diff --git a/src/app/api/robots/command/route.ts b/src/app/api/robots/command/route.ts
index 8e21e71..b781ed6 100644
--- a/src/app/api/robots/command/route.ts
+++ b/src/app/api/robots/command/route.ts
@@ -128,6 +128,35 @@ export async function POST(request: NextRequest) {
         return NextResponse.json({ success: true });
       }
 
+      case "executeSSH": {
+        const { command } = parameters ?? {};
+        if (!command) {
+          return NextResponse.json(
+            { error: "Missing command parameter" },
+            { status: 400 },
+          );
+        }
+
+        console.log(`[Robots API] Executing SSH command: ${command}`);
+
+        const sshCmd = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no -o ConnectTimeout=10 "nao@${robotIp}" "${command}"`;
+
+        try {
+          const { stdout, stderr } = await execAsync(sshCmd);
+          if (stderr && !stderr.includes("null") && stderr.trim()) {
+            console.warn(`[Robots API] SSH stderr: ${stderr}`);
+          }
+          console.log(`[Robots API] SSH result: ${stdout}`);
+          return NextResponse.json({ success: true, stdout, stderr });
+        } catch (error) {
+          console.error(`[Robots API] SSH command failed:`, error);
+          return NextResponse.json(
+            { error: error instanceof Error ? error.message : "SSH command failed" },
+            { status: 500 },
+          );
+        }
+      }
+
       default:
         return NextResponse.json(
           { error: `Unknown action: ${action}` },
diff --git a/src/lib/ros/wizard-ros-service.ts b/src/lib/ros/wizard-ros-service.ts
index 937051e..94d1323 100644
--- a/src/lib/ros/wizard-ros-service.ts
+++ b/src/lib/ros/wizard-ros-service.ts
@@ -718,11 +718,18 @@ export class WizardRosService extends EventEmitter {
         transformFn?: string;
         service?: string;
         args?: Record<string, unknown>;
+        sshCommand?: string;
       };
     },
     parameters: Record<string, unknown>,
     actionId?: string,
   ): Promise<void> {
+    // SSH command actions
+    if (config.payloadMapping.type === "ssh" && config.payloadMapping.sshCommand) {
+      await this.executeSSHCommand(config.payloadMapping.sshCommand);
+      return;
+    }
+
     // Service-call actions — no topic publish involved
     if (config.payloadMapping.type === "service") {
       const service = config.payloadMapping.service ?? config.topic;
@@ -1068,6 +1075,29 @@ export class WizardRosService extends EventEmitter {
     console.log(`[WizardROS] Animation completed: ${animation}`);
   }
 
+  /**
+   * Execute an arbitrary SSH command via the API
+   */
+  private async executeSSHCommand(command: string): Promise<void> {
+    console.log(`[WizardROS] Executing SSH command: ${command}`);
+
+    const response = await fetch("/api/robots/command", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({
+        action: "executeSSH",
+        command,
+      }),
+    });
+
+    if (!response.ok) {
+      const error = await response.text();
+      throw new Error(`SSH command failed: ${error}`);
+    }
+
+    console.log(`[WizardROS] SSH command completed: ${command}`);
+  }
+
   /**
    * Set Autonomous Life state with fallbacks
    */
diff --git a/src/server/services/robot-communication.ts b/src/server/services/robot-communication.ts
index 9617c87..3e8409e 100755
--- a/src/server/services/robot-communication.ts
+++ b/src/server/services/robot-communication.ts
@@ -26,6 +26,22 @@ export interface RobotAction {
     topic: string;
     messageType: string;
     messageTemplate: Record<string, unknown>;
+    payloadMapping?: {
+      type?: string;
+      transformFn?: string;
+      payload?: Record<string, unknown>;
+    };
+    ros2?: {
+      topic?: string;
+      messageType?: string;
+      service?: string;
+      action?: string;
+      payloadMapping?: {
+        type?: string;
+        transformFn?: string;
+        payload?: Record<string, unknown>;
+      };
+    };
   };
 }
 
@@ -238,11 +254,39 @@ export class RobotCommunicationService extends EventEmitter {
       return;
     }
 
-    // Build ROS message from template
-    const message = this.buildRosMessage(
-      implementation.messageTemplate,
-      parameters,
-    );
+    // Check for SSH command type
+    const sshCommand = implementation.payloadMapping?.sshCommand 
+      || implementation.ros2?.payloadMapping?.sshCommand;
+    
+    if (sshCommand) {
+      this.executeSSHCommand(sshCommand).then(() => {
+        this.completeAction(actionId, {
+          success: true,
+          duration:
+            Date.now() -
+            (this.pendingActions.get(actionId)?.startTime || Date.now()),
+          data: { method: "ssh", command: sshCommand },
+        });
+      }).catch((error) => {
+        this.pendingActions.get(actionId)?.reject(error);
+      });
+      return;
+    }
+
+    // Apply transform if specified
+    let message: Record<string, unknown>;
+    const transformFn = implementation.payloadMapping?.transformFn 
+      || implementation.ros2?.payloadMapping?.transformFn;
+    
+    if (transformFn) {
+      message = this.applyTransform(transformFn, parameters);
+    } else {
+      // Build ROS message from template
+      message = this.buildRosMessage(
+        implementation.messageTemplate,
+        parameters,
+      );
+    }
 
     // Publish to ROS topic
     this.publishToTopic(
@@ -268,6 +312,23 @@ export class RobotCommunicationService extends EventEmitter {
     }, 100);
   }
 
+  private async executeSSHCommand(command: string): Promise<void> {
+    const robotIp = process.env.NAO_IP || "134.82.159.168";
+    const password = process.env.NAO_PASSWORD || "robolab";
+
+    console.log(`[RobotComm] Executing SSH command: ${command}`);
+
+    const sshCommand = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no -o ConnectTimeout=10 "nao@${robotIp}" "${command}"`;
+
+    const { stdout, stderr } = await execAsync(sshCommand);
+
+    if (stderr && !stderr.includes("null") && stderr.trim()) {
+      console.warn(`[RobotComm] SSH stderr: ${stderr}`);
+    }
+
+    console.log(`[RobotComm] SSH result: ${stdout}`);
+  }
+
   private async executeAnimationViaSSH(actionType: string): Promise<void> {
     const animationMap: Record<string, string> = {
       "play_animation_bow": "animations/Stand/Gestures/BowShort_1",
@@ -300,6 +361,32 @@ export class RobotCommunicationService extends EventEmitter {
     console.log(`[RobotComm] Animation result: ${stdout}`);
   }
 
+  private transformToEmotionalSpeech(parameters: Record<string, unknown>): { data: string } {
+    const text = String(parameters.text || "Hello");
+    const emotion = String(parameters.emotion || "neutral");
+
+    switch (emotion) {
+      case "happy":
+        return { data: `\\rspd=120\\ ${text}` };
+      case "sad":
+        return { data: `\\rspd=80\\ ${text}` };
+      case "neutral":
+      default:
+        return { data: text };
+    }
+  }
+
+  private applyTransform(transformFn: string, parameters: Record<string, unknown>): Record<string, unknown> {
+    switch (transformFn) {
+      case "transformToEmotionalSpeech":
+      case "transformToEmotionSpeech":
+        return this.transformToEmotionalSpeech(parameters);
+      default:
+        console.warn(`[RobotComm] Unknown transform: ${transformFn}`);
+        return parameters;
+    }
+  }
+
   private buildRosMessage(
     template: Record<string, unknown>,
     parameters: Record<string, unknown>,