s, i) => `${i}:${s.name}`).join(' | ')}`);
-    
+    console.log(
+      `[DEBUG] handleNextStep called: targetIndex=${targetIndex}, currentStepIndex=${currentStepIndex}`,
+    );
+    console.log(
+      `[DEBUG] Steps: ${steps.map((s, i) => `${i}:${s.name}`).join(" | ")}`,
+    );
+
     // If explicit target provided (from branching choice), use it
     if (typeof targetIndex === "number") {
       // Find step by index to ensure safety
       if (targetIndex >= 0 && targetIndex < steps.length) {
-        console.log(`[WizardInterface] Manual jump to step ${targetIndex} (${steps[targetIndex]?.name})`);
+        console.log(
+          `[WizardInterface] Manual jump to step ${targetIndex} (${steps[targetIndex]?.name})`,
+        );
 
         // Log manual jump
         logEventMutation.mutate({
@@ -613,7 +619,9 @@ export const WizardInterface = React.memo(function WizardInterface({
         });
         return;
       } else {
-        console.warn(`[DEBUG] Invalid targetIndex: ${targetIndex}, steps.length=${steps.length}`);
+        console.warn(
+          `[DEBUG] Invalid targetIndex: ${targetIndex}, steps.length=${steps.length}`,
+        );
       }
     }
 
@@ -868,10 +876,14 @@ export const WizardInterface = React.memo(function WizardInterface({
         if (parameters.nextStepId) {
           const nextId = String(parameters.nextStepId);
           const targetIndex = steps.findIndex((s) => s.id === nextId);
-          console.log(`[DEBUG] Branch choice: value=${parameters.value}, label=${parameters.label}`);
+          console.log(
+            `[DEBUG] Branch choice: value=${parameters.value}, label=${parameters.label}`,
+          );
           console.log(`[DEBUG] Target step ID: ${nextId}`);
           console.log(`[DEBUG] Target index in steps array: ${targetIndex}`);
-          console.log(`[DEBUG] Available step IDs: ${steps.map(s => s.id).join(', ')}`);
+          console.log(
+            `[DEBUG] Available step IDs: ${steps.map((s) => s.id).join(", ")}`,
+          );
           if (targetIndex !== -1) {
             console.log(
               `[WizardInterface] Choice-based jump to step ${targetIndex} (${nextId})`,

src/components/trials/wizard/panels/WizardExecutionPanel.tsx

@@ -403,8 +403,8 @@ export function WizardExecutionPanel({
                       size="lg"
                       onClick={
                         currentStepIndex === steps.length - 1
-                          ? onCompleteTrial
-                          : () => onNextStep()
+                          ? (onCompleteTrial ?? (() => {}))
+                          : () => onNextStep?.()
                       }
                       className={`w-full max-w-sm text-white shadow-lg transition-all hover:scale-[1.02] ${
                         currentStepIndex === steps.length - 1