feat(analytics): refine timeline visualization and add print support

README.md

@@ -19,12 +19,13 @@ HRIStudio addresses critical challenges in HRI research by providing a comprehen
 - **Hierarchical Structure**: Study → Experiment → Trial → Step → Action
 - **Visual Experiment Designer**: Drag-and-drop protocol creation with 26+ core blocks
 - **Plugin System**: Extensible robot platform integration (RESTful, ROS2, custom)
+- **Consolidated Wizard Interface**: 3-panel design with trial controls, horizontal timeline, and unified robot controls
 - **Real-time Trial Execution**: Live wizard control with comprehensive data capture
 - **Role-Based Access**: Administrator, Researcher, Wizard, Observer (4 distinct roles)
 - **Unified Form Experiences**: 73% code reduction through standardized patterns
 - **Enterprise DataTables**: Advanced filtering, pagination, export capabilities
-- **Real-time Trial Execution**: Professional wizard interface with live monitoring
 - **Mock Robot Integration**: Complete simulation system for development and testing
+- **Intelligent Control Flow**: Loops with implicit approval, branching logic, parallel execution
 
 ## Quick Start
 
@@ -96,6 +97,9 @@ bun dev
 - Plugin Store with trust levels (Official, Verified, Community)
 
 #### 3. Adaptive Wizard Interface
+- **3-Panel Design**: Trial controls (left), horizontal timeline (center), robot control & status (right)
+- **Horizontal Step Progress**: Non-scrolling step navigation with visual progress indicators
+- **Consolidated Robot Controls**: Single location for connection, autonomous life, actions, and monitoring
 - Real-time experiment execution dashboard
 - Step-by-step guidance for consistent execution
 - Quick actions for unscripted interventions

docker-compose.yml

@@ -29,6 +29,18 @@ services:
       - minio_data:/data
     command: server --console-address ":9001" /data
 
+  createbuckets:
+    image: minio/mc
+    depends_on:
+      - minio
+    entrypoint: >
+      /bin/sh -c "
+      /usr/bin/mc alias set myminio http://minio:9000 minioadmin minioadmin;
+      /usr/bin/mc mb myminio/hristudio;
+      /usr/bin/mc anonymous set public myminio/hristudio;
+      exit 0;
+      "
+
 volumes:
   postgres_data:
   minio_data:

docs/README.md

@@ -227,6 +227,7 @@ bun dev
 ### **Development Experience**
 - **Unified Components**: Significant reduction in code duplication
 - **Panel Architecture**: 90% code sharing between experiment designer and wizard interface
+- **Consolidated Wizard**: 3-panel design with trial controls, horizontal timeline, and unified robot controls
 - **Enterprise DataTables**: Advanced filtering, export, pagination
 - **Comprehensive Testing**: Realistic seed data with complete scenarios
 - **Developer Friendly**: Clear patterns and extensive documentation
@@ -253,11 +254,12 @@ bun dev
 - ✅ **Database Schema** - 31 tables with comprehensive relationships
 - ✅ **Authentication** - Role-based access control system
 - ✅ **Visual Designer** - Repository-based plugin architecture
-- ✅ **Panel-Based Wizard Interface** - Consistent with experiment designer architecture
+- ✅ **Consolidated Wizard Interface** - 3-panel design with horizontal timeline and unified robot controls
 - ✅ **Core Blocks System** - 26 blocks across events, wizard, control, observation
 - ✅ **Plugin Architecture** - Unified system for core blocks and robot actions
 - ✅ **Development Environment** - Realistic test data and scenarios
 - ✅ **NAO6 Robot Integration** - Full ROS2 integration with comprehensive control and monitoring
+- ✅ **Intelligent Control Flow** - Loops with implicit approval, branching, parallel execution
 
 ---
 

docs/project-overview.md

@@ -37,6 +37,13 @@ HRIStudio is a web-based platform designed to standardize and improve the reprod
 - Context-sensitive help and best practice guidance
 - Automatic generation of robot-specific action components
 - Parameter configuration with validation
+- **System Plugins**:
+  - **Core (`hristudio-core`)**: Control flow (loops, branches) and observation blocks
+  - **Wizard (`hristudio-woz`)**: Wizard interactions (speech, text input)
+- **External Robot Plugins**:
+  - Located in `robot-plugins/` repository (e.g., `nao6-ros2`)
+  - Loaded dynamically per study
+  - Map abstract actions (Say, Walk) to ROS2 topics
 - **Core Block Categories**:
   - Events (4): Trial triggers, speech detection, timers, key presses
   - Wizard Actions (6): Speech, gestures, object handling, rating, notes

docs/wizard-interface-guide.md

@@ -2,278 +2,366 @@
 
 ## Overview
 
-The Wizard Interface is a real-time control panel for conducting Human-Robot Interaction (HRI) trials. It provides wizards with comprehensive tools to execute experiment protocols, monitor participant interactions, and control robot behaviors in real-time.
+The HRIStudio wizard interface provides a comprehensive, real-time trial execution environment with a consolidated 3-panel design optimized for efficient experiment control and monitoring.
 
-## Key Features
+## Interface Layout
 
-- **Real-time Trial Execution**: Live step-by-step protocol execution with WebSocket connectivity
+```
-- **Robot Status Monitoring**: Battery levels, connection status, sensor readings, and position tracking
+┌─────────────────────────────────────────────────────────────────────────────┐
-- **Participant Information**: Demographics, consent status, and session details
+│                          Trial Execution Header                              │
-- **Live Event Logging**: Real-time capture of all trial events and wizard interventions
+│                    [Trial Name] - [Participant] - [Status]                  │
-- **Action Controls**: Quick access to common wizard actions and robot commands
+└─────────────────────────────────────────────────────────────────────────────┘
-
+┌──────────────┬──────────────────────────────────────┬──────────────────────┐
-## WebSocket System
+│              │                                       │                      │
-
+│ Trial        │   Execution Timeline                  │ Robot Control        │
-### Connection Setup
+│ Control      │                                       │ & Status             │
-
+│              │                                       │                      │
-The wizard interface automatically connects to a WebSocket server for real-time communication:
+│ ┌──────────┐ │ ┌──┬──┬──┬──┬──┐ Step Progress      │ 📷 Camera View       │
-
+│ │ Start    │ │ │✓ │✓ │● │  │  │                    │                      │
-```typescript
+│ │ Pause    │ │ └──┴──┴──┴──┴──┘                    │ Connection: ✓        │
-// WebSocket URL format
+│ │ Next Step│ │                                       │                      │
-wss://your-domain.com/api/websocket?trialId={TRIAL_ID}&token={AUTH_TOKEN}
+│ │ Complete │ │ Current Step: "Greeting"             │ Autonomous Life: ON  │
+│ │ Abort    │ │ ┌────────────────────────────────┐   │                      │
+│ └──────────┘ │ │ Actions:                       │   │ Robot Actions:       │
+│              │ │ • Say "Hello"          [Run]   │   │ ┌──────────────────┐ │
+│ Progress:    │ │ • Wave Hand            [Run]   │   │ │ Quick Commands   │ │
+│ Step 3/5     │ │ • Wait 2s              [Run]   │   │ └──────────────────┘ │
+│              │ └────────────────────────────────┘   │                      │
+│              │                                       │ Movement Controls    │
+│              │                                       │ Quick Actions        │
+│              │                                       │ Status Monitoring    │
+└──────────────┴──────────────────────────────────────┴──────────────────────┘
 ```
 
-### Message Types
+## Panel Descriptions
 
-#### Incoming Messages (from server):
+### Left Panel: Trial Control
-- `connection_established` - Connection acknowledgment
-- `trial_status` - Current trial state and step information
-- `trial_action_executed` - Confirmation of action execution
-- `step_changed` - Step transition notifications
-- `intervention_logged` - Wizard intervention confirmations
 
-#### Outgoing Messages (to server):
+**Purpose**: Manage overall trial flow and progression
-- `heartbeat` - Keep connection alive
-- `trial_action` - Execute trial actions (start, complete, abort)
-- `wizard_intervention` - Log wizard interventions
-- `step_transition` - Advance to next step
 
-### Example Usage
+**Features:**
+- **Start Trial**: Begin experiment execution
+- **Pause/Resume**: Temporarily halt trial without aborting
+- **Next Step**: Manually advance to next step (when all actions complete)
+- **Complete Trial**: Mark trial as successfully completed
+- **Abort Trial**: Emergency stop with reason logging
 
-```typescript
+**Progress Indicators:**
-// Start a trial
+- Current step number (e.g., "Step 3 of 5")
-webSocket.sendMessage({
+- Overall trial status
-  type: "trial_action",
+- Time elapsed
-  data: {
-    actionType: "start_trial",
-    step_index: 0,
-    data: { notes: "Trial started by wizard" }
-  }
-});
 
-// Log wizard intervention
+**Best Practices:**
-webSocket.sendMessage({
+- Use Pause for participant breaks
-  type: "wizard_intervention",
+- Use Abort only for unrecoverable issues
-  data: {
+- Document abort reasons thoroughly
-    action_type: "manual_correction",
-    step_index: currentStepIndex,
-    action_data: { message: "Clarified instruction" }
-  }
-});
-```
-
-## Trial Execution Workflow
-
-### 1. Pre-Trial Setup
-- Verify participant consent and demographics
-- Check robot connection and status
-- Review experiment protocol steps
-- Confirm WebSocket connectivity
-
-### 2. Starting a Trial
-1. Click "Start Trial" button
-2. System automatically:
-   - Updates trial status to "in_progress"
-   - Records start timestamp
-   - Loads first protocol step
-   - Broadcasts status to all connected clients
-
-### 3. Step-by-Step Execution
-- **Current Step Display**: Shows active step details and actions
-- **Execute Step**: Trigger step-specific actions (robot commands, wizard prompts)
-- **Next Step**: Advance to subsequent protocol step
-- **Quick Actions**: Access common wizard interventions
-
-### 4. Real-time Monitoring
-- **Robot Status**: Live updates on battery, signal, position, sensors
-- **Event Log**: Chronological list of all trial events
-- **Progress Tracking**: Visual progress bar and step completion status
-
-### 5. Trial Completion
-- Click "Complete" for successful trials
-- Click "Abort" for early termination
-- System records end timestamp and final status
-- Automatic redirect to analysis page
-
-## Experiment Data Integration
-
-### Loading Real Experiment Steps
-
-The wizard interface automatically loads experiment steps from the database:
-
-```typescript
-// Steps are fetched from the experiments API
-const { data: experimentSteps } = api.experiments.getSteps.useQuery({
-  experimentId: trial.experimentId
-});
-```
-
-### Step Types and Actions
-
-Supported step types from the experiment designer:
-- **Wizard Steps**: Manual wizard actions and prompts
-- **Robot Steps**: Automated robot behaviors and movements
-- **Parallel Steps**: Concurrent actions executed simultaneously
-- **Conditional Steps**: Branching logic based on participant responses
-
-## Seed Data and Testing
-
-### Available Test Data
-
-The development database includes realistic test scenarios:
-
-```bash
-# Seed the database with test data
-bun db:seed
-
-# Default login credentials
-Email: sean@soconnor.dev
-Password: password123
-```
-
-### Test Experiments
-
-1. **"Basic Interaction Protocol 1"** (Study: Real-time HRI Coordination)
-   - 3 steps: Introduction, Wait for Response, Robot Feedback
-   - Includes wizard actions and NAO robot integration
-   - Estimated duration: 25 minutes
-
-2. **"Dialogue Timing Pilot"** (Study: Wizard-of-Oz Dialogue Study)
-   - Multi-step protocol with parallel and conditional actions
-   - Timer-based transitions and conditional follow-ups
-   - Estimated duration: 35 minutes
-
-### Test Participants
-
-Pre-loaded participants with complete demographics:
-- Various age groups (18-65)
-- Different educational backgrounds
-- Robot experience levels
-- Consent already verified
-
-## Robot Integration
-
-### Supported Robots
-
-- **TurtleBot3 Burger**: Navigation and sensing capabilities
-- **NAO Humanoid Robot**: Speech, gestures, and animations
-- **Plugin System**: Extensible support for additional platforms
-
-### Robot Actions
-
-Common robot actions available during trials:
-- **Speech**: Text-to-speech with configurable speed/volume
-- **Movement**: Navigation commands and position control
-- **Gestures**: Pre-defined animation sequences
-- **LED Control**: Visual feedback through color changes
-- **Sensor Readings**: Real-time environmental data
-
-## Error Handling and Troubleshooting
-
-### WebSocket Connection Issues
-
-- **Connection Failed**: Check network connectivity and server status
-- **Frequent Disconnections**: Verify firewall settings and WebSocket support
-- **Authentication Errors**: Ensure valid session and proper token generation
-
-### Trial Execution Problems
-
-- **Steps Not Loading**: Verify experiment has published steps in database
-- **Robot Commands Failing**: Check robot connection and plugin configuration
-- **Progress Not Updating**: Confirm WebSocket messages are being sent/received
-
-### Recovery Procedures
-
-1. **Connection Loss**: Interface automatically attempts reconnection with exponential backoff
-2. **Trial State Mismatch**: Use "Refresh" button to sync with server state
-3. **Robot Disconnect**: Monitor robot status panel for connection recovery
-
-## Best Practices
-
-### Wizard Guidelines
-
-1. **Pre-Trial Preparation**
-   - Review complete experiment protocol
-   - Test robot functionality before participant arrival
-   - Verify audio/video recording systems
-
-2. **During Trial Execution**
-   - Follow protocol steps in sequence
-   - Use intervention logging for any deviations
-   - Monitor participant comfort and engagement
-   - Watch robot status for any issues
-
-3. **Post-Trial Procedures**
-   - Complete trial properly (don't just abort)
-   - Add summary notes about participant behavior
-   - Review event log for any anomalies
-
-### Technical Considerations
-
-- **Browser Compatibility**: Use modern browsers with WebSocket support
-- **Network Requirements**: Stable internet connection for real-time features
-- **Performance**: Close unnecessary browser tabs during trials
-- **Backup Plans**: Have manual procedures ready if technology fails
-
-## Development and Customization
-
-### Adding Custom Actions
-
-```typescript
-// Register new wizard action
-const handleCustomAction = async (actionData: Record<string, unknown>) => {
-  await logEventMutation.mutateAsync({
-    trialId: trial.id,
-    type: "wizard_action",
-    data: {
-      action_type: "custom_intervention",
-      ...actionData
-    }
-  });
-};
-```
-
-### Extending Robot Support
-
-1. Create new robot plugin following plugin system guidelines
-2. Define action schemas in plugin configuration
-3. Implement communication protocol (REST/ROS2/WebSocket)
-4. Test integration with wizard interface
-
-### Custom Step Types
-
-To add new step types:
-1. Update database schema (`stepTypeEnum`)
-2. Add type mapping in `WizardInterface.tsx`
-3. Create step-specific UI components
-4. Update execution engine logic
-
-## Security Considerations
-
-- **Authentication**: All WebSocket connections require valid session tokens
-- **Authorization**: Role-based access control for trial operations
-- **Data Protection**: All trial data encrypted in transit and at rest
-- **Session Management**: Automatic cleanup of expired connections
-
-## Performance Optimization
-
-- **Connection Pooling**: Efficient WebSocket connection management
-- **Event Batching**: Group related events to reduce message overhead
-- **Selective Updates**: Only broadcast relevant changes to connected clients
-- **Caching**: Local state management for responsive UI updates
 
 ---
 
-## Quick Start Checklist
+### Center Panel: Execution Timeline
 
-- [ ] Database seeded with test data (`bun db:seed`)
+**Purpose**: Visualize experiment flow and execute current step actions
-- [ ] Development server running (`bun dev`)
-- [ ] Logged in as administrator (sean@soconnor.dev)
-- [ ] Navigate to Trials section
-- [ ] Select a trial and click "Wizard Control"
-- [ ] Verify WebSocket connection (green "Real-time" badge)
-- [ ] Start trial and execute steps
-- [ ] Monitor robot status and event log
-- [ ] Complete trial and review analysis page
 
-For additional support, refer to the complete HRIStudio documentation in the `docs/` folder.
+#### Horizontal Step Progress Bar
+
+**Features:**
+- **Visual Overview**: See all steps at a glance
+- **Step States**:
+  - ✓ **Completed** (green checkmark, primary border)
+  - ● **Current** (highlighted, ring effect)
+  - ○ **Upcoming** (muted appearance)
+- **Click Navigation**: Jump to any step (unless read-only)
+- **Horizontal Scroll**: For experiments with many steps
+
+**Step Card Elements:**
+- Step number or checkmark icon
+- Truncated step name (hover for full name)
+- Visual state indicators
+
+#### Current Step View
+
+**Features:**
+- **Step Header**: Name and description
+- **Action List**: Vertical timeline of actions
+- **Action States**:
+  - Completed actions (checkmark)
+  - Active action (highlighted, pulsing)
+  - Pending actions (numbered)
+- **Action Controls**: Run, Skip, Mark Complete buttons
+- **Progress Tracking**: Auto-scrolls to active action
+
+**Action Types:**
+- **Wizard Actions**: Manual tasks for the wizard
+- **Robot Actions**: Commands sent to the robot
+- **Control Flow**: Loops, branches, parallel execution
+- **Observations**: Data collection and recording
+
+**Best Practices:**
+- Review step description before starting
+- Execute actions in order unless branching
+- Use Skip sparingly and document reasons
+- Verify robot action completion before proceeding
+
+---
+
+### Right Panel: Robot Control & Status
+
+**Purpose**: Unified location for all robot-related controls and monitoring
+
+#### Camera View
+- Live video feed from robot or environment
+- Multiple camera support (switchable)
+- Full-screen mode available
+
+#### Connection Status
+- **ROS Bridge**: WebSocket connection state
+- **Robot Status**: Online/offline indicator
+- **Reconnect**: Manual reconnection button
+- **Auto-reconnect**: Automatic retry on disconnect
+
+#### Autonomous Life Toggle
+- **Purpose**: Enable/disable robot's autonomous behaviors
+- **States**:
+  - ON: Robot exhibits idle animations, breathing, awareness
+  - OFF: Robot remains still, fully manual control
+- **Best Practice**: Turn OFF during precise interactions
+
+#### Robot Actions Panel
+- **Quick Commands**: Pre-configured robot actions
+- **Parameter Controls**: Adjust action parameters
+- **Execution Status**: Real-time feedback
+- **Action History**: Recent commands log
+
+#### Movement Controls
+- **Directional Pad**: Manual robot navigation
+- **Speed Control**: Adjust movement speed
+- **Safety Limits**: Collision detection and boundaries
+- **Emergency Stop**: Immediate halt
+
+#### Quick Actions
+- **Text-to-Speech**: Send custom speech commands
+- **Preset Gestures**: Common robot gestures
+- **LED Control**: Change robot LED colors
+- **Posture Control**: Sit, stand, crouch commands
+
+#### Status Monitoring
+- **Battery Level**: Remaining charge percentage
+- **Joint Status**: Motor temperatures and positions
+- **Sensor Data**: Ultrasonic, tactile, IMU readings
+- **Warnings**: Overheating, low battery, errors
+
+**Best Practices:**
+- Monitor battery level throughout trial
+- Check connection status before robot actions
+- Use Emergency Stop for safety concerns
+- Document any robot malfunctions
+
+---
+
+## Workflow Guide
+
+### Pre-Trial Setup
+
+1. **Verify Robot Connection**
+   - Check ROS Bridge status (green indicator)
+   - Test robot responsiveness with quick action
+   - Confirm camera feed is visible
+
+2. **Review Experiment Protocol**
+   - Scan horizontal step progress bar
+   - Review first step's actions
+   - Prepare any physical materials
+
+3. **Configure Robot Settings** (Researchers/Admins only)
+   - Click Settings icon in robot panel
+   - Adjust speech, movement, connection parameters
+   - Save configuration for this study
+
+### During Trial Execution
+
+1. **Start Trial**
+   - Click "Start" in left panel
+   - First step becomes active
+   - First action highlights in timeline
+
+2. **Execute Actions**
+   - Follow action sequence in center panel
+   - Use action controls (Run/Skip/Complete)
+   - Monitor robot status in right panel
+   - Document any deviations
+
+3. **Navigate Steps**
+   - Wait for "Complete Step" button after all actions
+   - Click to advance to next step
+   - Or click step in progress bar to jump
+
+4. **Handle Issues**
+   - **Participant Question**: Use Pause
+   - **Robot Malfunction**: Check status panel, use Emergency Stop if needed
+   - **Protocol Deviation**: Document in notes, continue or abort as appropriate
+
+### Post-Trial Completion
+
+1. **Complete Trial**
+   - Click "Complete Trial" after final step
+   - Confirm completion dialog
+   - Trial marked as completed
+
+2. **Review Data**
+   - All actions logged with timestamps
+   - Robot commands recorded
+   - Sensor data captured
+   - Video recordings saved
+
+---
+
+## Control Flow Features
+
+### Loops
+
+**Behavior:**
+- Loops execute their child actions repeatedly
+- **Implicit Approval**: Wizard automatically approves each iteration
+- **Manual Override**: Wizard can skip or abort loop
+- **Progress Tracking**: Shows current iteration (e.g., "2 of 5")
+
+**Best Practices:**
+- Monitor participant engagement during loops
+- Use abort if participant shows distress
+- Document any skipped iterations
+
+### Branches
+
+**Behavior:**
+- Conditional execution based on criteria
+- Wizard selects branch path
+- Only selected branch actions execute
+- Other branches are skipped
+
+**Best Practices:**
+- Review branch conditions before choosing
+- Document branch selection rationale
+- Ensure participant meets branch criteria
+
+### Parallel Execution
+
+**Behavior:**
+- Multiple actions execute simultaneously
+- All must complete before proceeding
+- Independent progress tracking
+
+**Best Practices:**
+- Monitor all parallel actions
+- Be prepared for simultaneous robot and wizard tasks
+- Coordinate timing carefully
+
+---
+
+## Keyboard Shortcuts
+
+| Shortcut | Action |
+|----------|--------|
+| `Space` | Start/Pause Trial |
+| `→` | Next Step |
+| `Esc` | Abort Trial (with confirmation) |
+| `R` | Run Current Action |
+| `S` | Skip Current Action |
+| `C` | Complete Current Action |
+| `E` | Emergency Stop Robot |
+
+---
+
+## Troubleshooting
+
+### Robot Not Responding
+
+1. Check ROS Bridge connection (right panel)
+2. Click Reconnect button
+3. Verify robot is powered on
+4. Check network connectivity
+5. Restart ROS Bridge if needed
+
+### Camera Feed Not Showing
+
+1. Verify camera is enabled in robot settings
+2. Check camera topic in ROS
+3. Refresh browser page
+4. Check camera hardware connection
+
+### Actions Not Progressing
+
+1. Verify action has completed
+2. Check for error messages
+3. Manually mark complete if stuck
+4. Document issue in trial notes
+
+### Timeline Not Updating
+
+1. Refresh browser page
+2. Check WebSocket connection
+3. Verify trial status is "in_progress"
+4. Contact administrator if persists
+
+---
+
+## Role-Specific Features
+
+### Wizards
+- Full trial execution control
+- Action execution and skipping
+- Robot control (if permitted)
+- Real-time decision making
+
+### Researchers
+- All wizard features
+- Robot settings configuration
+- Trial monitoring and oversight
+- Protocol deviation approval
+
+### Observers
+- **Read-only access**
+- View trial progress
+- Monitor robot status
+- Add annotations (no control)
+
+### Administrators
+- All features enabled
+- System configuration
+- Plugin management
+- Emergency overrides
+
+---
+
+## Best Practices Summary
+
+✅ **Before Trial**
+- Verify all connections
+- Test robot responsiveness
+- Review protocol thoroughly
+
+✅ **During Trial**
+- Follow action sequence
+- Monitor robot status continuously
+- Document deviations immediately
+- Use Pause for breaks, not Abort
+
+✅ **After Trial**
+- Complete trial properly
+- Review captured data
+- Document any issues
+- Debrief with participant
+
+❌ **Avoid**
+- Skipping actions without documentation
+- Ignoring robot warnings
+- Aborting trials unnecessarily
+- Deviating from protocol without approval
+
+---
+
+## Additional Resources
+
+- **[Quick Reference](./quick-reference.md)** - Essential commands and shortcuts
+- **[Implementation Details](./implementation-details.md)** - Technical architecture
+- **[NAO6 Quick Reference](./nao6-quick-reference.md)** - Robot-specific commands
+- **[Troubleshooting Guide](./nao6-integration-complete-guide.md)** - Detailed problem resolution

package.json

@@ -23,41 +23,42 @@
     "typecheck": "tsc --noEmit"
   },
   "dependencies": {
-    "@auth/drizzle-adapter": "^1.10.0",
+    "@auth/drizzle-adapter": "^1.11.1",
-    "@aws-sdk/client-s3": "^3.859.0",
+    "@aws-sdk/client-s3": "^3.989.0",
-    "@aws-sdk/s3-request-presigner": "^3.859.0",
+    "@aws-sdk/s3-request-presigner": "^3.989.0",
     "@dnd-kit/core": "^6.3.1",
     "@dnd-kit/sortable": "^10.0.0",
     "@dnd-kit/utilities": "^3.2.2",
-    "@hookform/resolvers": "^5.1.1",
+    "@hookform/resolvers": "^5.2.2",
-    "@radix-ui/react-accordion": "^1.2.11",
+    "@radix-ui/react-accordion": "^1.2.12",
-    "@radix-ui/react-alert-dialog": "^1.1.14",
+    "@radix-ui/react-alert-dialog": "^1.1.15",
     "@radix-ui/react-aspect-ratio": "^1.1.8",
-    "@radix-ui/react-avatar": "^1.1.10",
+    "@radix-ui/react-avatar": "^1.1.11",
-    "@radix-ui/react-checkbox": "^1.3.2",
+    "@radix-ui/react-checkbox": "^1.3.3",
-    "@radix-ui/react-collapsible": "^1.1.11",
+    "@radix-ui/react-collapsible": "^1.1.12",
-    "@radix-ui/react-dialog": "^1.1.14",
+    "@radix-ui/react-dialog": "^1.1.15",
-    "@radix-ui/react-dropdown-menu": "^2.1.15",
+    "@radix-ui/react-dropdown-menu": "^2.1.16",
-    "@radix-ui/react-label": "^2.1.7",
+    "@radix-ui/react-label": "^2.1.8",
-    "@radix-ui/react-progress": "^1.1.7",
+    "@radix-ui/react-popover": "^1.1.15",
-    "@radix-ui/react-scroll-area": "^1.2.9",
+    "@radix-ui/react-progress": "^1.1.8",
-    "@radix-ui/react-select": "^2.2.5",
+    "@radix-ui/react-scroll-area": "^1.2.10",
-    "@radix-ui/react-separator": "^1.1.7",
+    "@radix-ui/react-select": "^2.2.6",
-    "@radix-ui/react-slider": "^1.3.5",
+    "@radix-ui/react-separator": "^1.1.8",
-    "@radix-ui/react-slot": "^1.2.3",
+    "@radix-ui/react-slider": "^1.3.6",
-    "@radix-ui/react-switch": "^1.2.5",
+    "@radix-ui/react-slot": "^1.2.4",
+    "@radix-ui/react-switch": "^1.2.6",
     "@radix-ui/react-tabs": "^1.1.13",
-    "@radix-ui/react-tooltip": "^1.2.7",
+    "@radix-ui/react-tooltip": "^1.2.8",
     "@shadcn/ui": "^0.0.4",
-    "@t3-oss/env-nextjs": "^0.13.8",
+    "@t3-oss/env-nextjs": "^0.13.10",
-    "@tanstack/react-query": "^5.69.0",
+    "@tanstack/react-query": "^5.90.21",
     "@tanstack/react-table": "^8.21.3",
-    "@trpc/client": "^11.0.0",
+    "@trpc/client": "^11.10.0",
-    "@trpc/react-query": "^11.0.0",
+    "@trpc/react-query": "^11.10.0",
-    "@trpc/server": "^11.0.0",
+    "@trpc/server": "^11.10.0",
     "@types/js-cookie": "^3.0.6",
     "@types/ws": "^8.18.1",
-    "bcryptjs": "^3.0.2",
+    "bcryptjs": "^3.0.3",
     "class-variance-authority": "^0.7.1",
     "clsx": "^2.1.1",
     "cmdk": "^1.1.1",
@@ -68,42 +69,44 @@
     "lucide-react": "^0.536.0",
     "minio": "^8.0.6",
     "next": "^16.1.6",
-    "next-auth": "^5.0.0-beta.29",
+    "next-auth": "^5.0.0-beta.30",
     "next-themes": "^0.4.6",
-    "postgres": "^3.4.4",
+    "postgres": "^3.4.8",
-    "react": "^19.0.0",
+    "radix-ui": "^1.4.3",
-    "react-dom": "^19.0.0",
+    "react": "^19.2.4",
-    "react-hook-form": "^7.60.0",
+    "react-day-picker": "^9.13.2",
-    "react-resizable-panels": "^3.0.4",
+    "react-dom": "^19.2.4",
+    "react-hook-form": "^7.71.1",
+    "react-resizable-panels": "^3.0.6",
     "react-webcam": "^7.2.0",
     "server-only": "^0.0.1",
     "sonner": "^2.0.7",
-    "superjson": "^2.2.1",
+    "superjson": "^2.2.6",
-    "tailwind-merge": "^3.3.1",
+    "tailwind-merge": "^3.4.0",
-    "ws": "^8.18.3",
+    "ws": "^8.19.0",
-    "zod": "^4.0.5",
+    "zod": "^4.3.6",
-    "zustand": "^4.5.5"
+    "zustand": "^4.5.7"
   },
   "devDependencies": {
-    "@eslint/eslintrc": "^3.3.1",
+    "@eslint/eslintrc": "^3.3.3",
-    "@tailwindcss/postcss": "^4.0.15",
+    "@tailwindcss/postcss": "^4.1.18",
     "@types/bcryptjs": "^3.0.0",
     "@types/crypto-js": "^4.2.2",
-    "@types/node": "^20.14.10",
+    "@types/node": "^20.19.33",
-    "@types/react": "^19.0.0",
+    "@types/react": "^19.2.14",
-    "@types/react-dom": "^19.0.0",
+    "@types/react-dom": "^19.2.3",
-    "drizzle-kit": "^0.30.5",
+    "drizzle-kit": "^0.30.6",
-    "eslint": "^9.23.0",
+    "eslint": "^9.39.2",
-    "eslint-config-next": "^15.2.3",
+    "eslint-config-next": "^15.5.12",
     "eslint-plugin-drizzle": "^0.2.3",
-    "postcss": "^8.5.3",
+    "postcss": "^8.5.6",
-    "prettier": "^3.5.3",
+    "prettier": "^3.8.1",
-    "prettier-plugin-tailwindcss": "^0.6.11",
+    "prettier-plugin-tailwindcss": "^0.6.14",
-    "tailwindcss": "^4.0.15",
+    "tailwindcss": "^4.1.18",
     "ts-unused-exports": "^11.0.1",
-    "tw-animate-css": "^1.3.5",
+    "tw-animate-css": "^1.4.0",
-    "typescript": "^5.8.2",
+    "typescript": "^5.9.3",
-    "typescript-eslint": "^8.27.0"
+    "typescript-eslint": "^8.55.0"
   },
   "ct3aMetadata": {
     "initVersion": "7.39.3"

scripts/archive/check-db-actions.ts

@@ -0,0 +1,46 @@
+
+import { drizzle } from "drizzle-orm/postgres-js";
+import postgres from "postgres";
+import * as schema from "../../src/server/db/schema";
+import { eq } from "drizzle-orm";
+
+const connectionString = process.env.DATABASE_URL!;
+const connection = postgres(connectionString);
+const db = drizzle(connection, { schema });
+
+async function main() {
+    console.log("🔍 Checking seeded actions...");
+
+    const actions = await db.query.actions.findMany({
+        where: (actions, { or, eq, like }) => or(
+            eq(actions.type, "sequence"),
+            eq(actions.type, "parallel"),
+            eq(actions.type, "loop"),
+            eq(actions.type, "branch"),
+            like(actions.type, "hristudio-core%")
+        ),
+        limit: 10
+    });
+
+    console.log(`Found ${actions.length} control actions.`);
+
+    for (const action of actions) {
+        console.log(`\nAction: ${action.name} (${action.type})`);
+        console.log(`ID: ${action.id}`);
+        // Explicitly log parameters to check structure
+        console.log("Parameters:", JSON.stringify(action.parameters, null, 2));
+
+        const params = action.parameters as any;
+        if (params.children) {
+            console.log(`✅ Has ${params.children.length} children in parameters.`);
+        } else if (params.trueBranch || params.falseBranch) {
+            console.log(`✅ Has branches in parameters.`);
+        } else {
+            console.log(`❌ No children/branches found in parameters.`);
+        }
+    }
+
+    await connection.end();
+}
+
+main();

scripts/archive/check-db.ts

@@ -1,7 +1,7 @@
 
 import { drizzle } from "drizzle-orm/postgres-js";
 import postgres from "postgres";
-import * as schema from "../src/server/db/schema";
+import * as schema from "../../src/server/db/schema";
 import { eq } from "drizzle-orm";
 
 const connectionString = process.env.DATABASE_URL!;

scripts/archive/inspect-all-steps.ts

@@ -1,6 +1,6 @@
 
-import { db } from "../src/server/db";
+import { db } from "../../src/server/db";
-import { experiments, steps } from "../src/server/db/schema";
+import { experiments, steps } from "../../src/server/db/schema";
 import { eq } from "drizzle-orm";
 
 async function inspectAllSteps() {

scripts/archive/inspect-db.ts

@@ -1,6 +1,6 @@
 
-import { db } from "../src/server/db";
+import { db } from "../../src/server/db";
-import { steps } from "../src/server/db/schema";
+import { steps } from "../../src/server/db/schema";
 import { eq, like } from "drizzle-orm";
 
 async function checkSteps() {

scripts/archive/inspect-visual-design.ts

@@ -1,6 +1,6 @@
 
-import { db } from "../src/server/db";
+import { db } from "../../src/server/db";
-import { experiments } from "../src/server/db/schema";
+import { experiments } from "../../src/server/db/schema";
 import { eq } from "drizzle-orm";
 
 async function inspectVisualDesign() {

scripts/archive/reproduce-hydration.ts

@@ -0,0 +1,76 @@
+
+import { convertDatabaseToSteps } from "../../src/lib/experiment-designer/block-converter";
+import { type ExperimentStep } from "../../src/lib/experiment-designer/types";
+
+// Mock DB Steps (simulating what experimentsRouter returns before conversion)
+const mockDbSteps = [
+    {
+        id: "step-1",
+        name: "Step 1",
+        type: "wizard",
+        orderIndex: 0,
+        actions: [
+            {
+                id: "seq-1",
+                name: "Test Sequence",
+                type: "sequence",
+                parameters: {
+                    children: [
+                        { id: "child-1", name: "Child 1", type: "wait", parameters: { duration: 1 } },
+                        { id: "child-2", name: "Child 2", type: "wait", parameters: { duration: 2 } }
+                    ]
+                }
+            }
+        ]
+    }
+];
+
+// Mock Store Logic (simulating store.ts)
+function cloneActions(actions: any[]): any[] {
+    return actions.map((a) => ({
+        ...a,
+        children: a.children ? cloneActions(a.children) : undefined,
+    }));
+}
+
+function cloneSteps(steps: any[]): any[] {
+    return steps.map((s) => ({
+        ...s,
+        actions: cloneActions(s.actions),
+    }));
+}
+
+console.log("🔹 Testing Hydration & Cloning...");
+
+// 1. Convert DB -> Runtime
+const runtimeSteps = convertDatabaseToSteps(mockDbSteps);
+const seq = runtimeSteps[0]?.actions[0];
+
+if (!seq) {
+    console.error("❌ Conversion Failed: Sequence action not found.");
+    process.exit(1);
+}
+
+console.log(`Runtime Children Count: ${seq.children?.length ?? "undefined"}`);
+
+if (!seq.children || seq.children.length === 0) {
+    console.error("❌ Conversion Failed: Children not hydrated from parameters.");
+    process.exit(1);
+}
+
+// 2. Store Cloning
+const clonedSteps = cloneSteps(runtimeSteps);
+const clonedSeq = clonedSteps[0]?.actions[0];
+
+if (!clonedSeq) {
+    console.error("❌ Cloning Failed: Sequence action lost.");
+    process.exit(1);
+}
+
+console.log(`Cloned Children Count: ${clonedSeq.children?.length ?? "undefined"}`);
+
+if (clonedSeq.children?.length === 2) {
+    console.log("✅ SUCCESS: Data hydrated and cloned correctly.");
+} else {
+    console.error("❌ CLONING FAILED: Children lost during clone.");
+}

scripts/archive/seed-control-demo-draft.ts

@@ -0,0 +1,121 @@
+import { drizzle } from "drizzle-orm/postgres-js";
+import postgres from "postgres";
+import * as schema from "../../src/server/db/schema";
+import { sql } from "drizzle-orm";
+
+// Database connection
+const connectionString = process.env.DATABASE_URL!;
+const connection = postgres(connectionString);
+const db = drizzle(connection, { schema });
+
+async function main() {
+    console.log("🌱 Seeding 'Control Flow Demo' experiment...");
+
+    try {
+        // 1. Find Admin User & Study
+        const user = await db.query.users.findFirst({
+            where: (users, { eq }) => eq(users.email, "sean@soconnor.dev")
+        });
+        if (!user) throw new Error("Admin user 'sean@soconnor.dev' not found. Run seed-dev.ts first.");
+
+        const study = await db.query.studies.findFirst({
+            where: (studies, { eq }) => eq(studies.name, "Comparative WoZ Study")
+        });
+        if (!study) throw new Error("Study 'Comparative WoZ Study' not found. Run seed-dev.ts first.");
+
+        // Find Robot
+        const robot = await db.query.robots.findFirst({
+            where: (robots, { eq }) => eq(robots.name, "NAO6")
+        });
+        if (!robot) throw new Error("Robot 'NAO6' not found. Run seed-dev.ts first.");
+
+
+        // 2. Create Experiment
+        const [experiment] = await db.insert(schema.experiments).values({
+            studyId: study.id,
+            name: "Control Flow Demo",
+            description: "Demonstration of enhanced control flow actions: Sequence, Parallel, Wait, Loop, Branch.",
+            version: 1,
+            status: "draft",
+            robotId: robot.id,
+            createdBy: user.id,
+        }).returning();
+
+        if (!experiment) throw new Error("Failed to create experiment");
+        console.log(`✅ Created Experiment: ${experiment.id}`);
+
+        // 3. Create Steps
+
+        // Step 1: Sequence & Parallel
+        const [step1] = await db.insert(schema.steps).values({
+            experimentId: experiment.id,
+            name: "Complex Action Structures",
+            description: "Demonstrating Sequence and Parallel groups",
+            type: "robot",
+            orderIndex: 0,
+            required: true,
+            durationEstimate: 30
+        }).returning();
+
+        // Step 2: Loops & Waits
+        const [step2] = await db.insert(schema.steps).values({
+            experimentId: experiment.id,
+            name: "Repetition & Delays",
+            description: "Demonstrating Loop and Wait actions",
+            type: "robot",
+            orderIndex: 1,
+            required: true,
+            durationEstimate: 45
+        }).returning();
+
+        // 4. Create Actions
+
+        // --- Step 1 Actions ---
+
+        // Top-level Sequence
+        const seqId = `seq-${Date.now()}`;
+        await db.insert(schema.actions).values({
+            stepId: step1!.id,
+            name: "Introduction Sequence",
+            type: "sequence", // New type
+            orderIndex: 0,
+            parameters: {},
+            pluginId: "hristudio-core",
+            category: "control",
+            // No explicit children column in schema? 
+            // Wait, schema.actions has "children" as jsonb or it's a recursive relationship?
+            // Let's check schema/types.
+            // Looking at ActionChip, it expects `action.children`. 
+            // In DB, it's likely stored in `children` jsonb column if it exists, OR we need to perform recursive inserts if schema supports parentId.
+            // Checking `types.ts` or schema...
+            // Assuming flat list references for now or JSONB. 
+            // Wait, `ExperimentAction` in types has `children?: ExperimentAction[]`.
+            // If the DB schema `actions` table handles nesting via `parameters` or specific column, I need to know.
+            // Defaulting to "children" property in JSON parameter if DB doesn't have parentId.
+            // Checking `schema.ts`: "children" is likely NOT a column if I haven't seen it in seed-dev.
+            // However, `ActionChip` uses `action.children`. Steps map to `actions`.
+            // If `actions` table has `parentId` or `children` JSONB.
+            // I will assume `children` is part of the `parameters` or a simplified representation for now, 
+            // BUT `FlowWorkspace` treats `action.children` as real actions.
+            // Let's check `schema.ts` quickly.
+        });
+
+        // I need to check schema.actions definition effectively.
+        // For this pass, I will insert them as flat actions since I can't confirm nesting storage without checking schema.
+        // But the user WANTS to see the nesting (Sequence, Parallel).
+        // The `SortableActionChip` renders `action.children`.
+        // The `TrialExecutionEngine` executes `action.children`.
+        // So the data MUST include children.
+        // Most likely `actions` table has a `children` JSONB column.
+
+        // I will insert a Parallel action with embedded children in the `children` column (if it exists) or `parameters`.
+        // Re-reading `scripts/seed-dev.ts`: It doesn't show any nested actions.
+        // I will read `src/server/db/schema.ts` to be sure.
+
+    } catch (err) {
+        console.error(err);
+        process.exit(1);
+    }
+}
+
+// I'll write the file AFTER checking schema to ensure I structure the nested actions correctly.

scripts/archive/seed-control-demo.ts

@@ -0,0 +1,241 @@
+
+import { drizzle } from "drizzle-orm/postgres-js";
+import postgres from "postgres";
+import * as schema from "../../src/server/db/schema";
+import { sql } from "drizzle-orm";
+import { v4 as uuidv4 } from "uuid";
+
+// Database connection
+const connectionString = process.env.DATABASE_URL!;
+const connection = postgres(connectionString);
+const db = drizzle(connection, { schema });
+
+async function main() {
+    console.log("🌱 Seeding 'Control Flow Demo' experiment...");
+
+    try {
+        // 1. Find Admin User & Study
+        const user = await db.query.users.findFirst({
+            where: (users, { eq }) => eq(users.email, "sean@soconnor.dev")
+        });
+        if (!user) throw new Error("Admin user 'sean@soconnor.dev' not found. Run seed-dev.ts first.");
+
+        const study = await db.query.studies.findFirst({
+            where: (studies, { eq }) => eq(studies.name, "Comparative WoZ Study")
+        });
+        if (!study) throw new Error("Study 'Comparative WoZ Study' not found. Run seed-dev.ts first.");
+
+        // Find Robot
+        const robot = await db.query.robots.findFirst({
+            where: (robots, { eq }) => eq(robots.name, "NAO6")
+        });
+        if (!robot) throw new Error("Robot 'NAO6' not found. Run seed-dev.ts first.");
+
+
+        // 2. Create Experiment
+        const [experiment] = await db.insert(schema.experiments).values({
+            studyId: study.id,
+            name: "Control Flow Demo",
+            description: "Demonstration of enhanced control flow actions: Sequence, Parallel, Wait, Loop, Branch.",
+            version: 1,
+            status: "draft",
+            robotId: robot.id,
+            createdBy: user.id,
+        }).returning();
+
+        if (!experiment) throw new Error("Failed to create experiment");
+        console.log(`✅ Created Experiment: ${experiment.id}`);
+
+        // 3. Create Steps
+
+        // Step 1: Sequence & Parallel
+        const [step1] = await db.insert(schema.steps).values({
+            experimentId: experiment.id,
+            name: "Complex Action Structures",
+            description: "Demonstrating Sequence and Parallel groups",
+            type: "robot",
+            orderIndex: 0,
+            required: true,
+            durationEstimate: 30
+        }).returning();
+        if (!step1) throw new Error("Failed to create step1");
+
+        // Step 2: Loops & Waits
+        const [step2] = await db.insert(schema.steps).values({
+            experimentId: experiment.id,
+            name: "Repetition & Delays",
+            description: "Demonstrating Loop and Wait actions",
+            type: "robot",
+            orderIndex: 1,
+            required: true,
+            durationEstimate: 45
+        }).returning();
+        if (!step2) throw new Error("Failed to create step2");
+
+        // 4. Create Actions
+
+        // --- Step 1 Actions ---
+
+        // Action 1: Sequence
+        // Note: Nested children are stored in 'children' property of the action object in frontend,
+        // but in DB 'parameters' is the JSONB field.
+        // However, looking at ActionChip, it expects `action.children`. 
+        // The `ExperimentAction` type usually has `children` at top level.
+        // If the DB doesn't have it, the API must be hydrating it.
+        // BUT, for the purpose of this seed which writes to DB directly, I will put it in `parameters.children` 
+        // and assume the frontend/API handles it or I'm missing a column.
+        // Actually, looking at schema again, `actions` table DOES NOT have children.
+        // So it MUST be in `parameters` or it's not persisted in this table structure yet (which would be a bug, but I'm seeding what exists).
+        // Wait, if I put it in parameters, does the UI read it? 
+        // `ActionChip` reads `action.children`. 
+        // I will try to put it in `parameters` and distinct `children` property in the JSON passed to `parameters`? 
+        // No, `parameters` is jsonb.
+        // I will assume for now that the system expects it in parameters if it's not a column, OR it's not fully supported in DB yet.
+        // I will stick to what the UI likely consumes. `parameters: { children: [...] }`
+
+        // Sequence
+        await db.insert(schema.actions).values({
+            stepId: step1.id,
+            name: "Introduction Sequence",
+            type: "sequence",
+            orderIndex: 0,
+            // Embedding children here to demonstrate. 
+            // Real implementation might vary if keys are strictly checked.
+            parameters: {
+                children: [
+                    {
+                        id: uuidv4(),
+                        name: "Say Hello",
+                        type: "nao6-ros2.say_text",
+                        parameters: { text: "Hello there!" },
+                        category: "interaction"
+                    },
+                    {
+                        id: uuidv4(),
+                        name: "Wave Hand",
+                        type: "nao6-ros2.move_arm",
+                        parameters: { arm: "right", action: "wave" },
+                        category: "movement"
+                    }
+                ]
+            },
+            pluginId: "hristudio-core",
+            category: "control",
+            sourceKind: "core"
+        });
+
+        // Parallel
+        await db.insert(schema.actions).values({
+            stepId: step1.id,
+            name: "Parallel Actions",
+            type: "parallel",
+            orderIndex: 1,
+            parameters: {
+                children: [
+                    {
+                        id: uuidv4(),
+                        name: "Say 'Moving'",
+                        type: "nao6-ros2.say_text",
+                        parameters: { text: "I am moving and talking." },
+                        category: "interaction"
+                    },
+                    {
+                        id: uuidv4(),
+                        name: "Walk Forward",
+                        type: "nao6-ros2.move_to",
+                        parameters: { x: 0.5, y: 0 },
+                        category: "movement"
+                    }
+                ]
+            },
+            pluginId: "hristudio-core",
+            category: "control",
+            sourceKind: "core"
+        });
+
+
+        // --- Step 2 Actions ---
+
+        // Loop
+        await db.insert(schema.actions).values({
+            stepId: step2.id,
+            name: "Repeat Message",
+            type: "loop",
+            orderIndex: 0,
+            parameters: {
+                iterations: 3,
+                children: [
+                    {
+                        id: uuidv4(),
+                        name: "Say 'Echo'",
+                        type: "nao6-ros2.say_text",
+                        parameters: { text: "Echo" },
+                        category: "interaction"
+                    }
+                ]
+            },
+            pluginId: "hristudio-core",
+            category: "control",
+            sourceKind: "core"
+        });
+
+        // Wait
+        await db.insert(schema.actions).values({
+            stepId: step2.id,
+            name: "Wait 5 Seconds",
+            type: "wait",
+            orderIndex: 1,
+            parameters: { duration: 5 },
+            pluginId: "hristudio-core",
+            category: "control",
+            sourceKind: "core"
+        });
+
+        // Branch (Controls step routing, not nested actions)
+        // Note: Branch configuration is stored in step.trigger.conditions, not action.parameters
+        // The branch action itself is just a marker that this step has conditional routing
+        await db.insert(schema.actions).values({
+            stepId: step2.id,
+            name: "Conditional Routing",
+            type: "branch",
+            orderIndex: 2,
+            parameters: {
+                // Branch actions don't have nested children
+                // Routing is configured at the step level via trigger.conditions
+            },
+            pluginId: "hristudio-core",
+            category: "control",
+            sourceKind: "core"
+        });
+
+        // Update step2 to have conditional routing
+        await db.update(schema.steps)
+            .set({
+                type: "conditional",
+                conditions: {
+                    options: [
+                        {
+                            label: "High Score Path",
+                            nextStepIndex: 2, // Would go to a hypothetical step 3
+                            variant: "default"
+                        },
+                        {
+                            label: "Low Score Path",
+                            nextStepIndex: 0, // Loop back to step 1
+                            variant: "outline"
+                        }
+                    ]
+                }
+            })
+            .where(sql`id = ${step2.id}`);
+
+
+    } catch (err) {
+        console.error(err);
+        process.exit(1);
+    } finally {
+        await connection.end();
+    }
+}
+
+main();

scripts/archive/test-converter.ts

@@ -0,0 +1,60 @@
+
+import { convertDatabaseToAction } from "../../src/lib/experiment-designer/block-converter";
+
+const mockDbAction = {
+    id: "eaf8f85b-75cf-4973-b436-092516b4e0e4",
+    name: "Introduction Sequence",
+    description: null,
+    type: "sequence",
+    orderIndex: 0,
+    parameters: {
+        "children": [
+            {
+                "id": "75018b01-a964-41fb-8612-940a29020d4a",
+                "name": "Say Hello",
+                "type": "nao6-ros2.say_text",
+                "category": "interaction",
+                "parameters": {
+                    "text": "Hello there!"
+                }
+            },
+            {
+                "id": "d7020530-6477-41f3-84a4-5141778c93da",
+                "name": "Wave Hand",
+                "type": "nao6-ros2.move_arm",
+                "category": "movement",
+                "parameters": {
+                    "arm": "right",
+                    "action": "wave"
+                }
+            }
+        ]
+    },
+    timeout: null,
+    retryCount: 0,
+    sourceKind: "core",
+    pluginId: "hristudio-core",
+    pluginVersion: null,
+    robotId: null,
+    baseActionId: null,
+    category: "control",
+    transport: null,
+    ros2: null,
+    rest: null,
+    retryable: null,
+    parameterSchemaRaw: null
+};
+
+console.log("Testing convertDatabaseToAction...");
+try {
+    const result = convertDatabaseToAction(mockDbAction);
+    console.log("Result:", JSON.stringify(result, null, 2));
+
+    if (result.children && result.children.length > 0) {
+        console.log("✅ Children hydrated successfully.");
+    } else {
+        console.error("❌ Children NOT hydrated.");
+    }
+} catch (e) {
+    console.error("❌ Error during conversion:", e);
+}

scripts/archive/test-trpc-client.ts

@@ -0,0 +1,71 @@
+
+import { appRouter } from "../../src/server/api/root";
+import { createCallerFactory } from "../../src/server/api/trpc";
+import { drizzle } from "drizzle-orm/postgres-js";
+import postgres from "postgres";
+import * as schema from "../../src/server/db/schema";
+import { eq } from "drizzle-orm";
+
+// 1. Setup DB Context
+const connectionString = process.env.DATABASE_URL!;
+const connection = postgres(connectionString);
+const db = drizzle(connection, { schema });
+
+// 2. Mock Session
+const mockSession = {
+    user: {
+        id: "0e830889-ab46-4b48-a8ba-1d4bd3e665ed", // Admin user ID from seed
+        name: "Sean O'Connor",
+        email: "sean@soconnor.dev"
+    },
+    expires: new Date().toISOString()
+};
+
+// 3. Create Caller
+const createCaller = createCallerFactory(appRouter);
+const caller = createCaller({
+    db,
+    session: mockSession as any,
+    headers: new Headers()
+});
+
+async function main() {
+    console.log("🔍 Fetching experiment via TRPC caller...");
+
+    // Get ID first
+    const exp = await db.query.experiments.findFirst({
+        where: eq(schema.experiments.name, "Control Flow Demo"),
+        columns: { id: true }
+    });
+
+    if (!exp) {
+        console.error("❌ Experiment not found");
+        return;
+    }
+
+    const result = await caller.experiments.get({ id: exp.id });
+
+    console.log(`✅ Fetched experiment: ${result.name} (${result.id})`);
+
+    if (result.steps && result.steps.length > 0) {
+        console.log(`Checking ${result.steps.length} steps...`);
+        const actions = result.steps[0]!.actions; // Step 1 actions
+        console.log(`Step 1 has ${actions.length} actions.`);
+
+        actions.forEach(a => {
+            if (["sequence", "parallel", "loop", "branch"].includes(a.type)) {
+                console.log(`\nAction: ${a.name} (${a.type})`);
+                console.log(`Children Count: ${a.children ? a.children.length : 'UNDEFINED'}`);
+                if (a.children && a.children.length > 0) {
+                    console.log(`First Child: ${a.children[0]!.name} (${a.children[0]!.type})`);
+                }
+            }
+        });
+    } else {
+        console.error("❌ No steps found in result.");
+    }
+
+    await connection.end();
+}
+
+main();

scripts/archive/verify-conversion.ts

@@ -1,8 +1,8 @@
 
-import { db } from "../src/server/db";
+import { db } from "../../src/server/db";
-import { experiments } from "../src/server/db/schema";
+import { experiments } from "../../src/server/db/schema";
 import { eq, asc } from "drizzle-orm";
-import { convertDatabaseToSteps } from "../src/lib/experiment-designer/block-converter";
+import { convertDatabaseToSteps } from "../../src/lib/experiment-designer/block-converter";
 
 async function verifyConversion() {
     const experiment = await db.query.experiments.findFirst({

scripts/archive/verify-study-readiness.ts

@@ -1,7 +1,7 @@
 import { drizzle } from "drizzle-orm/postgres-js";
 import { eq, sql } from "drizzle-orm";
 import postgres from "postgres";
-import * as schema from "../src/server/db/schema";
+import * as schema from "../../src/server/db/schema";
 
 const connectionString = process.env.DATABASE_URL!;
 const client = postgres(connectionString);

scripts/get-demo-id.ts

@@ -0,0 +1,26 @@
+
+import { drizzle } from "drizzle-orm/postgres-js";
+import postgres from "postgres";
+import * as schema from "../src/server/db/schema";
+import { eq } from "drizzle-orm";
+
+const connectionString = process.env.DATABASE_URL!;
+const connection = postgres(connectionString);
+const db = drizzle(connection, { schema });
+
+async function main() {
+    const exp = await db.query.experiments.findFirst({
+        where: eq(schema.experiments.name, "Control Flow Demo"),
+        columns: { id: true }
+    });
+
+    if (exp) {
+        console.log(`Experiment ID: ${exp.id}`);
+    } else {
+        console.error("Experiment not found");
+    }
+
+    await connection.end();
+}
+
+main();

scripts/get-user-id.ts

@@ -0,0 +1,26 @@
+
+import { drizzle } from "drizzle-orm/postgres-js";
+import postgres from "postgres";
+import * as schema from "../src/server/db/schema";
+import { eq } from "drizzle-orm";
+
+const connectionString = process.env.DATABASE_URL!;
+const connection = postgres(connectionString);
+const db = drizzle(connection, { schema });
+
+async function main() {
+    const user = await db.query.users.findFirst({
+        where: eq(schema.users.email, "sean@soconnor.dev"),
+        columns: { id: true }
+    });
+
+    if (user) {
+        console.log(`User ID: ${user.id}`);
+    } else {
+        console.error("User not found");
+    }
+
+    await connection.end();
+}
+
+main();

scripts/seed-dev.ts

@@ -3,7 +3,7 @@ import { drizzle } from "drizzle-orm/postgres-js";
 import { sql } from "drizzle-orm";
 import postgres from "postgres";
 import * as schema from "../src/server/db/schema";
-import { createHash } from "crypto";
+import { createHash, randomUUID } from "crypto";
 
 // Database connection
 const connectionString = process.env.DATABASE_URL!;
@@ -234,18 +234,18 @@ async function main() {
     await db.insert(schema.actions).values([
       {
         stepId: step1!.id,
-        name: "Introduce Story",
+        name: "Say Text",
         type: "nao6-ros2.say_text",
         orderIndex: 0,
         parameters: { text: "Hello. I have a story to tell you about a space traveler. Are you ready?" },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "interaction",
         retryable: true
       },
       {
         stepId: step1!.id,
-        name: "Welcome Gesture",
+        name: "Move Arm",
         type: "nao6-ros2.move_arm",
         orderIndex: 1,
         // Open hand/welcome position
@@ -258,7 +258,7 @@ async function main() {
           speed: 0.4
         },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "movement",
         retryable: true
       }
@@ -283,29 +283,29 @@ async function main() {
         orderIndex: 0,
         parameters: { text: "The traveler flew to Mars. He found a red rock that glowed in the dark. He put it in his pocket." },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "interaction",
         retryable: true
       },
       {
         stepId: step2!.id,
-        name: "Look Away (Thinking)",
+        name: "Turn Head",
         type: "nao6-ros2.turn_head",
         orderIndex: 1,
         parameters: { yaw: 1.5, pitch: 0.0, speed: 0.3 },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "movement",
         retryable: true
       },
       {
         stepId: step2!.id,
-        name: "Look Back at Participant",
+        name: "Turn Head",
         type: "nao6-ros2.turn_head",
         orderIndex: 2,
         parameters: { yaw: 0.0, pitch: -0.1, speed: 0.4 },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "movement",
         retryable: true
       }
@@ -359,12 +359,12 @@ async function main() {
     await db.insert(schema.actions).values([
       {
         stepId: step3!.id,
-        name: "Ask Question",
+        name: "Say Text",
         type: "nao6-ros2.say_text",
         orderIndex: 0,
         parameters: { text: "What color was the rock the traveler found?" },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "interaction",
         retryable: true
       },
@@ -397,34 +397,34 @@ async function main() {
     await db.insert(schema.actions).values([
       {
         stepId: step4a!.id,
-        name: "Confirm Correct Answer",
+        name: "Say Text with Emotion",
         type: "nao6-ros2.say_with_emotion",
         orderIndex: 0,
         parameters: { text: "Yes! It was a glowing red rock.", emotion: "happy", speed: 1.0 },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "interaction",
         retryable: true
       },
       {
         stepId: step4a!.id,
-        name: "Nod Head",
+        name: "Turn Head",
         type: "nao6-ros2.turn_head",
         orderIndex: 1,
         parameters: { yaw: 0.0, pitch: -0.3, speed: 0.5 },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "movement",
         retryable: true
       },
       {
         stepId: step4a!.id,
-        name: "Return to Neutral",
+        name: "Turn Head",
         type: "nao6-ros2.turn_head",
         orderIndex: 2,
         parameters: { yaw: 0.0, pitch: 0.0, speed: 0.4 },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "movement",
         retryable: true
       }
@@ -440,40 +440,40 @@ async function main() {
         orderIndex: 0,
         parameters: { text: "Actually, it was red." },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "interaction",
         retryable: true
       },
       {
         stepId: step4b!.id,
-        name: "Shake Head (Left)",
+        name: "Turn Head",
         type: "nao6-ros2.turn_head",
         orderIndex: 1,
         parameters: { yaw: -0.5, pitch: 0.0, speed: 0.5 },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "movement",
         retryable: true
       },
       {
         stepId: step4b!.id,
-        name: "Shake Head (Right)",
+        name: "Turn Head",
         type: "nao6-ros2.turn_head",
         orderIndex: 2,
         parameters: { yaw: 0.5, pitch: 0.0, speed: 0.5 },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "movement",
         retryable: true
       },
       {
         stepId: step4b!.id,
-        name: "Return to Center",
+        name: "Turn Head",
         type: "nao6-ros2.turn_head",
         orderIndex: 3,
         parameters: { yaw: 0.0, pitch: 0.0, speed: 0.4 },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "movement",
         retryable: true
       }
@@ -498,7 +498,7 @@ async function main() {
         orderIndex: 0,
         parameters: { text: "The End. Thank you for listening." },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "interaction",
         retryable: true
       },
@@ -516,12 +516,209 @@ async function main() {
           speed: 0.3
         },
         pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
-        pluginVersion: "2.1.0",
+        pluginVersion: "2.2.0",
         category: "movement",
         retryable: true
       }
     ]);
 
+    // 5b. Create "Control Flow Demo" Experiment
+    console.log("🧩 Creating 'Control Flow Demo' experiment...");
+    const [controlDemoExp] = await db.insert(schema.experiments).values({
+      studyId: study!.id,
+      name: "Control Flow Demo",
+      description: "Demonstration of enhanced control flow actions: Parallel, Wait, Loop, Branch.",
+      version: 2,
+      status: "draft",
+      robotId: naoRobot!.id,
+      createdBy: adminUser.id,
+    }).returning();
+
+    // Step 1: Introduction (Parallel)
+    const [cdStep1] = await db.insert(schema.steps).values({
+      experimentId: controlDemoExp!.id,
+      name: "1. Introduction (Parallel)",
+      description: "Parallel execution demonstration",
+      type: "robot",
+      orderIndex: 0,
+      required: true,
+      durationEstimate: 30
+    }).returning();
+
+    // Step 5: Conclusion - Defined early for ID reference (Convergence point)
+    const [cdStep5] = await db.insert(schema.steps).values({
+      experimentId: controlDemoExp!.id,
+      name: "5. Conclusion",
+      description: "Convergence point",
+      type: "robot",
+      orderIndex: 4,
+      required: true,
+      durationEstimate: 15
+    }).returning();
+
+    // Step 4: Path B (Wait) - Defined early for ID reference
+    const [cdStep4] = await db.insert(schema.steps).values({
+      experimentId: controlDemoExp!.id,
+      name: "4. Path B (Wait)",
+      description: "Wait action demonstration",
+      type: "robot",
+      orderIndex: 3,
+      required: true,
+      durationEstimate: 10
+    }).returning();
+
+    // Step 3: Path A (Loop) - Defined early for ID reference
+    const [cdStep3] = await db.insert(schema.steps).values({
+      experimentId: controlDemoExp!.id,
+      name: "3. Path A (Loop)",
+      description: "Looping demonstration",
+      type: "robot",
+      orderIndex: 2,
+      required: true,
+      durationEstimate: 45,
+      conditions: { nextStepId: cdStep5!.id }
+    }).returning();
+
+    // Step 2: Branch Decision
+    const [cdStep2] = await db.insert(schema.steps).values({
+      experimentId: controlDemoExp!.id,
+      name: "2. Branch Decision",
+      description: "Choose between Loop (3) or Wait (4)",
+      type: "conditional",
+      orderIndex: 1,
+      required: true,
+      durationEstimate: 30,
+      conditions: {
+        variable: "demo_branch_choice",
+        options: [
+          { label: "Go to Loop (Step 3)", value: "loop", nextStepId: cdStep3!.id, variant: "default" },
+          { label: "Go to Wait (Step 4)", value: "wait", nextStepId: cdStep4!.id, variant: "secondary" }
+        ]
+      }
+    }).returning();
+
+    // --- Step 1 Actions (Parallel) ---
+    await db.insert(schema.actions).values({
+      stepId: cdStep1!.id,
+      name: "Parallel Intro",
+      type: "parallel",
+      orderIndex: 0,
+      parameters: {
+        children: [
+          {
+            id: randomUUID(),
+            name: "Say Text",
+            type: "nao6-ros2.say_text",
+            parameters: { text: "Starting control flow demonstration." },
+            pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
+            pluginVersion: "2.2.0",
+            category: "interaction"
+          },
+          {
+            id: randomUUID(),
+            name: "Move Arm",
+            type: "nao6-ros2.move_arm",
+            parameters: { arm: "right", shoulder_roll: -0.5 },
+            pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
+            pluginVersion: "2.2.0",
+            category: "movement"
+          }
+        ]
+      },
+      pluginId: "hristudio-core",
+      category: "control",
+      sourceKind: "core"
+    });
+
+    // --- Step 2 Actions (Branch) ---
+    await db.insert(schema.actions).values([
+      {
+        stepId: cdStep2!.id,
+        name: "Say Text",
+        type: "nao6-ros2.say_text",
+        orderIndex: 0,
+        parameters: { text: "Should I loop or wait?" },
+        pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
+        pluginVersion: "2.2.0",
+        category: "interaction"
+      },
+      {
+        stepId: cdStep2!.id,
+        name: "Wizard Decision",
+        type: "wizard_wait_for_response",
+        orderIndex: 1,
+        parameters: {
+          prompt_text: "Choose the next path:",
+          options: [
+            { label: "Loop Path", value: "loop", nextStepId: cdStep3!.id },
+            { label: "Wait Path", value: "wait", nextStepId: cdStep4!.id }
+          ]
+        },
+        pluginId: "hristudio-woz",
+        category: "wizard",
+        sourceKind: "core"
+      },
+      {
+        stepId: cdStep2!.id,
+        name: "Execute Branch",
+        type: "branch",
+        orderIndex: 2,
+        parameters: {},
+        pluginId: "hristudio-core",
+        category: "control",
+        sourceKind: "core"
+      }
+    ]);
+
+    // --- Step 3 Actions (Loop) ---
+    await db.insert(schema.actions).values({
+      stepId: cdStep3!.id,
+      name: "Loop 3 Times",
+      type: "loop",
+      orderIndex: 0,
+      parameters: {
+        iterations: 3,
+        children: [
+          {
+            id: randomUUID(),
+            name: "Say Text",
+            type: "nao6-ros2.say_text",
+            parameters: { text: "I am looping." },
+            pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
+            pluginVersion: "2.2.0",
+            category: "interaction"
+          }
+        ]
+      },
+      pluginId: "hristudio-core",
+      category: "control",
+      sourceKind: "core"
+    });
+
+    // --- Step 4 Actions (Wait) ---
+    await db.insert(schema.actions).values({
+      stepId: cdStep4!.id,
+      name: "Wait 3 Seconds",
+      type: "wait",
+      orderIndex: 0,
+      parameters: { duration: 3 },
+      pluginId: "hristudio-core",
+      category: "control",
+      sourceKind: "core"
+    });
+
+    // --- Step 5 Actions (Conclusion) ---
+    await db.insert(schema.actions).values({
+      stepId: cdStep5!.id,
+      name: "Say Text",
+      type: "nao6-ros2.say_text",
+      orderIndex: 0,
+      parameters: { text: "Demonstration complete. Returning to start." },
+      pluginId: NAO_PLUGIN_DEF.robotId || "nao6-ros2",
+      pluginVersion: "2.2.0",
+      category: "interaction"
+    });
+
     // 6. Participants (N=20 for study)
     console.log("👤 Creating 20 participants for N=20 study...");
     const participants = [];
@@ -550,6 +747,198 @@ async function main() {
     console.log(`  - Step 5: Conclusion (ending + bow)`);
     console.log(`- ${insertedParticipants.length} Participants`);
 
+    // 7. Seed a COMPLETED trial with rich analytics data for testing
+    console.log("📊 Seeding completed trial with analytics data...");
+
+    // Pick participant P101
+    const p101 = insertedParticipants.find(p => p.participantCode === "P101");
+    if (!p101) throw new Error("P101 not found");
+
+    const startTime = new Date();
+    startTime.setMinutes(startTime.getMinutes() - 10); // Started 10 mins ago
+    const endTime = new Date(); // Ended just now
+
+    // Create the trial
+    const [analyticsTrial] = await db.insert(schema.trials).values({
+      experimentId: experiment!.id,
+      participantId: p101.id,
+      // studyId is not in trials table, it is inferred from experiment
+      status: "completed",
+      startedAt: startTime,
+      completedAt: endTime,
+      currentStepId: step5!.id, // Ended at last step
+      runId: randomUUID(),
+      metadata: {
+        condition: "HRIStudio",
+        notes: "Seeded for analytics testing"
+      }
+    }).returning();
+
+    // Create a series of events
+    const timelineEvents = [];
+    let currentTime = new Date(startTime);
+
+    // Helper to advance time
+    const advance = (seconds: number) => {
+      currentTime = new Date(currentTime.getTime() + seconds * 1000);
+      return currentTime;
+    };
+
+    // 1. Trial Started
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "trial_started",
+      timestamp: new Date(currentTime),
+      data: { experimentId: experiment!.id, participantId: p101.id }
+    });
+
+    // 2. Step 1: The Hook
+    advance(2);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "step_changed",
+      timestamp: new Date(currentTime),
+      data: { stepId: step1!.id, stepName: "The Hook" }
+    });
+
+    advance(1);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "action_executed",
+      timestamp: new Date(currentTime),
+      data: { actionName: "Say Text", text: "Hello..." }
+    });
+
+    advance(5);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "action_executed",
+      timestamp: new Date(currentTime),
+      data: { actionName: "Move Arm", arm: "right" }
+    });
+
+    // 3. Step 2: The Narrative
+    advance(20);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "step_changed",
+      timestamp: new Date(currentTime),
+      data: { stepId: step2!.id, stepName: "The Narrative" }
+    });
+
+    advance(2);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "action_executed",
+      timestamp: new Date(currentTime),
+      data: { actionName: "Tell Story" }
+    });
+
+    // Simulate an intervention/wizard action
+    advance(15);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "intervention",
+      timestamp: new Date(currentTime),
+      data: { type: "pause", reason: "participant_distracted" }
+    });
+
+    advance(10); // Paused for 10s
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "intervention",
+      timestamp: new Date(currentTime),
+      data: { type: "resume" }
+    });
+
+    advance(2);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "action_executed",
+      timestamp: new Date(currentTime),
+      data: { actionName: "Turn Head", yaw: 1.5 }
+    });
+
+    // 4. Step 3: Comprehension Check
+    advance(30);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "step_changed",
+      timestamp: new Date(currentTime),
+      data: { stepId: step3!.id, stepName: "Comprehension Check" }
+    });
+
+    advance(1);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "action_executed",
+      timestamp: new Date(currentTime),
+      data: { actionName: "Say Text", text: "What color..." }
+    });
+
+    advance(5);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "wizard_action",
+      timestamp: new Date(currentTime),
+      data: { action: "wait_for_response", prompt: "Did they answer Red?" }
+    });
+
+    // Wizard selects "Correct"
+    advance(8);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "wizard_response",
+      timestamp: new Date(currentTime),
+      data: { response: "Correct", variable: "last_wizard_response" }
+    });
+
+    // 5. Branch A
+    advance(1);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "step_changed",
+      timestamp: new Date(currentTime),
+      data: { stepId: step4a!.id, stepName: "Branch A: Correct" }
+    });
+
+    advance(1);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "action_executed",
+      timestamp: new Date(currentTime),
+      data: { actionName: "Say Text with Emotion", emotion: "happy" }
+    });
+
+    // 6. Conclusion
+    advance(15);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "step_changed",
+      timestamp: new Date(currentTime),
+      data: { stepId: step5!.id, stepName: "Conclusion" }
+    });
+
+    advance(2);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "action_executed",
+      timestamp: new Date(currentTime),
+      data: { actionName: "End Story" }
+    });
+
+    // Trial Complete
+    advance(5);
+    timelineEvents.push({
+      trialId: analyticsTrial!.id,
+      eventType: "trial_completed",
+      timestamp: new Date(currentTime),
+      data: { durationSeconds: (currentTime.getTime() - startTime.getTime()) / 1000 }
+    });
+
+    await db.insert(schema.trialEvents).values(timelineEvents);
+    console.log("✅ Seeded 1 completed trial with " + timelineEvents.length + " events.");
+
   } catch (error) {
     console.error("❌ Seeding failed:", error);
     process.exit(1);

src/app/(dashboard)/help/page.tsx

@@ -0,0 +1,145 @@
+import {
+    BookOpen,
+    FlaskConical,
+    PlayCircle,
+    BarChart3,
+    HelpCircle,
+    FileText,
+    Video,
+    ExternalLink,
+} from "lucide-react";
+import {
+    Card,
+    CardContent,
+    CardDescription,
+    CardHeader,
+    CardTitle,
+} from "~/components/ui/card";
+import { Button } from "~/components/ui/button";
+import { PageLayout } from "~/components/ui/page-layout";
+import Link from "next/link";
+
+export default function HelpCenterPage() {
+    const guides = [
+        {
+            title: "Getting Started",
+            description: "Learn the basics of HRIStudio and set up your first study.",
+            icon: BookOpen,
+            items: [
+                { label: "Platform Overview", href: "#" },
+                { label: "Creating a New Study", href: "#" },
+                { label: "Managing Team Members", href: "#" },
+            ],
+        },
+        {
+            title: "Designing Experiments",
+            description: "Master the visual experiment designer and flow control.",
+            icon: FlaskConical,
+            items: [
+                { label: "Using the Visual Designer", href: "#" },
+                { label: "Robot Actions & Plugins", href: "#" },
+                { label: "Variables & Logic", href: "#" },
+            ],
+        },
+        {
+            title: "Running Trials",
+            description: "Execute experiments and manage Wizard of Oz sessions.",
+            icon: PlayCircle,
+            items: [
+                { label: "Wizard Interface Guide", href: "#" },
+                { label: "Participant Management", href: "#" },
+                { label: "Handling Robot Errors", href: "#" },
+            ],
+        },
+        {
+            title: "Analysis & Data",
+            description: "Analyze trial results and export research data.",
+            icon: BarChart3,
+            items: [
+                { label: "Understanding Analytics", href: "#" },
+                { label: "Exporting Data (CSV/JSON)", href: "#" },
+                { label: "Video Replay & Annotation", href: "#" },
+            ],
+        },
+    ];
+
+    return (
+        <PageLayout
+            title="Help Center"
+            description="Documentation, guides, and support for HRIStudio researchers."
+        >
+            <div className="grid gap-6 md:grid-cols-2">
+                {guides.map((guide, index) => (
+                    <Card key={index}>
+                        <CardHeader>
+                            <div className="flex items-center gap-2">
+                                <div className="p-2 bg-primary/10 rounded-lg">
+                                    <guide.icon className="h-5 w-5 text-primary" />
+                                </div>
+                                <CardTitle className="text-xl">{guide.title}</CardTitle>
+                            </div>
+                            <CardDescription>{guide.description}</CardDescription>
+                        </CardHeader>
+                        <CardContent>
+                            <ul className="space-y-2">
+                                {guide.items.map((item, i) => (
+                                    <li key={i}>
+                                        <Button
+                                            variant="link"
+                                            className="h-auto p-0 text-foreground hover:text-primary justify-start font-normal"
+                                            asChild
+                                        >
+                                            <Link href={item.href}>
+                                                <FileText className="mr-2 h-4 w-4 text-muted-foreground" />
+                                                {item.label}
+                                            </Link>
+                                        </Button>
+                                    </li>
+                                ))}
+                            </ul>
+                        </CardContent>
+                    </Card>
+                ))}
+            </div>
+
+            <div className="mt-8">
+                <h2 className="text-2xl font-bold tracking-tight mb-4">
+                    Video Tutorials
+                </h2>
+                <div className="grid gap-6 md:grid-cols-3">
+                    {[
+                        "Introduction to HRIStudio",
+                        "Advanced Flow Control",
+                        "ROS2 Integration Deep Dive",
+                    ].map((title, i) => (
+                        <Card key={i} className="overflow-hidden">
+                            <div className="aspect-video bg-muted flex items-center justify-center relative group cursor-pointer hover:bg-muted/80 transition-colors">
+                                <PlayCircle className="h-12 w-12 text-muted-foreground group-hover:text-primary transition-colors" />
+                            </div>
+                            <CardHeader className="p-4">
+                                <CardTitle className="text-base">{title}</CardTitle>
+                            </CardHeader>
+                        </Card>
+                    ))}
+                </div>
+            </div>
+
+            <div className="mt-8 bg-muted/50 rounded-xl p-8 text-center border">
+                <div className="mx-auto w-12 h-12 bg-background rounded-full flex items-center justify-center mb-4 shadow-sm">
+                    <HelpCircle className="h-6 w-6 text-primary" />
+                </div>
+                <h2 className="text-xl font-semibold mb-2">Still need help?</h2>
+                <p className="text-muted-foreground mb-6 max-w-md mx-auto">
+                    Contact your system administrator or check the official documentation for technical support.
+                </p>
+                <div className="flex justify-center gap-4">
+                    <Button variant="outline" className="gap-2">
+                        <ExternalLink className="h-4 w-4" />
+                        Official Docs
+                    </Button>
+                    <Button className="gap-2">Contact Support</Button>
+                </div>
+            </div>
+        </PageLayout>
+    );
+}

src/app/(dashboard)/studies/[id]/experiments/[experimentId]/designer/DesignerPageClient.tsx

@@ -1,6 +1,8 @@
 "use client";
 
+import { useMemo } from "react";
 import { DesignerRoot } from "~/components/experiments/designer/DesignerRoot";
+import { useActionRegistry } from "~/components/experiments/designer/ActionRegistry";
 import { useBreadcrumbsEffect } from "~/components/ui/breadcrumb-provider";
 import type { ExperimentStep } from "~/lib/experiment-designer/types";
 
@@ -9,6 +11,10 @@ interface DesignerPageClientProps {
     id: string;
     name: string;
     description: string | null;
+    status: string;
+    studyId: string;
+    createdAt: Date;
+    updatedAt: Date;
     study: {
       id: string;
       name: string;
@@ -28,6 +34,22 @@ export function DesignerPageClient({
   experiment,
   initialDesign,
 }: DesignerPageClientProps) {
+  // Initialize action registry early to prevent CLS
+  useActionRegistry();
+
+  // Calculate design statistics
+  const designStats = useMemo(() => {
+    if (!initialDesign) return undefined;
+
+    const stepCount = initialDesign.steps.length;
+    const actionCount = initialDesign.steps.reduce(
+      (sum, step) => sum + step.actions.length,
+      0
+    );
+
+    return { stepCount, actionCount };
+  }, [initialDesign]);
+
   // Set breadcrumbs
   useBreadcrumbsEffect([
     {
@@ -55,5 +77,12 @@ export function DesignerPageClient({
     },
   ]);
 
-  return <DesignerRoot experimentId={experiment.id} initialDesign={initialDesign} />;
+  return (
+    <DesignerRoot
+      experimentId={experiment.id}
+      initialDesign={initialDesign}
+      experiment={experiment}
+      designStats={designStats}
+    />
+  );
 }

src/app/(dashboard)/studies/[id]/experiments/[experimentId]/designer/page.tsx

@@ -121,7 +121,8 @@ export default async function ExperimentDesignerPage({
           };
         });
         const mapped: ExperimentStep[] = exec.steps.map((s, idx) => {
-          const actions: ExperimentAction[] = s.actions.map((a) => {
+          // Recursive function to hydrate actions with children
+          const hydrateAction = (a: any): ExperimentAction => {
             // Normalize legacy plugin action ids and provenance
             const rawType = a.type ?? "";
 
@@ -188,11 +189,24 @@ export default async function ExperimentDesignerPage({
             const pluginId = legacy?.pluginId;
             const pluginVersion = legacy?.pluginVersion;
 
+            // Extract children from parameters for control flow actions
+            const params = (a.parameters ?? {}) as Record<string, unknown>;
+            let children: ExperimentAction[] | undefined = undefined;
+
+            // Handle control flow structures (sequence, parallel, loop only)
+            // Branch actions control step routing, not nested actions
+            const childrenRaw = params.children;
+
+            // Recursively hydrate nested children for container actions
+            if (Array.isArray(childrenRaw) && childrenRaw.length > 0) {
+              children = childrenRaw.map((child: any) => hydrateAction(child));
+            }
+
             return {
               id: a.id,
               type: typeOut,
               name: a.name,
-              parameters: (a.parameters ?? {}) as Record<string, unknown>,
+              parameters: params,
               category: categoryOut,
               source: {
                 kind: sourceKind,
@@ -202,8 +216,11 @@ export default async function ExperimentDesignerPage({
                 baseActionId: legacy?.baseId,
               },
               execution,
+              children, // Add children at top level
             };
-          });
+          };
+
+          const actions: ExperimentAction[] = s.actions.map((a) => hydrateAction(a));
           return {
             id: s.id,
             name: s.name,

src/app/(dashboard)/studies/[id]/experiments/[experimentId]/edit/experiment-form.tsx

@@ -1,164 +0,0 @@
-"use client";
-
-import { useForm } from "react-hook-form";
-import { zodResolver } from "@hookform/resolvers/zod";
-import * as z from "zod";
-import { Button } from "~/components/ui/button";
-import {
-    Form,
-    FormControl,
-    FormDescription,
-    FormField,
-    FormItem,
-    FormLabel,
-    FormMessage,
-} from "~/components/ui/form";
-import { Input } from "~/components/ui/input";
-import { Textarea } from "~/components/ui/textarea";
-
-import {
-    Select,
-    SelectContent,
-    SelectItem,
-    SelectTrigger,
-    SelectValue,
-} from "~/components/ui/select";
-import { toast } from "sonner";
-import { api } from "~/trpc/react";
-import { useRouter } from "next/navigation";
-import { type experiments, experimentStatusEnum } from "~/server/db/schema";
-import { type InferSelectModel } from "drizzle-orm";
-
-type Experiment = InferSelectModel<typeof experiments>;
-
-const formSchema = z.object({
-    name: z.string().min(2, {
-        message: "Name must be at least 2 characters.",
-    }),
-    description: z.string().optional(),
-    status: z.enum(experimentStatusEnum.enumValues),
-});
-
-interface ExperimentFormProps {
-    experiment: Experiment;
-}
-
-export function ExperimentForm({ experiment }: ExperimentFormProps) {
-    const router = useRouter();
-    const updateExperiment = api.experiments.update.useMutation({
-        onSuccess: () => {
-            toast.success("Experiment updated successfully");
-            router.refresh();
-            router.push(`/studies/${experiment.studyId}/experiments/${experiment.id}`);
-        },
-        onError: (error) => {
-            toast.error(`Error updating experiment: ${error.message}`);
-        },
-    });
-
-    const form = useForm<z.infer<typeof formSchema>>({
-        resolver: zodResolver(formSchema),
-        defaultValues: {
-            name: experiment.name,
-            description: experiment.description ?? "",
-            status: experiment.status,
-        },
-    });
-
-    function onSubmit(values: z.infer<typeof formSchema>) {
-        updateExperiment.mutate({
-            id: experiment.id,
-            name: values.name,
-            description: values.description,
-            status: values.status,
-        });
-    }
-
-    return (
-        <Form {...form}>
-            <form onSubmit={form.handleSubmit(onSubmit)} className="space-y-6">
-                <FormField
-                    control={form.control}
-                    name="name"
-                    render={({ field }) => (
-                        <FormItem>
-                            <FormLabel>Name</FormLabel>
-                            <FormControl>
-                                <Input placeholder="Experiment name" {...field} />
-                            </FormControl>
-                            <FormDescription>
-                                The name of your experiment.
-                            </FormDescription>
-                            <FormMessage />
-                        </FormItem>
-                    )}
-                />
-
-                <FormField
-                    control={form.control}
-                    name="description"
-                    render={({ field }) => (
-                        <FormItem>
-                            <FormLabel>Description</FormLabel>
-                            <FormControl>
-                                <Textarea
-                                    placeholder="Describe your experiment..."
-                                    className="resize-none"
-                                    {...field}
-                                />
-                            </FormControl>
-                            <FormDescription>
-                                A short description of the experiment goals.
-                            </FormDescription>
-                            <FormMessage />
-                        </FormItem>
-                    )}
-                />
-
-                <FormField
-                    control={form.control}
-                    name="status"
-                    render={({ field }) => (
-                        <FormItem>
-                            <FormLabel>Status</FormLabel>
-                            <Select onValueChange={field.onChange} defaultValue={field.value}>
-                                <FormControl>
-                                    <SelectTrigger>
-                                        <SelectValue placeholder="Select a status" />
-                                    </SelectTrigger>
-                                </FormControl>
-                                <SelectContent>
-                                    <SelectItem value="draft">Draft</SelectItem>
-                                    <SelectItem value="testing">Testing</SelectItem>
-                                    <SelectItem value="ready">Ready</SelectItem>
-                                    <SelectItem value="deprecated">Deprecated</SelectItem>
-                                </SelectContent>
-                            </Select>
-                            <FormDescription>
-                                The current status of the experiment.
-                            </FormDescription>
-                            <FormMessage />
-                        </FormItem>
-                    )}
-                />
-
-                <div className="flex gap-4">
-                    <Button type="submit" disabled={updateExperiment.isPending}>
-                        {updateExperiment.isPending ? "Saving..." : "Save Changes"}
-                    </Button>
-                    <Button
-                        type="button"
-                        variant="outline"
-                        onClick={() =>
-                            router.push(
-                                `/studies/${experiment.studyId}/experiments/${experiment.id}`,
-                            )
-                        }
-                    >
-                        Cancel
-                    </Button>
-                </div>
-            </form>
-        </Form>
-    );
-}

src/app/(dashboard)/studies/[id]/experiments/[experimentId]/edit/page.tsx

@@ -1,58 +0,0 @@
-import { notFound } from "next/navigation";
-import { type experiments } from "~/server/db/schema";
-import { type InferSelectModel } from "drizzle-orm";
-
-type Experiment = InferSelectModel<typeof experiments>;
-import { api } from "~/trpc/server";
-import { ExperimentForm } from "./experiment-form";
-import {
-    EntityView,
-    EntityViewHeader,
-    EntityViewSection,
-} from "~/components/ui/entity-view";
-import { Button } from "~/components/ui/button";
-import Link from "next/link";
-import { ArrowLeft } from "lucide-react";
-
-interface ExperimentEditPageProps {
-    params: Promise<{ id: string; experimentId: string }>;
-}
-
-export default async function ExperimentEditPage({
-    params,
-}: ExperimentEditPageProps) {
-    const { id: studyId, experimentId } = await params;
-
-    const experiment = await api.experiments.get({ id: experimentId });
-
-    if (!experiment) {
-        notFound();
-    }
-
-    // Ensure experiment belongs to study
-    if (experiment.studyId !== studyId) {
-        notFound();
-    }
-
-    // Convert to type expected by form
-    const experimentData: Experiment = {
-        ...experiment,
-        status: experiment.status as Experiment["status"],
-    };
-
-    return (
-        <EntityView>
-            <EntityViewHeader
-                title="Edit Experiment"
-                subtitle={`Update settings for ${experiment.name}`}
-                icon="Edit"
-            />
-
-            <div className="max-w-2xl">
-                <EntityViewSection title="Experiment Details" icon="Settings">
-                    <ExperimentForm experiment={experimentData} />
-                </EntityViewSection>
-            </div>
-        </EntityView>
-    );
-}

src/app/(dashboard)/studies/[id]/experiments/[experimentId]/page.tsx

@@ -195,12 +195,6 @@ export default function ExperimentDetailPage({
                 actions={
                     canEdit ? (
                         <>
-                            <Button asChild variant="outline">
-                                <Link href={`/studies/${studyId}/experiments/${experimentId}/edit`}>
-                                    <Edit className="mr-2 h-4 w-4" />
-                                    Edit
-                                </Link>
-                            </Button>
                             <Button asChild variant="outline">
                                 <Link href={`/studies/${studyId}/experiments/${experimentId}/designer`}>
                                     <Settings className="mr-2 h-4 w-4" />
@@ -442,15 +436,9 @@ export default function ExperimentDetailPage({
                                 {
                                     label: "Export Data",
                                     icon: "Download" as const,
-                                    href: `/studies/${studyId}/experiments/${experimentId}/export`,
                                 },
                                 ...(canEdit
                                     ? [
-                                        {
-                                            label: "Edit Experiment",
-                                            icon: "Edit" as const,
-                                            href: `/studies/${studyId}/experiments/${experimentId}/edit`,
-                                        },
                                         {
                                             label: "Open Designer",
                                             icon: "Palette" as const,

src/app/auth/signin/page.tsx

@@ -12,6 +12,7 @@ import {
   CardHeader,
   CardTitle
 } from "~/components/ui/card";
+import { Checkbox } from "~/components/ui/checkbox";
 import { Input } from "~/components/ui/input";
 import { Label } from "~/components/ui/label";
 import { Logo } from "~/components/ui/logo";
@@ -21,6 +22,7 @@ export default function SignInPage() {
   const [password, setPassword] = useState("");
   const [isLoading, setIsLoading] = useState(false);
   const [error, setError] = useState("");
+  const [notRobot, setNotRobot] = useState(false);
   const router = useRouter();
 
   const handleSubmit = async (e: React.FormEvent) => {
@@ -28,6 +30,12 @@ export default function SignInPage() {
     setIsLoading(true);
     setError("");
 
+    if (!notRobot) {
+      setError("Please confirm you're not a robot");
+      setIsLoading(false);
+      return;
+    }
+
     try {
       const result = await signIn("credentials", {
         email,
@@ -62,7 +70,7 @@ export default function SignInPage() {
         {/* Header */}
         <div className="mb-8 text-center">
           <Link href="/" className="inline-flex items-center justify-center transition-opacity hover:opacity-80">
-            <Logo iconSize="lg" showText={false} />
+            <Logo iconSize="lg" showText={true} />
           </Link>
           <h1 className="mt-6 text-2xl font-bold tracking-tight text-foreground">Welcome back</h1>
           <p className="mt-2 text-sm text-muted-foreground">
@@ -116,6 +124,22 @@ export default function SignInPage() {
                 />
               </div>
 
+              <div className="flex items-center space-x-2 py-2">
+                <Checkbox
+                  id="not-robot"
+                  checked={notRobot}
+                  onCheckedChange={(checked) => setNotRobot(checked === true)}
+                  disabled={isLoading}
+                />
+                <label
+                  htmlFor="not-robot"
+                  className="text-sm font-medium leading-none peer-disabled:cursor-not-allowed peer-disabled:opacity-70 cursor-pointer"
+                >
+                  I&apos;m not a robot{" "}
+                  <span className="text-muted-foreground text-xs italic">(ironic, isn&apos;t it?)</span>
+                </label>
+              </div>
+
               <Button type="submit" className="w-full" disabled={isLoading} size="lg">
                 {isLoading ? "Signing in..." : "Sign In"}
               </Button>

src/app/dashboard/page.tsx

@@ -7,16 +7,18 @@ import { formatDistanceToNow } from "date-fns";
 import {
   Activity,
   ArrowRight,
-  Bot,
   Calendar,
+  CheckCircle,
   CheckCircle2,
   Clock,
+  FlaskConical,
   HelpCircle,
   LayoutDashboard,
   MoreHorizontal,
   Play,
   PlayCircle,
   Plus,
+  Search,
   Settings,
   Users,
 } from "lucide-react";
@@ -49,9 +51,11 @@ import { Badge } from "~/components/ui/badge";
 import { ScrollArea } from "~/components/ui/scroll-area";
 import { api } from "~/trpc/react";
 import { useTour } from "~/components/onboarding/TourProvider";
+import { useSession } from "next-auth/react";
 
 export default function DashboardPage() {
   const { startTour } = useTour();
+  const { data: session } = useSession();
   const [studyFilter, setStudyFilter] = React.useState<string | null>(null);
 
   // --- Data Fetching ---
@@ -81,14 +85,27 @@ export default function DashboardPage() {
     studyId: studyFilter ?? undefined,
   });
 
+  const userName = session?.user?.name ?? "Researcher";
+
+  const getWelcomeMessage = () => {
+    const hour = new Date().getHours();
+    let greeting = "Good evening";
+    if (hour < 12) greeting = "Good morning";
+    else if (hour < 18) greeting = "Good afternoon";
+
+    return `${greeting}, ${userName.split(" ")[0]}`;
+  };
+
   return (
-    <div className="flex flex-col space-y-8 animate-in fade-in duration-500">
+    <div className="space-y-8 animate-in fade-in duration-500">
       {/* Header Section */}
       <div id="dashboard-header" className="flex flex-col gap-4 md:flex-row md:items-center md:justify-between">
         <div>
-          <h1 className="text-3xl font-bold tracking-tight text-foreground">Dashboard</h1>
+          <h1 className="text-3xl font-bold tracking-tight text-foreground">
+            {getWelcomeMessage()}
+          </h1>
           <p className="text-muted-foreground">
-            Overview of your research activities and upcoming tasks.
+            Here's what's happening with your research today.
           </p>
         </div>
 
@@ -123,42 +140,141 @@ export default function DashboardPage() {
         </div>
       </div>
 
-      {/* Stats Cards */}
+      {/* Main Stats Grid */}
       <div id="tour-dashboard-stats" className="grid gap-4 md:grid-cols-2 lg:grid-cols-4">
-        <StatsCard
-          title="Total Participants"
-          value={stats?.totalParticipants ?? 0}
-          icon={Users}
-          description="Across all studies"
-          trend="+2 this week"
-        />
         <StatsCard
           title="Active Trials"
           value={stats?.activeTrials ?? 0}
           icon={Activity}
-          description="Currently in progress"
+          description="Currently running sessions"
-
+          iconColor="text-emerald-500"
         />
         <StatsCard
-          title="Completed Trials"
+          title="Completed Today"
           value={stats?.completedToday ?? 0}
-          icon={CheckCircle2}
+          icon={CheckCircle}
-          description="Completed today"
+          description="Successful completions"
+          iconColor="text-blue-500"
         />
         <StatsCard
           title="Scheduled"
           value={stats?.scheduledTrials ?? 0}
           icon={Calendar}
           description="Upcoming sessions"
+          iconColor="text-violet-500"
+        />
+        <StatsCard
+          title="Total Studies"
+          value={userStudies.length}
+          icon={FlaskConical}
+          description="Active research projects"
+          iconColor="text-orange-500"
         />
       </div>
 
+      {/* Action Center & Recent Activity */}
       <div className="grid gap-4 md:grid-cols-2 lg:grid-cols-7">
 
-        {/* Main Column: Scheduled Trials & Study Progress */}
+        {/* Quick Actions Card */}
-        <div className="col-span-4 space-y-4">
+        <Card className="col-span-3 bg-gradient-to-br from-primary/5 to-background border-primary/20 h-fit">
+          <CardHeader>
+            <CardTitle>Quick Actions</CardTitle>
+            <CardDescription>Common tasks to get you started</CardDescription>
+          </CardHeader>
+          <CardContent className="grid gap-4">
+            <Button
+              variant="outline"
+              className="justify-start h-auto py-4 px-4 border-primary/20 hover:border-primary/50 hover:bg-primary/5 group"
+              asChild
+            >
+              <Link href="/studies/new">
+                <div className="p-2 bg-primary/10 rounded-full mr-4 group-hover:bg-primary/20 transition-colors">
+                  <FlaskConical className="h-5 w-5 text-primary" />
+                </div>
+                <div className="text-left">
+                  <div className="font-semibold">Create New Study</div>
+                  <div className="text-xs text-muted-foreground font-normal">
+                    Design a new experiment protocol
+                  </div>
+                </div>
+                <ArrowRight className="ml-auto h-4 w-4 text-muted-foreground group-hover:text-primary opacity-0 group-hover:opacity-100 transition-all" />
+              </Link>
+            </Button>
 
-          {/* Scheduled Trials */}
+            <Button
+              variant="outline"
+              className="justify-start h-auto py-4 px-4 group"
+              asChild
+            >
+              <Link href="/studies">
+                <div className="p-2 bg-secondary rounded-full mr-4">
+                  <Search className="h-5 w-5 text-foreground" />
+                </div>
+                <div className="text-left">
+                  <div className="font-semibold">Browse Studies</div>
+                  <div className="text-xs text-muted-foreground font-normal">
+                    Find and manage existing studies
+                  </div>
+                </div>
+              </Link>
+            </Button>
+
+            <Button
+              variant="outline"
+              className="justify-start h-auto py-4 px-4 group"
+              asChild
+            >
+              <Link href="/trials">
+                <div className="p-2 bg-emerald-500/10 rounded-full mr-4">
+                  <Activity className="h-5 w-5 text-emerald-600" />
+                </div>
+                <div className="text-left">
+                  <div className="font-semibold">Monitor Active Trials</div>
+                  <div className="text-xs text-muted-foreground font-normal">
+                    Jump into the Wizard Interface
+                  </div>
+                </div>
+              </Link>
+            </Button>
+          </CardContent>
+        </Card>
+
+        {/* Recent Activity Card */}
+        <Card id="tour-recent-activity" className="col-span-4 border-muted/40 shadow-sm">
+          <CardHeader>
+            <CardTitle>Recent Activity</CardTitle>
+            <CardDescription>
+              Your latest interactions across the platform
+            </CardDescription>
+          </CardHeader>
+          <CardContent>
+            <ScrollArea className="h-[400px] pr-4">
+              <div className="space-y-4">
+                {recentActivity?.map((activity) => (
+                  <div key={activity.id} className="relative pl-4 pb-1 border-l last:border-0 border-muted-foreground/20">
+                    <span className="absolute left-[-5px] top-1 h-2.5 w-2.5 rounded-full bg-primary/30 ring-4 ring-background" />
+                    <div className="mb-1 text-sm font-medium leading-none">{activity.title}</div>
+                    <div className="text-xs text-muted-foreground mb-1">{activity.description}</div>
+                    <div className="text-[10px] text-muted-foreground/70 uppercase">
+                      {formatDistanceToNow(activity.time, { addSuffix: true })}
+                    </div>
+                  </div>
+                ))}
+                {!recentActivity?.length && (
+                  <div className="flex flex-col items-center justify-center py-8 text-center text-muted-foreground">
+                    <Clock className="h-10 w-10 mb-3 opacity-20" />
+                    <p>No recent activity recorded.</p>
+                    <p className="text-sm">Start a trial to see updates here.</p>
+                  </div>
+                )}
+              </div>
+            </ScrollArea>
+          </CardContent>
+        </Card>
+      </div>
+
+      <div className="grid gap-4 md:grid-cols-2 lg:grid-cols-7">
+        {/* Scheduled Trials (Restored from previous page.tsx but styled to fit) */}
         <Card id="tour-scheduled-trials" className="col-span-4 border-muted/40 shadow-sm">
           <CardHeader>
             <div className="flex items-center justify-between">
@@ -214,7 +330,7 @@ export default function DashboardPage() {
         </Card>
 
         {/* Study Progress */}
-          <Card className="border-muted/40 shadow-sm">
+        <Card className="col-span-3 border-muted/40 shadow-sm">
           <CardHeader>
             <CardTitle>Study Progress</CardTitle>
             <CardDescription>
@@ -236,53 +352,6 @@ export default function DashboardPage() {
             )}
           </CardContent>
         </Card>
-
-        </div>
-
-        {/* Side Column: Recent Activity & Quick Actions */}
-        <div className="col-span-3 space-y-4">
-          {/* Quick Actions */}
-          <div className="grid grid-cols-2 gap-4">
-            <Button variant="outline" className="h-24 flex-col gap-2 hover:border-primary/50 hover:bg-primary/5" asChild>
-              <Link href="/experiments/new">
-                <Bot className="h-6 w-6 mb-1" />
-                <span>New Experim.</span>
-              </Link>
-            </Button>
-            <Button variant="outline" className="h-24 flex-col gap-2 hover:border-primary/50 hover:bg-primary/5" asChild>
-              <Link href="/trials/new">
-                <PlayCircle className="h-6 w-6 mb-1" />
-                <span>Run Trial</span>
-              </Link>
-            </Button>
-          </div>
-
-          {/* Recent Activity */}
-          <Card id="tour-recent-activity" className="border-muted/40 shadow-sm h-full">
-            <CardHeader>
-              <CardTitle>Recent Activity</CardTitle>
-            </CardHeader>
-            <CardContent>
-              <ScrollArea className="h-[400px] pr-4">
-                <div className="space-y-4">
-                  {recentActivity?.map((activity) => (
-                    <div key={activity.id} className="relative pl-4 pb-1 border-l last:border-0 border-muted-foreground/20">
-                      <span className="absolute left-[-5px] top-1 h-2.5 w-2.5 rounded-full bg-primary/30 ring-4 ring-background" />
-                      <div className="mb-1 text-sm font-medium leading-none">{activity.title}</div>
-                      <div className="text-xs text-muted-foreground mb-1">{activity.description}</div>
-                      <div className="text-[10px] text-muted-foreground/70 uppercase">
-                        {formatDistanceToNow(activity.time, { addSuffix: true })}
-                      </div>
-                    </div>
-                  ))}
-                  {!recentActivity?.length && (
-                    <p className="text-sm text-muted-foreground text-center py-8">No recent activity.</p>
-                  )}
-                </div>
-              </ScrollArea>
-            </CardContent>
-          </Card>
-        </div>
       </div>
     </div>
   );
@@ -294,18 +363,20 @@ function StatsCard({
   icon: Icon,
   description,
   trend,
+  iconColor,
 }: {
   title: string;
   value: string | number;
   icon: React.ElementType;
   description: string;
   trend?: string;
+  iconColor?: string;
 }) {
   return (
     <Card className="border-muted/40 shadow-sm hover:shadow-md transition-all duration-200 hover:border-primary/20">
       <CardHeader className="flex flex-row items-center justify-between space-y-0 pb-2">
         <CardTitle className="text-sm font-medium">{title}</CardTitle>
-        <Icon className="h-4 w-4 text-muted-foreground" />
+        <Icon className={`h-4 w-4 ${iconColor || "text-muted-foreground"}`} />
       </CardHeader>
       <CardContent>
         <div className="text-2xl font-bold">{value}</div>

src/components/dashboard/DashboardContent.tsx

@@ -1,125 +0,0 @@
-"use client";
-
-import { Activity, Calendar, CheckCircle, FlaskConical } from "lucide-react";
-import { DashboardOverviewLayout } from "~/components/ui/page-layout";
-
-interface DashboardContentProps {
-  userName: string;
-  userRole: string;
-  totalStudies: number;
-  activeTrials: number;
-  scheduledTrials: number;
-  completedToday: number;
-  canControl: boolean;
-  canManage: boolean;
-  _recentTrials: unknown[];
-}
-
-export function DashboardContent({
-  userName,
-  userRole,
-  totalStudies,
-  activeTrials,
-  scheduledTrials,
-  completedToday,
-  canControl,
-  canManage,
-  _recentTrials,
-}: DashboardContentProps) {
-  const getWelcomeMessage = () => {
-    switch (userRole) {
-      case "wizard":
-        return "Ready to control trials";
-      case "researcher":
-        return "Your research platform awaits";
-      case "administrator":
-        return "System management dashboard";
-      default:
-        return "Welcome to HRIStudio";
-    }
-  };
-
-  const quickActions = [
-    ...(canManage
-      ? [
-          {
-            title: "Create Study",
-            description: "Start a new research study",
-            icon: FlaskConical,
-            href: "/studies/new",
-            variant: "primary" as const,
-          },
-        ]
-      : []),
-    ...(canControl
-      ? [
-          {
-            title: "Browse Studies",
-            description: "View and manage studies",
-            icon: Calendar,
-            href: "/studies",
-            variant: "default" as const,
-          },
-        ]
-      : []),
-  ];
-
-  const stats = [
-    {
-      title: "Studies",
-      value: totalStudies,
-      description: "Research studies",
-      icon: FlaskConical,
-      variant: "primary" as const,
-      action: {
-        label: "View All",
-        href: "/studies",
-      },
-    },
-    {
-      title: "Active Trials",
-      value: activeTrials,
-      description: "Currently running",
-      icon: Activity,
-      variant: "success" as const,
-      ...(canControl && {
-        action: {
-          label: "View",
-          href: "/studies",
-        },
-      }),
-    },
-    {
-      title: "Scheduled",
-      value: scheduledTrials,
-      description: "Upcoming trials",
-      icon: Calendar,
-      variant: "default" as const,
-    },
-    {
-      title: "Completed Today",
-      value: completedToday,
-      description: "Finished trials",
-      icon: CheckCircle,
-      variant: "success" as const,
-    },
-  ];
-
-  const alerts: never[] = [];
-
-  const recentActivity = null;
-
-  return (
-    <DashboardOverviewLayout
-      title={`${getWelcomeMessage()}, ${userName}`}
-      description="Monitor your HRI research activities and manage ongoing studies"
-      userName={userName}
-      userRole={userRole}
-      breadcrumb={[{ label: "Dashboard" }]}
-      quickActions={quickActions}
-      stats={stats}
-      alerts={alerts}
-      recentActivity={recentActivity}
-    />
-  );
-}

src/components/dashboard/app-sidebar.tsx

@@ -1,12 +1,13 @@
 "use client";
 
-import React, { useEffect } from "react";
+import React, { useEffect, useRef } from "react";
 import Link from "next/link";
 import { usePathname } from "next/navigation";
 import { signOut, useSession } from "next-auth/react";
 import { toast } from "sonner";
 import {
   BarChart3,
+  BookOpen,
   Building,
   ChevronDown,
   FlaskConical,
@@ -113,6 +114,14 @@ const adminItems = [
   },
 ];
 
+const helpItems = [
+  {
+    title: "Help Center",
+    url: "/help",
+    icon: BookOpen, // Make sure to import this from lucide-react
+  },
+];
+
 interface AppSidebarProps extends React.ComponentProps<typeof Sidebar> {
   userRole?: string;
 }
@@ -126,9 +135,38 @@ export function AppSidebar({
   const isAdmin = userRole === "administrator";
   const { state: sidebarState } = useSidebar();
   const isCollapsed = sidebarState === "collapsed";
-  const { selectedStudyId, userStudies, selectStudy, refreshStudyData } =
+  const { selectedStudyId, userStudies, selectStudy, refreshStudyData, isLoadingUserStudies } =
     useStudyManagement();
 
+  // Reference to track if we've already attempted auto-selection to avoid fighting with manual clearing
+  const hasAutoSelected = useRef(false);
+
+  // Auto-select most recently touched study if none selected
+  useEffect(() => {
+    // Only run if not loading, no study selected, and we have studies available
+    // And only run once per session (using ref) to allow user to clear selection if desired
+    if (
+      !isLoadingUserStudies &&
+      !selectedStudyId &&
+      userStudies.length > 0 &&
+      !hasAutoSelected.current
+    ) {
+      // userStudies is sorted by updatedAt desc from the API, so the first one is the most recent
+      // userStudies is sorted by updatedAt desc from the API, so the first one is the most recent
+      const mostRecent = userStudies[0];
+      if (mostRecent) {
+        console.log("Auto-selecting most recent study:", mostRecent.name);
+        void selectStudy(mostRecent.id);
+        hasAutoSelected.current = true;
+      }
+    }
+  }, [
+    isLoadingUserStudies,
+    selectedStudyId,
+    userStudies,
+    selectStudy,
+  ]);
+
   // Debug API call
   const { data: debugData } = api.dashboard.debug.useQuery(undefined, {
     enabled: process.env.NODE_ENV === "development",
@@ -520,6 +558,44 @@ export function AppSidebar({
         )}
       </SidebarContent>
 
+      {/* Help Section */}
+      <SidebarGroup>
+        <SidebarGroupLabel>Support</SidebarGroupLabel>
+        <SidebarGroupContent>
+          <SidebarMenu>
+            {helpItems.map((item) => {
+              const isActive = pathname.startsWith(item.url);
+
+              const menuButton = (
+                <SidebarMenuButton asChild isActive={isActive}>
+                  <Link href={item.url}>
+                    <item.icon className="h-4 w-4" />
+                    <span>{item.title}</span>
+                  </Link>
+                </SidebarMenuButton>
+              );
+
+              return (
+                <SidebarMenuItem key={item.title}>
+                  {isCollapsed ? (
+                    <TooltipProvider>
+                      <Tooltip>
+                        <TooltipTrigger asChild>{menuButton}</TooltipTrigger>
+                        <TooltipContent side="right" className="text-sm">
+                          {item.title}
+                        </TooltipContent>
+                      </Tooltip>
+                    </TooltipProvider>
+                  ) : (
+                    menuButton
+                  )}
+                </SidebarMenuItem>
+              );
+            })}
+          </SidebarMenu>
+        </SidebarGroupContent>
+      </SidebarGroup>
+
       {/* Debug info moved to footer tooltip button */}
 
       <SidebarFooter>

src/components/experiments/ExperimentsTable.tsx

@@ -256,41 +256,35 @@ function ExperimentActions({ experiment }: { experiment: Experiment }) {
   });
 
   return (
-    <DropdownMenu>
+    <div className="flex items-center gap-2">
-      <DropdownMenuTrigger asChild>
+      <Button
-        <Button variant="ghost" className="h-8 w-8 p-0">
+        variant="ghost"
-          <span className="sr-only">Open menu</span>
+        size="icon"
-          <MoreHorizontal className="h-4 w-4" />
+        asChild
-        </Button>
+        className="h-8 w-8 text-muted-foreground hover:text-primary"
-      </DropdownMenuTrigger>
+        title="Open Designer"
-      <DropdownMenuContent align="end">
+      >
-        <DropdownMenuLabel>Actions</DropdownMenuLabel>
-        <DropdownMenuItem asChild>
-          <Link href={`/studies/${experiment.studyId}/experiments/${experiment.id}/edit`}>
-            <Edit className="mr-2 h-4 w-4" />
-            Edit Metadata
-          </Link>
-        </DropdownMenuItem>
-        <DropdownMenuItem asChild>
         <Link href={`/studies/${experiment.studyId}/experiments/${experiment.id}/designer`}>
-            <LayoutTemplate className="mr-2 h-4 w-4" />
+          <LayoutTemplate className="h-4 w-4" />
-            Design
+          <span className="sr-only">Design</span>
         </Link>
-        </DropdownMenuItem>
+      </Button>
-        <DropdownMenuSeparator />
+
-        <DropdownMenuItem
+      <Button
-          className="text-red-600 focus:text-red-700"
+        variant="ghost"
+        size="icon"
         onClick={() => {
           if (confirm("Are you sure you want to delete this experiment?")) {
             deleteMutation.mutate({ id: experiment.id });
           }
         }}
+        className="h-8 w-8 text-muted-foreground hover:text-destructive"
+        title="Delete Experiment"
       >
-          <Trash2 className="mr-2 h-4 w-4" />
+        <Trash2 className="h-4 w-4" />
-          Delete
+        <span className="sr-only">Delete</span>
-        </DropdownMenuItem>
+      </Button>
-      </DropdownMenuContent>
+    </div>
-    </DropdownMenu>
   );
 }
 

src/components/experiments/designer/DesignerRoot.tsx

@@ -17,12 +17,14 @@ import {
   PanelRightClose,
   PanelRightOpen,
   Maximize2,
-  Minimize2
+  Minimize2,
+  Settings
 } from "lucide-react";
 
 import { cn } from "~/lib/utils";
 import { PageHeader } from "~/components/ui/page-header";
 import { useTour } from "~/components/onboarding/TourProvider";
+import { SettingsModal } from "./SettingsModal";
 
 import { Button } from "~/components/ui/button";
 import { api } from "~/trpc/react";
@@ -45,7 +47,8 @@ import {
 import { BottomStatusBar } from "./layout/BottomStatusBar";
 import { ActionLibraryPanel } from "./panels/ActionLibraryPanel";
 import { InspectorPanel } from "./panels/InspectorPanel";
-import { FlowWorkspace, SortableActionChip, StepCardPreview } from "./flow/FlowWorkspace";
+import { FlowWorkspace, StepCardPreview } from "./flow/FlowWorkspace";
+import { SortableActionChip } from "./flow/ActionChip";
 import { GripVertical } from "lucide-react";
 
 import {
@@ -96,6 +99,23 @@ export interface DesignerRootProps {
   initialDesign?: ExperimentDesign;
   autoCompile?: boolean;
   onPersist?: (design: ExperimentDesign) => void;
+  experiment?: {
+    id: string;
+    name: string;
+    description: string | null;
+    status: string;
+    studyId: string;
+    createdAt: Date;
+    updatedAt: Date;
+    study: {
+      id: string;
+      name: string;
+    };
+  };
+  designStats?: {
+    stepCount: number;
+    actionCount: number;
+  };
 }
 
 interface RawExperiment {
@@ -114,10 +134,13 @@ interface RawExperiment {
 /* -------------------------------------------------------------------------- */
 
 function adaptExistingDesign(exp: RawExperiment): ExperimentDesign | undefined {
+  console.log('[adaptExistingDesign] Entry - exp.steps:', exp.steps);
+
   // 1. Prefer database steps (Source of Truth) if valid, to ensure we have the latest
   //    plugin provenance data (which might be missing from stale visualDesign snapshots).
   // 1. Prefer database steps (Source of Truth) if valid.
   if (Array.isArray(exp.steps) && exp.steps.length > 0) {
+    console.log('[adaptExistingDesign] Has steps array, length:', exp.steps.length);
     try {
       // Check if steps are already converted (have trigger property) to avoid double-conversion data loss
       const firstStep = exp.steps[0] as any;
@@ -128,7 +151,17 @@ function adaptExistingDesign(exp: RawExperiment): ExperimentDesign | undefined {
         dbSteps = exp.steps as ExperimentStep[];
       } else {
         // Raw DB steps, need conversion
+        console.log('[adaptExistingDesign] Taking raw DB conversion path');
         dbSteps = convertDatabaseToSteps(exp.steps);
+
+        // DEBUG: Check children after conversion
+        dbSteps.forEach((step) => {
+          step.actions.forEach((action) => {
+            if (["sequence", "parallel", "loop", "branch"].includes(action.type)) {
+              console.log(`[adaptExistingDesign] Post-conversion ${action.type} (${action.name}) children:`, action.children);
+            }
+          });
+        });
       }
 
       return {
@@ -196,6 +229,8 @@ export function DesignerRoot({
   initialDesign,
   autoCompile = true,
   onPersist,
+  experiment: experimentMetadata,
+  designStats,
 }: DesignerRootProps) {
   // Subscribe to registry updates to ensure re-renders when actions load
   useActionRegistry();
@@ -218,8 +253,6 @@ export function DesignerRoot({
     }
   );
 
-
-
   const updateExperiment = api.experiments.update.useMutation({
     onError: (err) => {
       toast.error(`Save failed: ${err.message}`);
@@ -321,6 +354,7 @@ export function DesignerRoot({
 
   const [leftCollapsed, setLeftCollapsed] = useState(false);
   const [rightCollapsed, setRightCollapsed] = useState(false);
+  const [settingsOpen, setSettingsOpen] = useState(false);
 
   // Responsive initialization: Collapse left sidebar on smaller screens (<1280px)
   useEffect(() => {
@@ -353,14 +387,12 @@ export function DesignerRoot({
 
   /* ----------------------------- Initialization ---------------------------- */
   useEffect(() => {
+    console.log('[DesignerRoot] useEffect triggered', { initialized, loadingExperiment, hasExperiment: !!experiment, hasInitialDesign: !!initialDesign });
+
     if (initialized) return;
     if (loadingExperiment && !initialDesign) return;
 
-    // console.log('[DesignerRoot] 🚀 INITIALIZING', {
+    console.log('[DesignerRoot] Proceeding with initialization');
-    //   hasExperiment: !!experiment,
-    //   hasInitialDesign: !!initialDesign,
-    //   loadingExperiment,
-    // });
 
     const adapted =
       initialDesign ??
@@ -1004,10 +1036,8 @@ export function DesignerRoot({
         const defaultParams: Record<string, unknown> = {};
         if (fullDef?.parameters) {
           for (const param of fullDef.parameters) {
-            // @ts-expect-error - 'default' property access
+            if (param.value !== undefined) {
-            if (param.default !== undefined) {
+              defaultParams[param.id] = param.value;
-              // @ts-expect-error - 'default' property access
-              defaultParams[param.id] = param.default;
             }
           }
         }
@@ -1097,6 +1127,16 @@ export function DesignerRoot({
 
   const actions = (
     <div className="flex flex-wrap items-center gap-2">
+      {experimentMetadata && (
+        <Button
+          variant="ghost"
+          size="icon"
+          onClick={() => setSettingsOpen(true)}
+          title="Experiment Settings"
+        >
+          <Settings className="h-5 w-5" />
+        </Button>
+      )}
       <Button
         variant="ghost"
         size="icon"
@@ -1127,7 +1167,10 @@ export function DesignerRoot({
   );
 
   return (
-    <div className="flex h-[calc(100vh-5rem)] w-full flex-col overflow-hidden bg-background">
+    <div className="relative flex h-[calc(100vh-5rem)] w-full flex-col overflow-hidden bg-background">
+      {/* Subtle Background Gradients */}
+      <div className="absolute top-0 left-1/2 -z-10 h-[400px] w-[800px] -translate-x-1/2 rounded-full bg-primary/10 blur-3xl opacity-20 dark:opacity-10" />
+      <div className="absolute bottom-0 right-0 -z-10 h-[250px] w-[250px] rounded-full bg-violet-500/5 blur-3xl" />
       <PageHeader
         title={designMeta.name}
         description={designMeta.description || "No description"}
@@ -1289,6 +1332,16 @@ export function DesignerRoot({
           </DragOverlay>
         </DndContext>
       </div>
+
+      {/* Settings Modal */}
+      {experimentMetadata && (
+        <SettingsModal
+          open={settingsOpen}
+          onOpenChange={setSettingsOpen}
+          experiment={experimentMetadata}
+          designStats={designStats}
+        />
+      )}
     </div>
   );
 }

src/components/experiments/designer/PropertiesPanel.tsx

@@ -170,7 +170,30 @@ export function PropertiesPanelBase({
 
   /* -------------------------- Action Properties View -------------------------- */
   if (selectedAction && containingStep) {
-    const def = registry.getAction(selectedAction.type);
+    let def = registry.getAction(selectedAction.type);
+
+    // Fallback: If action not found in registry, try without plugin prefix
+    if (!def && selectedAction.type.includes('.')) {
+      const baseType = selectedAction.type.split('.').pop();
+      if (baseType) {
+        def = registry.getAction(baseType);
+      }
+    }
+
+    // Final fallback: Create minimal definition from action data
+    if (!def) {
+      def = {
+        id: selectedAction.type,
+        type: selectedAction.type,
+        name: selectedAction.name,
+        description: `Action type: ${selectedAction.type}`,
+        category: selectedAction.category || 'control',
+        icon: 'Zap',
+        color: '#6366f1',
+        parameters: [],
+        source: selectedAction.source,
+      };
+    }
     const categoryColors = {
       wizard: "bg-blue-500",
       robot: "bg-emerald-500",
@@ -289,23 +312,29 @@ export function PropertiesPanelBase({
                 size="sm"
                 className="h-5 w-5 p-0"
                 onClick={() => {
-                  const currentOptions = (containingStep.trigger.conditions as any)?.options || [];
+                  const currentOptions = ((containingStep.trigger.conditions as any).options as any[]) || [];
+                  const newOptions = [
+                    ...currentOptions,
+                    { label: "New Option", nextStepId: design.steps[containingStep.order + 1]?.id, variant: "default" }
+                  ];
+
+                  // Sync to Step Trigger (Source of Truth)
                   onStepUpdate(containingStep.id, {
                     trigger: {
                       ...containingStep.trigger,
                       conditions: {
                         ...containingStep.trigger.conditions,
-                        options: [
+                        options: newOptions
-                          ...currentOptions,
-                          { label: "New Option", nextStepIndex: containingStep.order + 1, variant: "default" }
-                        ]
                       }
                     }
                   });
-                  // Auto-upgrade step type if needed
+                  // Sync to Action Params (for consistency)
-                  if (containingStep.type !== "conditional") {
+                  onActionUpdate(containingStep.id, selectedAction.id, {
-                    onStepUpdate(containingStep.id, { type: "conditional" });
+                    parameters: {
+                      ...selectedAction.parameters,
+                      options: newOptions
                     }
+                  });
                 }}
               >
                 <Plus className="h-3.5 w-3.5" />
@@ -313,47 +342,60 @@ export function PropertiesPanelBase({
             </div>
 
             <div className="space-y-3">
-              {((containingStep.trigger.conditions as any)?.options || []).map((opt: any, idx: number) => (
+              {(((containingStep.trigger.conditions as any).options as any[]) || []).map((opt: any, idx: number) => (
                 <div key={idx} className="space-y-2 p-2 rounded border bg-muted/50">
-                  <div className="flex gap-2">
+                  <div className="grid grid-cols-5 gap-2">
-                    <div className="flex-1">
+                    <div className="col-span-3">
                       <Label className="text-[10px]">Label</Label>
                       <Input
                         value={opt.label}
                         onChange={(e) => {
-                          const newOpts = [...((containingStep.trigger.conditions as any)?.options || [])];
+                          const currentOptions = ((containingStep.trigger.conditions as any).options as any[]) || [];
+                          const newOpts = [...currentOptions];
                           newOpts[idx] = { ...newOpts[idx], label: e.target.value };
+
                           onStepUpdate(containingStep.id, {
-                            trigger: { ...containingStep.trigger, conditions: { ...containingStep.trigger.conditions, options: newOpts } }
+                            trigger: {
+                              ...containingStep.trigger,
+                              conditions: { ...containingStep.trigger.conditions, options: newOpts }
+                            }
+                          });
+                          onActionUpdate(containingStep.id, selectedAction.id, {
+                            parameters: { ...selectedAction.parameters, options: newOpts }
                           });
                         }}
                         className="h-7 text-xs"
                       />
                     </div>
-                    <div className="w-[80px]">
+                    <div className="col-span-2">
                       <Label className="text-[10px]">Target Step</Label>
+                      {design.steps.length <= 1 ? (
+                        <div className="h-7 flex items-center text-[10px] text-muted-foreground border rounded px-2 bg-muted/50 truncate" title="Add more steps to link">
+                          No linkable steps
+                        </div>
+                      ) : (
                         <Select
-                        value={opt.nextStepId ?? design.steps[opt.nextStepIndex]?.id ?? ""}
+                          value={opt.nextStepId ?? ""}
                           onValueChange={(val) => {
-                          const newOpts = [...((containingStep.trigger.conditions as any)?.options || [])];
+                            const currentOptions = ((containingStep.trigger.conditions as any).options as any[]) || [];
-                          // Find index for legacy support / display logic if needed
+                            const newOpts = [...currentOptions];
-                          const stepIdx = design.steps.findIndex(s => s.id === val);
+                            newOpts[idx] = { ...newOpts[idx], nextStepId: val };
-
-                          newOpts[idx] = {
-                            ...newOpts[idx],
-                            nextStepId: val,
-                            nextStepIndex: stepIdx !== -1 ? stepIdx : undefined
-                          };
 
                             onStepUpdate(containingStep.id, {
-                            trigger: { ...containingStep.trigger, conditions: { ...containingStep.trigger.conditions, options: newOpts } }
+                              trigger: {
+                                ...containingStep.trigger,
+                                conditions: { ...containingStep.trigger.conditions, options: newOpts }
+                              }
+                            });
+                            onActionUpdate(containingStep.id, selectedAction.id, {
+                              parameters: { ...selectedAction.parameters, options: newOpts }
                             });
                           }}
                         >
-                        <SelectTrigger className="h-7 text-xs">
+                          <SelectTrigger className="h-7 text-xs w-full">
-                          <SelectValue placeholder="Select step..." />
+                            <SelectValue placeholder="Select..." />
                           </SelectTrigger>
-                        <SelectContent>
+                          <SelectContent className="min-w-[180px]">
                             {design.steps.map((s) => (
                               <SelectItem key={s.id} value={s.id} disabled={s.id === containingStep.id}>
                                 {s.order + 1}. {s.name}
@@ -361,16 +403,25 @@ export function PropertiesPanelBase({
                             ))}
                           </SelectContent>
                         </Select>
+                      )}
                     </div>
                   </div>
                   <div className="flex items-center justify-between">
                     <Select
                       value={opt.variant || "default"}
                       onValueChange={(val) => {
-                        const newOpts = [...((containingStep.trigger.conditions as any)?.options || [])];
+                        const currentOptions = ((containingStep.trigger.conditions as any).options as any[]) || [];
+                        const newOpts = [...currentOptions];
                         newOpts[idx] = { ...newOpts[idx], variant: val };
+
                         onStepUpdate(containingStep.id, {
-                          trigger: { ...containingStep.trigger, conditions: { ...containingStep.trigger.conditions, options: newOpts } }
+                          trigger: {
+                            ...containingStep.trigger,
+                            conditions: { ...containingStep.trigger.conditions, options: newOpts }
+                          }
+                        });
+                        onActionUpdate(containingStep.id, selectedAction.id, {
+                          parameters: { ...selectedAction.parameters, options: newOpts }
                         });
                       }}
                     >
@@ -389,10 +440,18 @@ export function PropertiesPanelBase({
                       size="sm"
                       className="h-6 w-6 p-0 text-muted-foreground hover:text-red-500"
                       onClick={() => {
-                        const newOpts = [...((containingStep.trigger.conditions as any)?.options || [])];
+                        const currentOptions = ((containingStep.trigger.conditions as any).options as any[]) || [];
+                        const newOpts = [...currentOptions];
                         newOpts.splice(idx, 1);
+
                         onStepUpdate(containingStep.id, {
-                          trigger: { ...containingStep.trigger, conditions: { ...containingStep.trigger.conditions, options: newOpts } }
+                          trigger: {
+                            ...containingStep.trigger,
+                            conditions: { ...containingStep.trigger.conditions, options: newOpts }
+                          }
+                        });
+                        onActionUpdate(containingStep.id, selectedAction.id, {
+                          parameters: { ...selectedAction.parameters, options: newOpts }
                         });
                       }}
                     >
@@ -401,13 +460,46 @@ export function PropertiesPanelBase({
                   </div>
                 </div>
               ))}
-              {(!((containingStep.trigger.conditions as any)?.options?.length)) && (
+              {(!(((containingStep.trigger.conditions as any).options as any[])?.length)) && (
                 <div className="text-center py-4 border border-dashed rounded text-xs text-muted-foreground">
                   No options defined.<br />Click + to add a branch.
                 </div>
               )}
             </div>
           </div>
+        ) : selectedAction.type === "loop" ? (
+          /* Loop Configuration */
+          <div className="space-y-3">
+            <div className="text-muted-foreground text-[10px] tracking-wide uppercase">
+              Loop Configuration
+            </div>
+
+            <div className="space-y-4">
+              {/* Iterations */}
+              <div>
+                <Label className="text-xs">Iterations</Label>
+                <div className="flex items-center gap-2 mt-1">
+                  <Slider
+                    min={1}
+                    max={20}
+                    step={1}
+                    value={[Number(selectedAction.parameters.iterations || 1)]}
+                    onValueChange={(vals) => {
+                      onActionUpdate(containingStep.id, selectedAction.id, {
+                        parameters: {
+                          ...selectedAction.parameters,
+                          iterations: vals[0],
+                        },
+                      });
+                    }}
+                  />
+                  <span className="text-xs font-mono w-8 text-right">
+                    {Number(selectedAction.parameters.iterations || 1)}
+                  </span>
+                </div>
+              </div>
+            </div>
+          </div>
         ) : (
           /* Standard Parameters */
           def?.parameters.length ? (

src/components/experiments/designer/SettingsModal.tsx

@@ -0,0 +1,53 @@
+"use client";
+
+import { SettingsTab } from "./tabs/SettingsTab";
+import {
+    Dialog,
+    DialogContent,
+    DialogDescription,
+    DialogHeader,
+    DialogTitle,
+} from "~/components/ui/dialog";
+
+interface SettingsModalProps {
+    open: boolean;
+    onOpenChange: (open: boolean) => void;
+    experiment: {
+        id: string;
+        name: string;
+        description: string | null;
+        status: string;
+        studyId: string;
+        createdAt: Date;
+        updatedAt: Date;
+        study: {
+            id: string;
+            name: string;
+        };
+    };
+    designStats?: {
+        stepCount: number;
+        actionCount: number;
+    };
+}
+
+export function SettingsModal({
+    open,
+    onOpenChange,
+    experiment,
+    designStats,
+}: SettingsModalProps) {
+    return (
+        <Dialog open={open} onOpenChange={onOpenChange}>
+            <DialogContent className="max-w-4xl max-h-[90vh] p-0">
+                <DialogHeader className="sr-only">
+                    <DialogTitle>Experiment Settings</DialogTitle>
+                    <DialogDescription>
+                        Configure experiment metadata and status
+                    </DialogDescription>
+                </DialogHeader>
+                <SettingsTab experiment={experiment} designStats={designStats} />
+            </DialogContent>
+        </Dialog>
+    );
+}

src/components/experiments/designer/flow/ActionChip.tsx

@@ -0,0 +1,503 @@
+"use client";
+
+import React, { useMemo } from "react";
+import { useSortable } from "@dnd-kit/sortable";
+import { CSS } from "@dnd-kit/utilities";
+import { useDroppable } from "@dnd-kit/core";
+import {
+    ChevronRight,
+    Trash2,
+    Clock,
+    GitBranch,
+    Repeat,
+    Layers,
+    List,
+    AlertCircle,
+    Play,
+    HelpCircle
+} from "lucide-react";
+import { cn } from "~/lib/utils";
+import { type ExperimentAction } from "~/lib/experiment-designer/types";
+import { actionRegistry } from "../ActionRegistry";
+import { Button } from "~/components/ui/button";
+import { Badge } from "~/components/ui/badge";
+import { useDesignerStore } from "../state/store";
+
+export interface ActionChipProps {
+    stepId: string;
+    action: ExperimentAction;
+    parentId: string | null;
+    selectedActionId: string | null | undefined;
+    onSelectAction: (stepId: string, actionId: string | undefined) => void;
+    onDeleteAction: (stepId: string, actionId: string) => void;
+    onReorderAction?: (stepId: string, actionId: string, direction: 'up' | 'down') => void;
+    dragHandle?: boolean;
+    isFirst?: boolean;
+    isLast?: boolean;
+}
+
+export interface ActionChipVisualsProps {
+    action: ExperimentAction;
+    isSelected?: boolean;
+    isDragging?: boolean;
+    isOverNested?: boolean;
+    onSelect?: (e: React.MouseEvent) => void;
+    onDelete?: (e: React.MouseEvent) => void;
+    onReorder?: (direction: 'up' | 'down') => void;
+    dragHandleProps?: React.HTMLAttributes<HTMLElement>;
+    children?: React.ReactNode;
+    isFirst?: boolean;
+    isLast?: boolean;
+    validationStatus?: "error" | "warning" | "info";
+}
+
+/**
+ * Helper to determine visual style based on action type/category
+ */
+function getActionVisualStyle(action: ExperimentAction) {
+    const def = actionRegistry.getAction(action.type);
+    const category = def?.category || "other";
+
+    // Specific Control Types
+    if (action.type === "hristudio-core.wait" || action.type === "wait") {
+        return {
+            variant: "wait",
+            icon: Clock,
+            bg: "bg-amber-500/10 hover:bg-amber-500/20",
+            border: "border-amber-200 dark:border-amber-800",
+            text: "text-amber-700 dark:text-amber-400",
+            accent: "bg-amber-500",
+        };
+    }
+
+    if (action.type === "hristudio-core.branch" || action.type === "branch") {
+        return {
+            variant: "branch",
+            icon: GitBranch,
+            bg: "bg-orange-500/10 hover:bg-orange-500/20",
+            border: "border-orange-200 dark:border-orange-800",
+            text: "text-orange-700 dark:text-orange-400",
+            accent: "bg-orange-500",
+        };
+    }
+
+    if (action.type === "hristudio-core.loop" || action.type === "loop") {
+        return {
+            variant: "loop",
+            icon: Repeat,
+            bg: "bg-purple-500/10 hover:bg-purple-500/20",
+            border: "border-purple-200 dark:border-purple-800",
+            text: "text-purple-700 dark:text-purple-400",
+            accent: "bg-purple-500",
+        };
+    }
+
+    if (action.type === "hristudio-core.parallel" || action.type === "parallel") {
+        return {
+            variant: "parallel",
+            icon: Layers,
+            bg: "bg-emerald-500/10 hover:bg-emerald-500/20",
+            border: "border-emerald-200 dark:border-emerald-800",
+            text: "text-emerald-700 dark:text-emerald-400",
+            accent: "bg-emerald-500",
+        };
+    }
+
+
+
+    // General Categories
+    if (category === "wizard") {
+        return {
+            variant: "wizard",
+            icon: HelpCircle,
+            bg: "bg-indigo-500/5 hover:bg-indigo-500/10",
+            border: "border-indigo-200 dark:border-indigo-800",
+            text: "text-indigo-700 dark:text-indigo-300",
+            accent: "bg-indigo-500",
+        };
+    }
+
+    if ((category as string) === "robot" || (category as string) === "movement" || (category as string) === "speech") {
+        return {
+            variant: "robot",
+            icon: Play, // Or specific robot icon if available
+            bg: "bg-slate-100 hover:bg-slate-200 dark:bg-slate-800 dark:hover:bg-slate-700",
+            border: "border-slate-200 dark:border-slate-700",
+            text: "text-slate-700 dark:text-slate-300",
+            accent: "bg-slate-500",
+        }
+    }
+
+    // Default
+    return {
+        variant: "default",
+        icon: undefined,
+        bg: "bg-muted/40 hover:bg-accent/40",
+        border: "border-border",
+        text: "text-foreground",
+        accent: "bg-muted-foreground",
+    };
+}
+
+
+export function ActionChipVisuals({
+    action,
+    isSelected,
+    isDragging,
+    isOverNested,
+    onSelect,
+    onDelete,
+    onReorder,
+    dragHandleProps,
+    children,
+    isFirst,
+    isLast,
+    validationStatus,
+}: ActionChipVisualsProps) {
+    const def = actionRegistry.getAction(action.type);
+    const style = getActionVisualStyle(action);
+    const Icon = style.icon;
+
+    return (
+        <div
+            className={cn(
+                "group relative flex w-full flex-col items-start gap-1 rounded border px-3 py-2 text-[11px] transition-all duration-200",
+                style.bg,
+                style.border,
+                isSelected && "ring-2 ring-primary border-primary bg-accent/50",
+                isDragging && "opacity-70 shadow-lg scale-95",
+                isOverNested && !isDragging && "ring-2 ring-blue-400 ring-offset-1 bg-blue-50/50 dark:bg-blue-900/20"
+            )}
+            onClick={onSelect}
+            role="button"
+            aria-pressed={isSelected}
+            tabIndex={0}
+        >
+            {/* Accent Bar logic for control flow */}
+            {style.variant !== "default" && style.variant !== "robot" && (
+                <div className={cn("absolute left-0 top-0 bottom-0 w-1 rounded-l", style.accent)} />
+            )}
+
+            <div className={cn("flex w-full items-center gap-2", style.variant !== "default" && style.variant !== "robot" && "pl-2")}>
+                <div className="flex items-center gap-2 flex-1 min-w-0">
+                    {Icon && <Icon className={cn("h-3.5 w-3.5 flex-shrink-0", style.text)} />}
+                    <span className={cn("leading-snug font-medium break-words truncate", style.text)}>
+                        {action.name}
+                    </span>
+
+                    {/* Inline Info for Control Actions */}
+                    {style.variant === "wait" && !!action.parameters.duration && (
+                        <span className="ml-1 text-[10px] bg-background/50 px-1.5 py-0.5 rounded font-mono text-muted-foreground">
+                            {String(action.parameters.duration ?? "")}s
+                        </span>
+                    )}
+                    {style.variant === "loop" && (
+                        <span className="ml-1 text-[10px] bg-background/50 px-1.5 py-0.5 rounded font-mono text-muted-foreground">
+                            {String(action.parameters.iterations || 1)}x
+                        </span>
+                    )}
+                    {style.variant === "loop" && action.parameters.requireApproval !== false && (
+                        <span className="ml-1 text-[10px] bg-purple-500/20 px-1.5 py-0.5 rounded font-mono text-purple-700 dark:text-purple-300 flex items-center gap-0.5" title="Requires Wizard Approval">
+                            <HelpCircle className="h-2 w-2" />
+                            Ask
+                        </span>
+                    )}
+
+                    {validationStatus === "error" && (
+                        <div className="h-2 w-2 rounded-full bg-red-500 ring-1 ring-red-600 flex-shrink-0" aria-label="Error" />
+                    )}
+                    {validationStatus === "warning" && (
+                        <div className="h-2 w-2 rounded-full bg-amber-500 ring-1 ring-amber-600 flex-shrink-0" aria-label="Warning" />
+                    )}
+                </div>
+
+                <div className="flex items-center gap-0.5 mr-1 bg-background/50 rounded-md border border-border/50 shadow-sm px-0.5 opacity-0 group-hover:opacity-100 transition-opacity">
+                    <Button
+                        variant="ghost"
+                        size="sm"
+                        className="h-5 w-5 p-0 text-[10px] text-muted-foreground hover:text-foreground z-20 pointer-events-auto"
+                        onClick={(e) => {
+                            e.stopPropagation();
+                            onReorder?.('up');
+                        }}
+                        disabled={isFirst}
+                        aria-label="Move action up"
+                    >
+                        <ChevronRight className="h-3 w-3 -rotate-90" />
+                    </Button>
+                    <Button
+                        variant="ghost"
+                        size="sm"
+                        className="h-5 w-5 p-0 text-[10px] text-muted-foreground hover:text-foreground z-20 pointer-events-auto"
+                        onClick={(e) => {
+                            e.stopPropagation();
+                            onReorder?.('down');
+                        }}
+                        disabled={isLast}
+                        aria-label="Move action down"
+                    >
+                        <ChevronRight className="h-3 w-3 rotate-90" />
+                    </Button>
+                </div>
+
+                <button
+                    type="button"
+                    onClick={onDelete}
+                    className="text-muted-foreground hover:text-destructive rounded p-0.5 opacity-0 transition-opacity group-hover:opacity-100"
+                    aria-label="Delete action"
+                >
+                    <Trash2 className="h-3 w-3" />
+                </button>
+            </div>
+
+            {/* Description / Subtext */}
+            {
+                def?.description && (
+                    <div className={cn("text-muted-foreground line-clamp-2 w-full text-[10px] leading-snug pl-2 mt-0.5", style.variant !== "default" && style.variant !== "robot" && "pl-4")}>
+                        {def.description}
+                    </div>
+                )
+            }
+
+            {/* Tags for parameters (hide for specialized control blocks that show inline) */}
+            {
+                def?.parameters?.length && (style.variant === 'default' || style.variant === 'robot') ? (
+                    <div className="flex flex-wrap gap-1 pt-1">
+                        {def.parameters.slice(0, 3).map((p) => (
+                            <span
+                                key={p.id}
+                                className="bg-background/80 text-muted-foreground ring-border rounded px-1 py-0.5 text-[9px] font-medium ring-1 truncate max-w-[80px]"
+                            >
+                                {p.name}
+                            </span>
+                        ))}
+                        {def.parameters.length > 3 && (
+                            <span className="text-[9px] text-muted-foreground">+{def.parameters.length - 3}</span>
+                        )}
+                    </div>
+                ) : null
+            }
+
+            {children}
+        </div >
+    );
+}
+
+export function SortableActionChip({
+    stepId,
+    action,
+    parentId,
+    selectedActionId,
+    onSelectAction,
+    onDeleteAction,
+    onReorderAction,
+    dragHandle,
+    isFirst,
+    isLast,
+}: ActionChipProps) {
+    const isSelected = selectedActionId === action.id;
+
+    const insertionProjection = useDesignerStore((s) => s.insertionProjection);
+    const steps = useDesignerStore((s) => s.steps);
+    const currentStep = steps.find((s) => s.id === stepId);
+
+    // Branch Options Visualization
+    const branchOptions = useMemo(() => {
+        if (!action.type.includes("branch") || !currentStep) return null;
+
+        const options = (currentStep.trigger as any)?.conditions?.options;
+        if (!options?.length && !(currentStep.trigger as any)?.conditions?.nextStepId) {
+            return (
+                <div className="mt-2 text-muted-foreground/60 italic text-center py-2 text-[10px] bg-background/50 rounded border border-dashed">
+                    No branches configured. Add options in properties.
+                </div>
+            );
+        }
+
+        // Combine explicit options and unconditional nextStepId
+        // The original FlowWorkspace logic iterated options. logic there:
+        // (step.trigger.conditions as any).options.map...
+
+        return (
+            <div className="mt-2 space-y-1 w-full">
+                {options?.map((opt: any, idx: number) => {
+                    // Resolve ID to name for display
+                    let targetName = "Unlinked";
+                    let targetIndex = -1;
+
+                    if (opt.nextStepId) {
+                        const target = steps.find(s => s.id === opt.nextStepId);
+                        if (target) {
+                            targetName = target.name;
+                            targetIndex = target.order;
+                        }
+                    } else if (typeof opt.nextStepIndex === 'number') {
+                        targetIndex = opt.nextStepIndex;
+                        targetName = `Step #${targetIndex + 1}`;
+                    }
+
+                    return (
+                        <div key={idx} className="flex items-center justify-between rounded bg-background/50 shadow-sm border p-1.5 text-[10px]">
+                            <div className="flex items-center gap-2 min-w-0">
+                                <Badge variant="outline" className={cn(
+                                    "text-[9px] uppercase font-bold tracking-wider px-1 py-0 min-w-[60px] justify-center bg-background",
+                                    opt.variant === "destructive"
+                                        ? "border-red-500/30 text-red-600 dark:text-red-400"
+                                        : "border-slate-500/30 text-foreground"
+                                )}>
+                                    {opt.label}
+                                </Badge>
+                                <ChevronRight className="h-3 w-3 text-muted-foreground/50 flex-shrink-0" />
+                            </div>
+
+                            <div className="flex items-center gap-1.5 text-right min-w-0 max-w-[60%] justify-end">
+                                <span className="font-medium truncate text-foreground/80" title={targetName}>
+                                    {targetName}
+                                </span>
+                                {targetIndex !== -1 && (
+                                    <Badge variant="secondary" className="px-1 py-0 h-3.5 text-[9px] min-w-[18px] justify-center tabular-nums bg-slate-100 dark:bg-slate-800">
+                                        #{targetIndex + 1}
+                                    </Badge>
+                                )}
+                            </div>
+                        </div>
+                    );
+                })}
+
+                {/* Visual indicator for unconditional jump if present and no options matched (though usually logic handles this) */}
+                {/* For now keeping parity with FlowWorkspace which only showed options */}
+            </div>
+        );
+    }, [action.type, currentStep, steps]);
+
+    const displayChildren = useMemo(() => {
+        if (
+            insertionProjection?.stepId === stepId &&
+            insertionProjection.parentId === action.id
+        ) {
+            const copy = [...(action.children || [])];
+            copy.splice(insertionProjection.index, 0, insertionProjection.action);
+            return copy;
+        }
+        return action.children || [];
+    }, [action.children, action.id, stepId, insertionProjection]);
+
+    /* ------------------------------------------------------------------------ */
+    /* Main Sortable Logic                                                      */
+    /* ------------------------------------------------------------------------ */
+    const isPlaceholder = action.id === "projection-placeholder";
+
+    // Compute validation status
+    const issues = useDesignerStore((s) => s.validationIssues[action.id]);
+    const validationStatus = useMemo(() => {
+        if (!issues?.length) return undefined;
+        if (issues.some((i) => i.severity === "error")) return "error";
+        if (issues.some((i) => i.severity === "warning")) return "warning";
+        return "info";
+    }, [issues]);
+
+    /* ------------------------------------------------------------------------ */
+    /* Sortable (Local) DnD Monitoring                                          */
+    /* ------------------------------------------------------------------------ */
+    // useSortable disabled per user request to remove action drag-and-drop
+    // const { ... } = useSortable(...) 
+
+    // Use local dragging state or passed prop
+    const isDragging = dragHandle || false;
+
+    /* ------------------------------------------------------------------------ */
+    /* Nested Droppable (for control flow containers)                           */
+    /* ------------------------------------------------------------------------ */
+    const def = actionRegistry.getAction(action.type);
+    const nestedDroppableId = `container-${action.id}`;
+    const {
+        isOver: isOverNested,
+        setNodeRef: setNestedNodeRef
+    } = useDroppable({
+        id: nestedDroppableId,
+        disabled: !def?.nestable || isPlaceholder, // Disable droppable for placeholder
+        data: {
+            type: "container",
+            stepId,
+            parentId: action.id,
+            action // Pass full action for projection logic
+        }
+    });
+
+    const shouldRenderChildren = !!def?.nestable;
+
+    if (isPlaceholder) {
+        return (
+            <div
+                className={cn(
+                    "relative flex w-full flex-col items-start gap-1 rounded border border-dashed px-3 py-2 text-[11px]",
+                    "bg-blue-50/50 dark:bg-blue-900/20 border-blue-400 opacity-70"
+                )}
+            >
+                <div className="flex w-full items-center gap-2">
+                    <span className="font-medium text-blue-700 italic">
+                        {action.name}
+                    </span>
+                </div>
+            </div >
+        );
+    }
+
+    return (
+        <ActionChipVisuals
+            action={action}
+            isSelected={isSelected}
+            isDragging={isDragging}
+            isOverNested={isOverNested && !isDragging}
+            onSelect={(e) => {
+                e.stopPropagation();
+                onSelectAction(stepId, action.id);
+            }}
+            onDelete={(e) => {
+                e.stopPropagation();
+                onDeleteAction(stepId, action.id);
+            }}
+            onReorder={(direction) => onReorderAction?.(stepId, action.id, direction)}
+            isFirst={isFirst}
+            isLast={isLast}
+            validationStatus={validationStatus}
+        >
+            {/* Branch Options Visualization */}
+            {branchOptions}
+
+            {/* Nested Children Rendering (e.g. for Loops/Parallel) */}
+            {shouldRenderChildren && (
+                <div
+                    ref={setNestedNodeRef}
+                    className={cn(
+                        "mt-2 w-full space-y-2 rounded border border-dashed p-1.5 transition-colors",
+                        isOverNested
+                            ? "bg-blue-100/50 dark:bg-blue-900/20 border-blue-400"
+                            : "bg-muted/20 dark:bg-muted/10 border-border/50"
+                    )}
+                >
+                    {displayChildren?.length === 0 ? (
+                        <div className="py-2 text-center text-[10px] text-muted-foreground/60 italic">
+                            Empty container
+                        </div>
+                    ) : (
+                        displayChildren?.map((child, idx) => (
+                            <SortableActionChip
+                                key={child.id}
+                                stepId={stepId}
+                                action={child}
+                                parentId={action.id}
+                                selectedActionId={selectedActionId}
+                                onSelectAction={onSelectAction}
+                                onDeleteAction={onDeleteAction}
+                                onReorderAction={onReorderAction}
+                                isFirst={idx === 0}
+                                isLast={idx === (displayChildren?.length || 0) - 1}
+                            />
+                        ))
+                    )}
+                </div>
+            )}
+        </ActionChipVisuals>
+    );
+}

src/components/experiments/designer/flow/FlowWorkspace.tsx

@@ -30,6 +30,7 @@ import {
   GitBranch,
   Edit3,
   CornerDownRight,
+  Repeat,
 } from "lucide-react";
 import { cn } from "~/lib/utils";
 import {
@@ -41,6 +42,7 @@ import { actionRegistry } from "../ActionRegistry";
 import { Button } from "~/components/ui/button";
 import { Badge } from "~/components/ui/badge";
 import { Input } from "~/components/ui/input";
+import { SortableActionChip } from "./ActionChip";
 
 /**
  * FlowWorkspace
@@ -296,75 +298,41 @@ function StepRow({
 
 
           {/* Conditional Branching Visualization */}
-          {/* Conditional Branching Visualization */}
+
-          {step.type === "conditional" && (
+
+          {/* Loop Visualization */}
+          {step.type === "loop" && (
             <div className="mx-3 my-3 rounded-md border text-xs" style={{
-              backgroundColor: 'var(--validation-warning-bg)', // Semantic background
+              backgroundColor: 'var(--validation-info-bg, #f0f9ff)',
-              borderColor: 'var(--validation-warning-border)', // Semantic border
+              borderColor: 'var(--validation-info-border, #bae6fd)',
             }}>
               <div className="flex items-center gap-2 border-b px-3 py-2 font-medium" style={{
-                borderColor: 'var(--validation-warning-border)',
+                borderColor: 'var(--validation-info-border, #bae6fd)',
-                color: 'var(--validation-warning-text)'
+                color: 'var(--validation-info-text, #0369a1)'
               }}>
-                <GitBranch className="h-3.5 w-3.5" />
+                <Repeat className="h-3.5 w-3.5" />
-                <span>Branching Logic</span>
+                <span>Loop Logic</span>
               </div>
 
               <div className="p-2 space-y-2">
-                {!(step.trigger.conditions as any)?.options?.length ? (
+                <div className="flex items-center gap-2 text-[11px]">
-                  <div className="text-muted-foreground/60 italic text-center py-2 text-[11px]">
+                  <span className="text-muted-foreground">Repeat:</span>
-                    No branches configured. Add options in properties.
+                  <Badge variant="outline" className="font-mono">
-                  </div>
+                    {(step.trigger.conditions as any).loop?.iterations || 1} times
-                ) : (
-                  (step.trigger.conditions as any).options.map((opt: any, idx: number) => {
-                    // Resolve ID to name for display
-                    let targetName = "Unlinked";
-                    let targetIndex = -1;
-
-                    if (opt.nextStepId) {
-                      const target = allSteps.find(s => s.id === opt.nextStepId);
-                      if (target) {
-                        targetName = target.name;
-                        targetIndex = target.order;
-                      }
-                    } else if (typeof opt.nextStepIndex === 'number') {
-                      targetIndex = opt.nextStepIndex;
-                      targetName = `Step #${targetIndex + 1}`;
-                    }
-
-                    return (
-                      <div key={idx} className="flex items-center justify-between rounded bg-background/50 shadow-sm border p-2">
-                        <div className="flex items-center gap-2 min-w-0">
-                          <Badge variant="outline" className={cn(
-                            "text-[10px] uppercase font-bold tracking-wider px-1.5 py-0.5 min-w-[70px] justify-center bg-background",
-                            opt.variant === "destructive"
-                              ? "border-red-500/30 text-red-600 dark:text-red-400"
-                              : "border-slate-500/30 text-foreground"
-                          )}>
-                            {opt.label}
                   </Badge>
-                          <span className="text-muted-foreground text-[10px]">then go to</span>
                 </div>
-
+                <div className="flex items-center gap-2 text-[11px]">
-                        <div className="flex items-center gap-1.5 text-right min-w-0 max-w-[50%]">
+                  <span className="text-muted-foreground">Approval:</span>
-                          <span className="font-medium truncate text-[11px] block text-foreground" title={targetName}>
+                  <Badge variant={(step.trigger.conditions as any).loop?.requireApproval !== false ? "default" : "secondary"}>
-                            {targetName}
+                    {(step.trigger.conditions as any).loop?.requireApproval !== false ? "Required" : "Auto-proceed"}
-                          </span>
-                          {targetIndex !== -1 && (
-                            <Badge variant="secondary" className="px-1 py-0 h-4 text-[9px] min-w-[20px] justify-center tabular-nums">
-                              #{targetIndex + 1}
                   </Badge>
-                          )}
-                          <ChevronRight className="h-3 w-3 text-muted-foreground/50 flex-shrink-0" />
                 </div>
               </div>
-                    );
-                  })
-                )}
-              </div>
             </div>
           )}
 
+
+
           {/* Action List (Collapsible/Virtual content) */}
           {step.expanded && (
             <div className="bg-background/40 min-h-[3rem] space-y-2 p-2 pb-8">
@@ -497,330 +465,7 @@ function StepDroppableArea({ stepId }: { stepId: string }) {
   );
 }
 
-/* -------------------------------------------------------------------------- */
-/* Sortable Action Chip                                                       */
-/* -------------------------------------------------------------------------- */
 
-export interface ActionChipProps {
-  stepId: string;
-  action: ExperimentAction;
-  parentId: string | null;
-  selectedActionId: string | null | undefined;
-  onSelectAction: (stepId: string, actionId: string | undefined) => void;
-  onDeleteAction: (stepId: string, actionId: string) => void;
-  onReorderAction?: (stepId: string, actionId: string, direction: 'up' | 'down') => void;
-  dragHandle?: boolean;
-  isFirst?: boolean;
-  isLast?: boolean;
-}
-
-/* -------------------------------------------------------------------------- */
-/* Action Chip Visuals (Pure Component)                                        */
-/* -------------------------------------------------------------------------- */
-
-export interface ActionChipVisualsProps {
-  action: ExperimentAction;
-  isSelected?: boolean;
-  isDragging?: boolean;
-  isOverNested?: boolean;
-  onSelect?: (e: React.MouseEvent) => void;
-  onDelete?: (e: React.MouseEvent) => void;
-  onReorder?: (direction: 'up' | 'down') => void;
-  dragHandleProps?: React.HTMLAttributes<HTMLElement>;
-  children?: React.ReactNode;
-  isFirst?: boolean;
-  isLast?: boolean;
-  validationStatus?: "error" | "warning" | "info";
-}
-
-export function ActionChipVisuals({
-  action,
-  isSelected,
-  isDragging,
-  isOverNested,
-  onSelect,
-  onDelete,
-  onReorder,
-  dragHandleProps,
-  children,
-  isFirst,
-  isLast,
-  validationStatus,
-}: ActionChipVisualsProps) {
-  const def = actionRegistry.getAction(action.type);
-
-  return (
-    <div
-      className={cn(
-        "group relative flex w-full flex-col items-start gap-1 rounded border px-3 py-2 text-[11px]",
-        "bg-muted/40 hover:bg-accent/40 cursor-pointer",
-        isSelected && "border-border bg-accent/30",
-        isDragging && "opacity-70 shadow-lg",
-        isOverNested && !isDragging && "ring-2 ring-blue-400 ring-offset-1 bg-blue-50/50"
-      )}
-      onClick={onSelect}
-      role="button"
-      aria-pressed={isSelected}
-      tabIndex={0}
-    >
-      <div className="flex w-full items-center gap-2">
-        <span className="flex-1 leading-snug font-medium break-words flex items-center gap-2">
-          {action.name}
-          {validationStatus === "error" && (
-            <div className="h-2 w-2 rounded-full bg-red-500 ring-1 ring-red-600" aria-label="Error" />
-          )}
-          {validationStatus === "warning" && (
-            <div className="h-2 w-2 rounded-full bg-amber-500 ring-1 ring-amber-600" aria-label="Warning" />
-          )}
-        </span>
-
-        <div className="flex items-center gap-0.5 mr-1 bg-background/50 rounded-md border border-border/50 shadow-sm px-0.5">
-          <Button
-            variant="ghost"
-            size="sm"
-            className="h-5 w-5 p-0 text-[10px] text-muted-foreground hover:text-foreground z-20 pointer-events-auto"
-            onClick={(e) => {
-              e.stopPropagation();
-              onReorder?.('up');
-            }}
-            disabled={isFirst}
-            aria-label="Move action up"
-          >
-            <ChevronRight className="h-3 w-3 -rotate-90" />
-          </Button>
-          <Button
-            variant="ghost"
-            size="sm"
-            className="h-5 w-5 p-0 text-[10px] text-muted-foreground hover:text-foreground z-20 pointer-events-auto"
-            onClick={(e) => {
-              e.stopPropagation();
-              onReorder?.('down');
-            }}
-            disabled={isLast}
-            aria-label="Move action down"
-          >
-            <ChevronRight className="h-3 w-3 rotate-90" />
-          </Button>
-        </div>
-
-        <button
-          type="button"
-          onClick={onDelete}
-          className="text-muted-foreground hover:text-foreground rounded p-0.5 opacity-0 transition-opacity group-hover:opacity-100"
-          aria-label="Delete action"
-        >
-          <Trash2 className="h-3 w-3" />
-        </button>
-      </div>
-      {def?.description && (
-        <div className="text-muted-foreground line-clamp-3 w-full text-[10px] leading-snug">
-          {def.description}
-        </div>
-      )}
-      {def?.parameters.length ? (
-        <div className="flex flex-wrap gap-1 pt-0.5">
-          {def.parameters.slice(0, 4).map((p) => (
-            <span
-              key={p.id}
-              className="bg-background/70 text-muted-foreground ring-border rounded px-1 py-0.5 text-[9px] font-medium ring-1"
-            >
-              {p.name}
-            </span>
-          ))}
-          {def.parameters.length > 4 && (
-            <span className="text-[9px] text-muted-foreground">+{def.parameters.length - 4}</span>
-          )}
-        </div>
-      ) : null}
-
-      {children}
-    </div>
-  );
-}
-
-export function SortableActionChip({
-  stepId,
-  action,
-  parentId,
-  selectedActionId,
-  onSelectAction,
-  onDeleteAction,
-  onReorderAction,
-  dragHandle,
-  isFirst,
-  isLast,
-}: ActionChipProps) {
-  const isSelected = selectedActionId === action.id;
-
-  const insertionProjection = useDesignerStore((s) => s.insertionProjection);
-  const displayChildren = useMemo(() => {
-    if (
-      insertionProjection?.stepId === stepId &&
-      insertionProjection.parentId === action.id
-    ) {
-      const copy = [...(action.children || [])];
-      copy.splice(insertionProjection.index, 0, insertionProjection.action);
-      return copy;
-    }
-    return action.children;
-  }, [action.children, action.id, stepId, insertionProjection]);
-
-  /* ------------------------------------------------------------------------ */
-  /* Main Sortable Logic                                                      */
-  /* ------------------------------------------------------------------------ */
-  const isPlaceholder = action.id === "projection-placeholder";
-
-  // Compute validation status
-  const issues = useDesignerStore((s) => s.validationIssues[action.id]);
-  const validationStatus = useMemo(() => {
-    if (!issues?.length) return undefined;
-    if (issues.some((i) => i.severity === "error")) return "error";
-    if (issues.some((i) => i.severity === "warning")) return "warning";
-    return "info";
-  }, [issues]);
-
-  /* ------------------------------------------------------------------------ */
-  /* Sortable (Local) DnD Monitoring                                          */
-  /* ------------------------------------------------------------------------ */
-  // useSortable disabled per user request to remove action drag-and-drop
-  // const { ... } = useSortable(...) 
-
-  // Use local dragging state or passed prop
-  const isDragging = dragHandle || false;
-
-  const style = {
-    // transform: CSS.Translate.toString(transform),
-    // transition,
-  };
-
-  // We need a ref for droppable? Droppable is below.
-  // For the chip itself, if not sortable, we don't need setNodeRef.
-  // But we might need it for layout?
-  // Let's keep a simple div ref usage if needed, but useSortable provided setNodeRef.
-  // We can just use a normal ref or nothing if not measuring.
-  const setNodeRef = undefined; // No-op
-  const attributes = {};
-  const listeners = {};
-
-
-
-  /* ------------------------------------------------------------------------ */
-  /* Nested Droppable (for control flow containers)                           */
-  /* ------------------------------------------------------------------------ */
-  const def = actionRegistry.getAction(action.type);
-  const nestedDroppableId = `container-${action.id}`;
-  const {
-    isOver: isOverNested,
-    setNodeRef: setNestedNodeRef
-  } = useDroppable({
-    id: nestedDroppableId,
-    disabled: !def?.nestable || isPlaceholder, // Disable droppable for placeholder
-    data: {
-      type: "container",
-      stepId,
-      parentId: action.id,
-      action // Pass full action for projection logic
-    }
-  });
-
-  const shouldRenderChildren = def?.nestable;
-
-  if (isPlaceholder) {
-    const { setNodeRef: setPlaceholderRef } = useDroppable({
-      id: "projection-placeholder",
-      data: { type: "placeholder" }
-    });
-
-    // Render simplified placeholder without hooks refs
-    // We still render the content matching the action type for visual fidelity
-    return (
-      <div
-        ref={setPlaceholderRef}
-        className="group relative flex w-full flex-col items-start gap-1 rounded border-2 border-dashed border-blue-300 bg-blue-50/50 px-3 py-2 text-[11px] opacity-70"
-      >
-        <div className="flex w-full items-center gap-2">
-          <span className={cn(
-            "h-2.5 w-2.5 rounded-full",
-            def ? {
-              wizard: "bg-blue-500",
-              robot: "bg-emerald-500",
-              control: "bg-amber-500",
-              observation: "bg-purple-500",
-            }[def.category] : "bg-gray-400"
-          )} />
-          <span className="font-medium text-foreground">{def?.name ?? action.name}</span>
-        </div>
-        {def?.description && (
-          <div className="text-muted-foreground line-clamp-3 w-full text-[10px] leading-snug">
-            {def.description}
-          </div>
-        )}
-      </div>
-    );
-  }
-
-  return (
-    <div
-      ref={setNodeRef}
-      style={style}
-      {...attributes}
-    >
-      <ActionChipVisuals
-        action={action}
-        isSelected={isSelected}
-        isDragging={isDragging}
-        isOverNested={isOverNested}
-        onSelect={(e) => {
-          e.stopPropagation();
-          onSelectAction(stepId, action.id);
-        }}
-        onDelete={(e) => {
-          e.stopPropagation();
-          onDeleteAction(stepId, action.id);
-        }}
-        onReorder={(direction) => onReorderAction?.(stepId, action.id, direction)}
-        dragHandleProps={listeners}
-        isLast={isLast}
-        validationStatus={validationStatus}
-      >
-        {/* Nested Actions Container */}
-        {shouldRenderChildren && (
-          <div
-            ref={setNestedNodeRef}
-            className={cn(
-              "mt-2 w-full flex flex-col gap-2 pl-4 border-l-2 border-border/40 transition-all min-h-[0.5rem] pb-4",
-            )}
-          >
-            <SortableContext
-              items={(displayChildren ?? action.children ?? [])
-                .filter(c => c.id !== "projection-placeholder")
-                .map(c => sortableActionId(c.id))}
-              strategy={verticalListSortingStrategy}
-            >
-              {(displayChildren || action.children || []).map((child) => (
-                <SortableActionChip
-                  key={child.id}
-                  stepId={stepId}
-                  action={child}
-                  parentId={action.id}
-                  selectedActionId={selectedActionId}
-                  onSelectAction={onSelectAction}
-                  onDeleteAction={onDeleteAction}
-                  onReorderAction={onReorderAction}
-                />
-              ))}
-              {(!displayChildren?.length && !action.children?.length) && (
-                <div className="text-[10px] text-muted-foreground/60 italic py-1">
-                  Drag actions here
-                </div>
-              )}
-            </SortableContext>
-          </div>
-        )}
-      </ActionChipVisuals>
-    </div>
-  );
-}
 
 /* -------------------------------------------------------------------------- */
 /* FlowWorkspace Component                                                     */

src/components/experiments/designer/state/store.ts

@@ -158,10 +158,17 @@ export interface DesignerState {
 /* Helpers                                                                    */
 /* -------------------------------------------------------------------------- */
 
+function cloneActions(actions: ExperimentAction[]): ExperimentAction[] {
+  return actions.map((a) => ({
+    ...a,
+    children: a.children ? cloneActions(a.children) : undefined,
+  }));
+}
+
 function cloneSteps(steps: ExperimentStep[]): ExperimentStep[] {
   return steps.map((s) => ({
     ...s,
-    actions: s.actions.map((a) => ({ ...a })),
+    actions: cloneActions(s.actions),
   }));
 }
 
@@ -248,8 +255,10 @@ function insertActionIntoTree(
 /* Store Implementation                                                       */
 /* -------------------------------------------------------------------------- */
 
-export const useDesignerStore = create<DesignerState>((set, get) => ({
+export const createDesignerStore = (props: {
-  steps: [],
+  initialSteps?: ExperimentStep[];
+}) => create<DesignerState>((set, get) => ({
+  steps: props.initialSteps ? reindexSteps(cloneSteps(props.initialSteps)) : [],
   dirtyEntities: new Set<string>(),
   validationIssues: {},
   actionSignatureIndex: new Map(),
@@ -541,6 +550,8 @@ export const useDesignerStore = create<DesignerState>((set, get) => ({
     }),
 }));
 
+export const useDesignerStore = createDesignerStore({});
+
 /* -------------------------------------------------------------------------- */
 /* Convenience Selectors                                                      */
 /* -------------------------------------------------------------------------- */

src/components/experiments/designer/tabs/SettingsTab.tsx

@@ -0,0 +1,294 @@
+"use client";
+
+import { useForm } from "react-hook-form";
+import { zodResolver } from "@hookform/resolvers/zod";
+import * as z from "zod";
+import { Button } from "~/components/ui/button";
+import {
+    Form,
+    FormControl,
+    FormDescription,
+    FormField,
+    FormItem,
+    FormLabel,
+    FormMessage,
+} from "~/components/ui/form";
+import { Input } from "~/components/ui/input";
+import { Textarea } from "~/components/ui/textarea";
+import {
+    Select,
+    SelectContent,
+    SelectItem,
+    SelectTrigger,
+    SelectValue,
+} from "~/components/ui/select";
+import { Card, CardContent, CardDescription, CardHeader, CardTitle } from "~/components/ui/card";
+import { Badge } from "~/components/ui/badge";
+import { toast } from "sonner";
+import { api } from "~/trpc/react";
+import { experimentStatusEnum } from "~/server/db/schema";
+import { Save, ExternalLink } from "lucide-react";
+import Link from "next/link";
+
+const formSchema = z.object({
+    name: z.string().min(2, {
+        message: "Name must be at least 2 characters.",
+    }),
+    description: z.string().optional(),
+    status: z.enum(experimentStatusEnum.enumValues),
+});
+
+interface SettingsTabProps {
+    experiment: {
+        id: string;
+        name: string;
+        description: string | null;
+        status: string;
+        studyId: string;
+        createdAt: Date;
+        updatedAt: Date;
+        study: {
+            id: string;
+            name: string;
+        };
+    };
+    designStats?: {
+        stepCount: number;
+        actionCount: number;
+    };
+}
+
+export function SettingsTab({ experiment, designStats }: SettingsTabProps) {
+    const utils = api.useUtils();
+    const updateExperiment = api.experiments.update.useMutation({
+        onSuccess: async () => {
+            toast.success("Experiment settings saved successfully");
+            // Invalidate experiments list to refresh data
+            await utils.experiments.list.invalidate();
+        },
+        onError: (error) => {
+            toast.error(`Error saving settings: ${error.message}`);
+        },
+    });
+
+    const form = useForm<z.infer<typeof formSchema>>({
+        resolver: zodResolver(formSchema),
+        defaultValues: {
+            name: experiment.name,
+            description: experiment.description ?? "",
+            status: experiment.status as z.infer<typeof formSchema>["status"],
+        },
+    });
+
+    function onSubmit(values: z.infer<typeof formSchema>) {
+        updateExperiment.mutate({
+            id: experiment.id,
+            name: values.name,
+            description: values.description,
+            status: values.status,
+        });
+    }
+
+    const isDirty = form.formState.isDirty;
+
+    return (
+        <div className="h-full overflow-y-auto p-6">
+            <div className="space-y-6">
+                {/* Header */}
+                <div>
+                    <h2 className="text-2xl font-bold tracking-tight">Experiment Settings</h2>
+                    <p className="text-muted-foreground mt-1">
+                        Configure experiment metadata and status
+                    </p>
+                </div>
+
+                <Form {...form}>
+                    <form onSubmit={form.handleSubmit(onSubmit)} className="space-y-6">
+                        <div className="grid grid-cols-1 md:grid-cols-3 gap-6">
+                            {/* Left Column: Basic Information (Spans 2) */}
+                            <div className="md:col-span-2 space-y-6">
+                                <Card className="h-full">
+                                    <CardHeader>
+                                        <CardTitle>Basic Information</CardTitle>
+                                        <CardDescription>
+                                            The name and description help identify this experiment
+                                        </CardDescription>
+                                    </CardHeader>
+                                    <CardContent className="space-y-4">
+                                        <FormField
+                                            control={form.control}
+                                            name="name"
+                                            render={({ field }) => (
+                                                <FormItem>
+                                                    <FormLabel>Name</FormLabel>
+                                                    <FormControl>
+                                                        <Input placeholder="Experiment name" {...field} />
+                                                    </FormControl>
+                                                    <FormDescription>
+                                                        A clear, descriptive name for your experiment
+                                                    </FormDescription>
+                                                    <FormMessage />
+                                                </FormItem>
+                                            )}
+                                        />
+
+                                        <FormField
+                                            control={form.control}
+                                            name="description"
+                                            render={({ field }) => (
+                                                <FormItem>
+                                                    <FormLabel>Description</FormLabel>
+                                                    <FormControl>
+                                                        <Textarea
+                                                            placeholder="Describe your experiment goals, methodology, and expected outcomes..."
+                                                            className="resize-none min-h-[300px]"
+                                                            {...field}
+                                                        />
+                                                    </FormControl>
+                                                    <FormDescription>
+                                                        Detailed description of the experiment purpose and design
+                                                    </FormDescription>
+                                                    <FormMessage />
+                                                </FormItem>
+                                            )}
+                                        />
+                                    </CardContent>
+                                </Card>
+                            </div>
+
+                            {/* Right Column: Status & Metadata (Spans 1) */}
+                            <div className="space-y-6">
+                                {/* Status Card */}
+                                <Card>
+                                    <CardHeader>
+                                        <CardTitle>Status</CardTitle>
+                                        <CardDescription>
+                                            Track lifecycle stage
+                                        </CardDescription>
+                                    </CardHeader>
+                                    <CardContent>
+                                        <FormField
+                                            control={form.control}
+                                            name="status"
+                                            render={({ field }) => (
+                                                <FormItem>
+                                                    <FormLabel>Current Status</FormLabel>
+                                                    <Select onValueChange={field.onChange} defaultValue={field.value}>
+                                                        <FormControl>
+                                                            <SelectTrigger>
+                                                                <SelectValue placeholder="Select a status" />
+                                                            </SelectTrigger>
+                                                        </FormControl>
+                                                        <SelectContent>
+                                                            <SelectItem value="draft">
+                                                                <div className="flex items-center gap-2">
+                                                                    <Badge variant="secondary">Draft</Badge>
+                                                                    <span className="text-xs text-muted-foreground">WIP</span>
+                                                                </div>
+                                                            </SelectItem>
+                                                            <SelectItem value="testing">
+                                                                <div className="flex items-center gap-2">
+                                                                    <Badge variant="outline">Testing</Badge>
+                                                                    <span className="text-xs text-muted-foreground">Validation</span>
+                                                                </div>
+                                                            </SelectItem>
+                                                            <SelectItem value="ready">
+                                                                <div className="flex items-center gap-2">
+                                                                    <Badge variant="default" className="bg-green-500">Ready</Badge>
+                                                                    <span className="text-xs text-muted-foreground">Live</span>
+                                                                </div>
+                                                            </SelectItem>
+                                                            <SelectItem value="deprecated">
+                                                                <div className="flex items-center gap-2">
+                                                                    <Badge variant="destructive">Deprecated</Badge>
+                                                                    <span className="text-xs text-muted-foreground">Retired</span>
+                                                                </div>
+                                                            </SelectItem>
+                                                        </SelectContent>
+                                                    </Select>
+                                                    <FormMessage />
+                                                </FormItem>
+                                            )}
+                                        />
+                                    </CardContent>
+                                </Card>
+
+                                {/* Metadata Card */}
+                                <Card>
+                                    <CardHeader>
+                                        <CardTitle>Metadata</CardTitle>
+                                        <CardDescription>
+                                            Read-only information
+                                        </CardDescription>
+                                    </CardHeader>
+                                    <CardContent className="space-y-4">
+                                        <div className="space-y-3">
+                                            <div>
+                                                <p className="text-xs font-medium text-muted-foreground mb-1">Study</p>
+                                                <Link
+                                                    href={`/studies/${experiment.study.id}`}
+                                                    className="text-sm hover:underline flex items-center gap-1 text-primary truncate"
+                                                >
+                                                    {experiment.study.name}
+                                                    <ExternalLink className="h-3 w-3 flex-shrink-0" />
+                                                </Link>
+                                            </div>
+                                            <div>
+                                                <p className="text-xs font-medium text-muted-foreground mb-1">Experiment ID</p>
+                                                <p className="text-xs font-mono bg-muted p-1 rounded select-all">{experiment.id.split('-')[0]}...</p>
+                                            </div>
+                                            <div className="grid grid-cols-2 gap-2">
+                                                <div>
+                                                    <p className="text-xs font-medium text-muted-foreground mb-1">Created</p>
+                                                    <p className="text-xs">{new Date(experiment.createdAt).toLocaleDateString()}</p>
+                                                </div>
+                                                <div>
+                                                    <p className="text-xs font-medium text-muted-foreground mb-1">Updated</p>
+                                                    <p className="text-xs">{new Date(experiment.updatedAt).toLocaleDateString()}</p>
+                                                </div>
+                                            </div>
+                                        </div>
+
+                                        {designStats && (
+                                            <div className="pt-4 border-t">
+                                                <p className="text-xs font-medium text-muted-foreground mb-2">Statistics</p>
+                                                <div className="flex flex-wrap gap-2">
+                                                    <div className="flex items-center gap-1.5 bg-muted/50 px-2 py-1 rounded text-xs">
+                                                        <span className="font-semibold">{designStats.stepCount}</span>
+                                                        <span className="text-muted-foreground">Steps</span>
+                                                    </div>
+                                                    <div className="flex items-center gap-1.5 bg-muted/50 px-2 py-1 rounded text-xs">
+                                                        <span className="font-semibold">{designStats.actionCount}</span>
+                                                        <span className="text-muted-foreground">Actions</span>
+                                                    </div>
+                                                </div>
+                                            </div>
+                                        )}
+                                    </CardContent>
+                                </Card>
+                            </div>
+                        </div>
+
+                        {/* Save Button */}
+                        <div className="flex justify-end pt-4 border-t">
+                            <Button
+                                type="submit"
+                                disabled={updateExperiment.isPending || !isDirty}
+                                className="min-w-[120px]"
+                            >
+                                {updateExperiment.isPending ? (
+                                    "Saving..."
+                                ) : (
+                                    <>
+                                        <Save className="h-4 w-4 mr-2" />
+                                        Save Changes
+                                    </>
+                                )}
+                            </Button>
+                        </div>
+                    </form>
+                </Form>
+            </div>
+        </div>
+    );
+}

src/components/experiments/experiments-columns.tsx

@@ -7,6 +7,7 @@ import {
   Edit,
   Eye,
   FlaskConical,
+  LayoutTemplate,
   MoreHorizontal,
   Play,
   TestTube,
@@ -99,43 +100,33 @@ function ExperimentActionsCell({ experiment }: { experiment: Experiment }) {
   };
 
   return (
-    <DropdownMenu>
+    <div className="flex items-center gap-2">
-      <DropdownMenuTrigger asChild>
+      <Button
-        <Button variant="ghost" className="h-8 w-8 p-0">
+        variant="ghost"
-          <span className="sr-only">Open menu</span>
+        size="icon"
-          <MoreHorizontal className="h-4 w-4" />
+        asChild
-        </Button>
+        className="h-8 w-8 text-muted-foreground hover:text-primary"
-      </DropdownMenuTrigger>
+        title="Open Designer"
-      <DropdownMenuContent align="end">
+      >
-        <DropdownMenuLabel>Actions</DropdownMenuLabel>
-        <DropdownMenuItem asChild>
-          <Link href={`/studies/${experiment.studyId}/experiments/${experiment.id}/edit`}>
-            <Edit className="mr-2 h-4 w-4" />
-            Edit Metadata
-          </Link>
-        </DropdownMenuItem>
-
-        <DropdownMenuItem asChild>
         <Link href={`/studies/${experiment.studyId}/experiments/${experiment.id}/designer`}>
-            <FlaskConical className="mr-2 h-4 w-4" />
+          <LayoutTemplate className="h-4 w-4" />
-            Design
+          <span className="sr-only">Design</span>
         </Link>
-        </DropdownMenuItem>
+      </Button>
 
       {experiment.canDelete && (
-          <>
+        <Button
-            <DropdownMenuSeparator />
+          variant="ghost"
-            <DropdownMenuItem
+          size="icon"
           onClick={handleDelete}
-              className="text-red-600 focus:text-red-600"
+          className="h-8 w-8 text-muted-foreground hover:text-destructive"
+          title="Delete Experiment"
         >
-              <Trash2 className="mr-2 h-4 w-4" />
+          <Trash2 className="h-4 w-4" />
-              Delete
+          <span className="sr-only">Delete</span>
-            </DropdownMenuItem>
+        </Button>
-          </>
       )}
-      </DropdownMenuContent>
+    </div>
-    </DropdownMenu>
   );
 }
 

src/components/trials/TrialForm.tsx

@@ -11,7 +11,6 @@ import {
   EntityForm,
   FormField,
   FormSection,
-  NextSteps,
   Tips,
 } from "~/components/ui/entity-form";
 import { Input } from "~/components/ui/input";
@@ -27,10 +26,113 @@ import { Textarea } from "~/components/ui/textarea";
 import { useStudyContext } from "~/lib/study-context";
 import { api } from "~/trpc/react";
 
+import { Calendar as CalendarIcon, Clock } from "lucide-react";
+import { format } from "date-fns";
+import { cn } from "~/lib/utils";
+import { Button } from "~/components/ui/button";
+import { Calendar } from "~/components/ui/calendar";
+import {
+  Popover,
+  PopoverContent,
+  PopoverTrigger,
+} from "~/components/ui/popover";
+import { Controller } from "react-hook-form";
+
+// Custom DatePickerTime component based on user request
+function DateTimePicker({
+  value,
+  onChange,
+}: {
+  value: Date | undefined;
+  onChange: (date: Date | undefined) => void;
+}) {
+  const [open, setOpen] = useState(false);
+
+  // Parse time from value or default
+  const timeValue = value ? format(value, "HH:mm") : "12:00";
+
+  const onDateSelect = (newDate: Date | undefined) => {
+    if (!newDate) {
+      onChange(undefined);
+      setOpen(false);
+      return;
+    }
+
+    // Preserve existing time or use default
+    const [hours, minutes] = timeValue.split(":").map(Number);
+    const updatedDate = new Date(newDate);
+    updatedDate.setHours(hours || 0);
+    updatedDate.setMinutes(minutes || 0);
+    updatedDate.setSeconds(0);
+
+    onChange(updatedDate);
+    setOpen(false);
+  };
+
+  const onTimeChange = (e: React.ChangeEvent<HTMLInputElement>) => {
+    const newTime = e.target.value;
+    if (!value) return; // Can't set time without date
+
+    const [hours, minutes] = newTime.split(":").map(Number);
+    const updatedDate = new Date(value);
+    updatedDate.setHours(hours || 0);
+    updatedDate.setMinutes(minutes || 0);
+    updatedDate.setSeconds(0);
+
+    onChange(updatedDate);
+  };
+
+  return (
+    <div className="flex items-end gap-2">
+      <div className="grid gap-1.5">
+        <Label htmlFor="date-picker" className="text-xs">Date</Label>
+        <Popover open={open} onOpenChange={setOpen}>
+          <PopoverTrigger asChild>
+            <Button
+              variant={"outline"}
+              id="date-picker"
+              className={cn(
+                "w-[240px] justify-start text-left font-normal",
+                !value && "text-muted-foreground"
+              )}
+            >
+              <CalendarIcon className="mr-2 h-4 w-4" />
+              {value ? format(value, "PPP") : <span>Pick a date</span>}
+            </Button>
+          </PopoverTrigger>
+          <PopoverContent className="w-auto p-0" align="start">
+            <Calendar
+              mode="single"
+              selected={value}
+              onSelect={onDateSelect}
+              initialFocus
+            />
+          </PopoverContent>
+        </Popover>
+      </div>
+
+      <div className="grid gap-1.5">
+        <Label htmlFor="time-picker" className="text-xs">Time</Label>
+        <div className="relative">
+          <Input
+            id="time-picker"
+            type="time"
+            value={timeValue}
+            onChange={onTimeChange}
+            disabled={!value}
+            className="w-[120px]"
+          />
+          <Clock className="absolute right-3 top-2.5 h-4 w-4 text-muted-foreground pointer-events-none" />
+        </div>
+      </div>
+    </div>
+  );
+}
+
 const trialSchema = z.object({
   experimentId: z.string().uuid("Please select an experiment"),
   participantId: z.string().uuid("Please select a participant"),
-  scheduledAt: z.string().min(1, "Please select a date and time"),
+  scheduledAt: z.date(),
   wizardId: z.string().uuid().optional(),
   notes: z.string().max(1000, "Notes cannot exceed 1000 characters").optional(),
   sessionNumber: z
@@ -52,7 +154,6 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
   const { selectedStudyId } = useStudyContext();
   const contextStudyId = studyId ?? selectedStudyId;
   const [isSubmitting, setIsSubmitting] = useState(false);
-  const [isDeleting] = useState(false);
   const [error, setError] = useState<string | null>(null);
 
   const form = useForm<TrialFormData>({
@@ -90,6 +191,22 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
   const { data: usersData, isLoading: usersLoading } =
     api.users.getWizards.useQuery();
 
+  // Auto-increment session number
+  const selectedParticipantId = form.watch("participantId");
+  const { data: latestSession } = api.trials.getLatestSession.useQuery(
+    { participantId: selectedParticipantId },
+    {
+      enabled: !!selectedParticipantId && mode === "create",
+      refetchOnWindowFocus: false
+    }
+  );
+
+  useEffect(() => {
+    if (latestSession !== undefined && mode === "create") {
+      form.setValue("sessionNumber", latestSession + 1);
+    }
+  }, [latestSession, mode, form]);
+
   // Set breadcrumbs
   const breadcrumbs = [
     { label: "Dashboard", href: "/dashboard" },
@@ -133,9 +250,7 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
       form.reset({
         experimentId: trial.experimentId,
         participantId: trial?.participantId ?? "",
-        scheduledAt: trial.scheduledAt
+        scheduledAt: trial.scheduledAt ? new Date(trial.scheduledAt) : undefined,
-          ? new Date(trial.scheduledAt).toISOString().slice(0, 16)
-          : "",
         wizardId: trial.wizardId ?? undefined,
         notes: trial.notes ?? "",
         sessionNumber: trial.sessionNumber ?? 1,
@@ -153,24 +268,26 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
 
     try {
       if (mode === "create") {
-        const newTrial = await createTrialMutation.mutateAsync({
+        await createTrialMutation.mutateAsync({
           experimentId: data.experimentId,
           participantId: data.participantId,
-          scheduledAt: new Date(data.scheduledAt),
+          scheduledAt: data.scheduledAt,
           wizardId: data.wizardId,
           sessionNumber: data.sessionNumber ?? 1,
           notes: data.notes ?? undefined,
         });
-        router.push(`/studies/${contextStudyId}/trials/${newTrial!.id}`);
+        // Redirect to trials table instead of detail page
+        router.push(`/studies/${contextStudyId}/trials`);
       } else {
-        const updatedTrial = await updateTrialMutation.mutateAsync({
+        await updateTrialMutation.mutateAsync({
           id: trialId!,
-          scheduledAt: new Date(data.scheduledAt),
+          scheduledAt: data.scheduledAt,
           wizardId: data.wizardId,
           sessionNumber: data.sessionNumber ?? 1,
           notes: data.notes ?? undefined,
         });
-        router.push(`/studies/${contextStudyId}/trials/${updatedTrial!.id}`);
+        // Redirect to trials table on update too
+        router.push(`/studies/${contextStudyId}/trials`);
       }
     } catch (error) {
       setError(
@@ -181,9 +298,6 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
     }
   };
 
-  // Delete handler (trials cannot be deleted in this version)
-  const onDelete = undefined;
-
   // Loading state for edit mode
   if (mode === "edit" && isLoading) {
     return <div>Loading trial...</div>;
@@ -194,13 +308,36 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
     return <div>Error loading trial: {fetchError.message}</div>;
   }
 
-  // Form fields
+  return (
-  const formFields = (
+    <EntityForm
-    <>
+      mode={mode}
-      <FormSection
+      entityName="Trial"
-        title="Trial Setup"
+      entityNamePlural="Trials"
-        description="Configure the basic details for this experimental trial."
+      backUrl={`/studies/${contextStudyId}/trials`}
+      listUrl={`/studies/${contextStudyId}/trials`}
+      title={
+        mode === "create"
+          ? "Schedule New Trial"
+          : `Edit ${trial ? `Trial ${trial.sessionNumber || trial.id.slice(-8)}` : "Trial"}`
+      }
+      description={
+        mode === "create"
+          ? "Schedule a new experimental trial with a participant"
+          : "Update trial scheduling and assignment details"
+      }
+      icon={TestTube}
+      form={form}
+      onSubmit={onSubmit}
+      isSubmitting={isSubmitting}
+      error={error}
+      sidebar={undefined}
+      submitText={mode === "create" ? "Schedule Trial" : "Save Changes"}
+      layout="full-width"
     >
+      <div className="grid grid-cols-1 md:grid-cols-3 gap-6">
+        {/* Left Column: Main Info (Spans 2) */}
+        <div className="md:col-span-2 space-y-6">
+          <div className="grid grid-cols-1 gap-6 md:grid-cols-2">
             <FormField>
               <Label htmlFor="experimentId">Experiment *</Label>
               <Select
@@ -281,16 +418,20 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
                 </p>
               )}
             </FormField>
+          </div>
 
+          <div className="grid grid-cols-1 gap-6 md:grid-cols-2">
             <FormField>
               <Label htmlFor="scheduledAt">Scheduled Date & Time *</Label>
-          <Input
+              <Controller
-            id="scheduledAt"
+                control={form.control}
-            type="datetime-local"
+                name="scheduledAt"
-            {...form.register("scheduledAt")}
+                render={({ field }) => (
-            className={
+                  <DateTimePicker
-              form.formState.errors.scheduledAt ? "border-red-500" : ""
+                    value={field.value}
-            }
+                    onChange={field.onChange}
+                  />
+                )}
               />
               {form.formState.errors.scheduledAt && (
                 <p className="text-sm text-red-600">
@@ -320,15 +461,14 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
                 </p>
               )}
               <p className="text-muted-foreground text-xs">
-            Session number for this participant (for multi-session studies)
+                Auto-incremented based on participant history
               </p>
             </FormField>
-      </FormSection>
+          </div>
+        </div>
 
-      <FormSection
+        {/* Right Column: Assignment & Notes (Spans 1) */}
-        title="Assignment & Notes"
+        <div className="space-y-6">
-        description="Optional wizard assignment and trial-specific notes."
-      >
           <FormField>
             <Label htmlFor="wizardId">Assigned Wizard</Label>
             <Select
@@ -359,17 +499,17 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
               </SelectContent>
             </Select>
             <p className="text-muted-foreground text-xs">
-            Optional: Assign a specific wizard to operate this trial
+              Who will operate the robot?
             </p>
           </FormField>
 
           <FormField>
-          <Label htmlFor="notes">Trial Notes</Label>
+            <Label htmlFor="notes">Notes</Label>
             <Textarea
               id="notes"
               {...form.register("notes")}
-            placeholder="Special instructions, conditions, or notes for this trial..."
+              placeholder="Special instructions..."
-            rows={3}
+              rows={5}
               className={form.formState.errors.notes ? "border-red-500" : ""}
             />
             {form.formState.errors.notes && (
@@ -377,80 +517,9 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
                 {form.formState.errors.notes.message}
               </p>
             )}
-          <p className="text-muted-foreground text-xs">
-            Optional: Notes about special conditions, instructions, or context
-            for this trial
-          </p>
           </FormField>
-      </FormSection>
+        </div>
-    </>
+      </div>
-  );
-
-  // Sidebar content
-  const sidebar = (
-    <>
-      <NextSteps
-        steps={[
-          {
-            title: "Execute Trial",
-            description: "Use the wizard interface to run the trial",
-            completed: mode === "edit",
-          },
-          {
-            title: "Monitor Progress",
-            description: "Track trial execution and data collection",
-          },
-          {
-            title: "Review Data",
-            description: "Analyze collected trial data and results",
-          },
-          {
-            title: "Generate Reports",
-            description: "Export data and create analysis reports",
-          },
-        ]}
-      />
-      <Tips
-        tips={[
-          "Schedule ahead: Allow sufficient time between trials for setup and data review.",
-          "Assign wizards: Pre-assign experienced wizards to complex trials.",
-          "Document conditions: Use notes to record any special circumstances or variations.",
-          "Test connectivity: Verify robot and system connections before scheduled trials.",
-        ]}
-      />
-    </>
-  );
-
-  return (
-    <EntityForm
-      mode={mode}
-      entityName="Trial"
-      entityNamePlural="Trials"
-      backUrl={`/studies/${contextStudyId}/trials`}
-      listUrl={`/studies/${contextStudyId}/trials`}
-      title={
-        mode === "create"
-          ? "Schedule New Trial"
-          : `Edit ${trial ? `Trial ${trial.sessionNumber || trial.id.slice(-8)}` : "Trial"}`
-      }
-      description={
-        mode === "create"
-          ? "Schedule a new experimental trial with a participant"
-          : "Update trial scheduling and assignment details"
-      }
-      icon={TestTube}
-      form={form}
-      onSubmit={onSubmit}
-      isSubmitting={isSubmitting}
-      error={error}
-      onDelete={
-        mode === "edit" && trial?.status === "scheduled" ? onDelete : undefined
-      }
-      isDeleting={isDeleting}
-      sidebar={sidebar}
-      submitText={mode === "create" ? "Schedule Trial" : "Save Changes"}
-    >
-      {formFields}
     </EntityForm>
   );
 }

src/components/trials/TrialsTable.tsx

@@ -1,7 +1,7 @@
 "use client";
 
 import { type ColumnDef } from "@tanstack/react-table";
-import { ArrowUpDown, ChevronDown, MoreHorizontal, Play, Gamepad2, LineChart, Ban } from "lucide-react";
+import { ArrowUpDown, ChevronDown, MoreHorizontal, Play, Gamepad2, LineChart, Ban, Printer } from "lucide-react";
 import * as React from "react";
 
 import { format, formatDistanceToNow } from "date-fns";
@@ -108,10 +108,25 @@ export const columns: ColumnDef<Trial>[] = [
     },
     cell: ({ row }) => {
       const sessionNumber = row.getValue("sessionNumber");
+      const status = row.original.status;
+      const trialId = row.original.id;
+      const studyId = row.original.studyId;
+
+      let href = `/studies/${studyId}/trials/${trialId}`; // Fallback
+      if (status === "scheduled" || status === "in_progress") {
+        href = `/studies/${studyId}/trials/${trialId}/wizard`;
+      } else if (status === "completed") {
+        href = `/studies/${studyId}/trials/${trialId}/analysis`;
+      } else {
+        // for aborted/failed, maybe still link to detail or nowhere?
+        // Let's keep detail for now as a fallback for metadata
+        href = `/studies/${studyId}/trials/${trialId}`;
+      }
+
       return (
         <div className="font-mono text-sm">
           <Link
-            href={`/studies/${row.original.studyId}/trials/${row.original.id}`}
+            href={href}
             className="hover:underline"
           >
             #{Number(sessionNumber)}
@@ -343,63 +358,52 @@ function ActionsCell({ row }: { row: { original: Trial } }) {
   const trial = row.original;
   // ActionsCell is a component rendered by the table.
 
-  // importing useRouter is fine.
-
-  const utils = api.useUtils();
-  const duplicateMutation = api.trials.duplicate.useMutation({
-    onSuccess: () => {
-      utils.trials.list.invalidate();
-      // toast.success("Trial duplicated"); // We need toast
-    },
-  });
-
   if (!trial?.id) {
     return <span className="text-muted-foreground text-sm">No actions</span>;
   }
 
   return (
-    <DropdownMenu>
+    <div className="flex items-center gap-2 justify-end">
-      <DropdownMenuTrigger asChild>
-        <Button variant="ghost" className="h-8 w-8 p-0">
-          <span className="sr-only">Open menu</span>
-          <MoreHorizontal className="h-4 w-4" />
-        </Button>
-      </DropdownMenuTrigger>
-      <DropdownMenuContent align="end">
-        <DropdownMenuLabel>Actions</DropdownMenuLabel>
       {trial.status === "scheduled" && (
-          <DropdownMenuItem asChild>
+        <Button size="sm" asChild>
           <Link href={`/studies/${trial.studyId}/trials/${trial.id}/wizard`}>
-              <Play className="mr-2 h-4 w-4" />
+            <Play className="mr-1.5 h-3.5 w-3.5" />
-              Start Trial
+            Start
           </Link>
-          </DropdownMenuItem>
+        </Button>
       )}
       {trial.status === "in_progress" && (
-          <DropdownMenuItem asChild>
+        <Button size="sm" variant="secondary" asChild>
           <Link href={`/studies/${trial.studyId}/trials/${trial.id}/wizard`}>
-              <Gamepad2 className="mr-2 h-4 w-4" />
+            <Gamepad2 className="mr-1.5 h-3.5 w-3.5" />
-              Control Trial
+            Control
           </Link>
-          </DropdownMenuItem>
+        </Button>
       )}
       {trial.status === "completed" && (
-          <DropdownMenuItem asChild>
+        <>
+          <Button size="sm" variant="outline" asChild>
             <Link href={`/studies/${trial.studyId}/trials/${trial.id}/analysis`}>
-              <LineChart className="mr-2 h-4 w-4" />
+              <LineChart className="mr-1.5 h-3.5 w-3.5" />
-              Analysis
+              View
             </Link>
-          </DropdownMenuItem>
+          </Button>
+          <Button size="sm" variant="outline" asChild>
+            {/* We link to the analysis page with a query param to trigger print/export */}
+            <Link href={`/studies/${trial.studyId}/trials/${trial.id}/analysis?export=true`}>
+              <Printer className="mr-1.5 h-3.5 w-3.5" />
+              Export
+            </Link>
+          </Button>
+        </>
       )}
-        <DropdownMenuSeparator />
       {(trial.status === "scheduled" || trial.status === "failed") && (
-          <DropdownMenuItem className="text-red-600">
+        <Button size="sm" variant="ghost" className="h-8 w-8 p-0 text-muted-foreground hover:text-red-600">
-            <Ban className="mr-2 h-4 w-4" />
+          <Ban className="h-4 w-4" />
-            Cancel
+          <span className="sr-only">Cancel</span>
-          </DropdownMenuItem>
+        </Button>
       )}
-      </DropdownMenuContent>
+    </div>
-    </DropdownMenu>
   );
 }
 

src/components/trials/analysis/events-data-table.tsx

@@ -49,6 +49,8 @@ export function EventsDataTable({ data, startTime }: EventsDataTableProps) {
                 </SelectTrigger>
                 <SelectContent>
                     <SelectItem value="all">All Events</SelectItem>
+                    <SelectItem value="action_executed">Actions</SelectItem>
+                    <SelectItem value="action_skipped">Skipped Actions</SelectItem>
                     <SelectItem value="intervention">Interventions</SelectItem>
                     <SelectItem value="robot">Robot Actions</SelectItem>
                     <SelectItem value="step">Step Changes</SelectItem>

src/components/trials/playback/EventTimeline.tsx

@@ -73,8 +73,7 @@ export function EventTimeline() {
 
     const currentProgress = (currentTime * 1000 / effectiveDuration) * 100;
 
-    // Generate ticks for "number line" look
+    // Generate ticks
-    // We want a major tick every ~10% or meaningful time interval
     const ticks = useMemo(() => {
         const count = 10;
         return Array.from({ length: count + 1 }).map((_, i) => ({
@@ -84,106 +83,75 @@ export function EventTimeline() {
     }, [effectiveDuration]);
 
     const getEventIcon = (type: string) => {
-        if (type.includes("intervention") || type.includes("wizard")) return <User className="h-3 w-3" />;
+        if (type.includes("intervention") || type.includes("wizard")) return <User className="h-4 w-4" />;
-        if (type.includes("robot") || type.includes("action")) return <Bot className="h-3 w-3" />;
+        if (type.includes("robot") || type.includes("action")) return <Bot className="h-4 w-4" />;
-        if (type.includes("completed")) return <CheckCircle className="h-3 w-3" />;
+        if (type.includes("completed")) return <CheckCircle className="h-4 w-4" />;
-        if (type.includes("start")) return <Flag className="h-3 w-3" />;
+        if (type.includes("start")) return <Flag className="h-4 w-4" />;
-        if (type.includes("note")) return <MessageSquare className="h-3 w-3" />;
+        if (type.includes("note")) return <MessageSquare className="h-4 w-4" />;
-        if (type.includes("error")) return <AlertTriangle className="h-3 w-3" />;
+        if (type.includes("error")) return <AlertTriangle className="h-4 w-4" />;
-        return <Activity className="h-3 w-3" />;
+        return <Activity className="h-4 w-4" />;
     };
 
     const getEventColor = (type: string) => {
-        if (type.includes("intervention") || type.includes("wizard")) return "text-orange-500 border-orange-200 bg-orange-50";
+        if (type.includes("intervention") || type.includes("wizard")) return "bg-orange-100 text-orange-600 border-orange-200";
-        if (type.includes("robot") || type.includes("action")) return "text-purple-500 border-purple-200 bg-purple-50";
+        if (type.includes("robot") || type.includes("action")) return "bg-purple-100 text-purple-600 border-purple-200";
-        if (type.includes("completed")) return "text-green-500 border-green-200 bg-green-50";
+        if (type.includes("completed")) return "bg-green-100 text-green-600 border-green-200";
-        if (type.includes("start")) return "text-blue-500 border-blue-200 bg-blue-50";
+        if (type.includes("start")) return "bg-blue-100 text-blue-600 border-blue-200";
-        if (type.includes("error")) return "text-red-500 border-red-200 bg-red-50";
+        if (type.includes("error")) return "bg-red-100 text-red-600 border-red-200";
-        return "text-slate-500 border-slate-200 bg-slate-50";
+        return "bg-slate-100 text-slate-600 border-slate-200";
     };
 
     return (
-        <div className="w-full h-full flex flex-col select-none py-2">
+        <div className="w-full h-28 flex flex-col justify-center px-8 select-none">
-            <TooltipProvider>
+            <TooltipProvider delayDuration={0}>
-                {/* Timeline Track Container */}
+                {/* Main Interactive Area */}
                 <div
                     ref={containerRef}
-                    className="relative w-full flex-1 min-h-[80px] group cursor-crosshair border-b border-border/50"
+                    className="relative w-full h-16 flex items-center cursor-pointer group"
                     onClick={handleSeek}
                 >
-                    {/* Background Grid/Ticks */}
+                    {/* The Timeline Line (Horizontal) */}
-                    <div className="absolute inset-0 pointer-events-none">
+                    <div className="absolute left-0 right-0 h-0.5 top-1/2 -mt-px bg-border group-hover:bg-border/80 transition-colors" />
-                        {/* Major Ticks */}
-                        {ticks.map((tick, i) => (
-                            <div
-                                key={i}
-                                className="absolute top-0 bottom-0 border-l border-border/30 flex flex-col justify-end"
-                                style={{ left: `${tick.pct}%` }}
-                            >
-                                <span className="text-[10px] font-mono text-muted-foreground -ml-3 mb-1 bg-background/80 px-1 rounded">
-                                    {tick.label}
-                                </span>
-                            </div>
-                        ))}
-                    </div>
 
-                    {/* Central Axis Line */}
+                    {/* Progress Fill */}
-                    <div className="absolute top-1/2 left-0 right-0 h-px bg-border z-0" />
-
-                    {/* Progress Fill (Subtle) */}
                     <div
-                        className="absolute top-0 bottom-0 left-0 bg-primary/5 z-0 pointer-events-none"
+                        className="absolute left-0 h-0.5 bg-primary/30 pointer-events-none"
-                        style={{ width: `${currentProgress}%` }}
+                        style={{ width: `${currentProgress}%`, top: '50%', marginTop: '-1px' }}
                     />
 
-                    {/* Playhead */}
+                    {/* Playhead (Scanner) */}
                     <div
-                        className="absolute top-0 bottom-0 w-px bg-red-500 z-30 pointer-events-none transition-all duration-75"
+                        className="absolute h-16 w-px bg-red-500 z-30 pointer-events-none transition-all duration-75"
-                        style={{ left: `${currentProgress}%` }}
+                        style={{ left: `${currentProgress}%`, top: '50%', transform: 'translateY(-50%)' }}
                     >
-                        <div className="absolute -top-1 -ml-1.5 p-0.5 bg-red-500 rounded text-[8px] font-bold text-white w-3 h-3 flex items-center justify-center">
+                        {/* Knob */}
-                            ▼
+                        <div className="absolute top-1/2 left-1/2 -translate-x-1/2 -translate-y-1/2 w-3 h-3 bg-red-500 rounded-full shadow border border-white" />
-                        </div>
                     </div>
 
-                    {/* Events "Lollipops" */}
+                    {/* Events (Avatars/Dots) */}
                     {sortedEvents.map((event, i) => {
                         const pct = getPercentage(new Date(event.timestamp).getTime());
-                        const isTop = i % 2 === 0; // Stagger events top/bottom
 
                         return (
                             <Tooltip key={i}>
                                 <TooltipTrigger asChild>
                                     <div
-                                        className="absolute z-20 flex flex-col items-center group/event"
+                                        className="absolute z-20 top-1/2 left-0 transform -translate-x-1/2 -translate-y-1/2 flex flex-col items-center group/event"
-                                        style={{
+                                        style={{ left: `${pct}%` }}
-                                            left: `${pct}%`,
-                                            top: '50%',
-                                            transform: 'translate(-50%, -50%)',
-                                            height: '100%'
-                                        }}
                                         onClick={(e) => {
                                             e.stopPropagation();
                                             seekTo((new Date(event.timestamp).getTime() - startTime) / 1000);
                                         }}
                                     >
-                                        {/* The Stem */}
                                         <div className={cn(
-                                            "w-px transition-all duration-200 bg-border group-hover/event:bg-primary group-hover/event:h-full",
+                                            "flex h-8 w-8 items-center justify-center rounded-full border shadow-sm transition-transform hover:scale-125 hover:z-50 bg-background relative z-20",
-                                            isTop ? "h-8 mb-auto" : "h-8 mt-auto"
+                                            getEventColor(event.eventType)
-                                        )} />
-
-                                        {/* The Node */}
-                                        <div className={cn(
-                                            "absolute w-6 h-6 rounded-full border shadow-sm flex items-center justify-center transition-transform hover:scale-110 cursor-pointer bg-background z-10",
-                                            getEventColor(event.eventType),
-                                            isTop ? "-top-2" : "-bottom-2"
                                         )}>
                                             {getEventIcon(event.eventType)}
                                         </div>
                                     </div>
                                 </TooltipTrigger>
-                                <TooltipContent side={isTop ? "top" : "bottom"}>
+                                <TooltipContent side="top">
                                     <div className="text-xs font-semibold uppercase tracking-wider mb-0.5">{event.eventType.replace(/_/g, " ")}</div>
                                     <div className="text-[10px] font-mono opacity-70 mb-1">
                                         {new Date(event.timestamp).toLocaleTimeString()}
@@ -197,9 +165,21 @@ export function EventTimeline() {
                             </Tooltip>
                         );
                     })}
+
+                    {/* Ticks (Below) */}
+                    {ticks.map((tick, i) => (
+                        <div
+                            key={i}
+                            className="absolute top-10 text-[10px] font-mono text-muted-foreground transform -translate-x-1/2 pointer-events-none flex flex-col items-center"
+                            style={{ left: `${tick.pct}%` }}
+                        >
+                            {/* Tick Mark */}
+                            <div className="w-px h-2 bg-border mb-1" />
+                            {tick.label}
+                        </div>
+                    ))}
                 </div>
             </TooltipProvider>
         </div>
     );
 }
-

src/components/trials/views/TrialAnalysisView.tsx

@@ -1,10 +1,12 @@
-"use client";
+
+import { PageHeader } from "~/components/ui/page-header";
 
 import { Card, CardContent, CardHeader, CardTitle } from "~/components/ui/card";
 import { Badge } from "~/components/ui/badge";
 import { Button } from "~/components/ui/button";
 import Link from "next/link";
-import { LineChart, BarChart, Clock, Database, FileText, AlertTriangle, CheckCircle, VideoOff, Info, Bot, Activity, ArrowLeft } from "lucide-react";
+import { LineChart, BarChart, Printer, Clock, Database, FileText, AlertTriangle, CheckCircle, VideoOff, Info, Bot, Activity, ArrowLeft } from "lucide-react";
+import { useEffect } from "react";
 import { PlaybackProvider } from "../playback/PlaybackContext";
 import { PlaybackPlayer } from "../playback/PlaybackPlayer";
 import { EventTimeline } from "../playback/EventTimeline";
@@ -25,7 +27,7 @@ interface TrialAnalysisViewProps {
         startedAt: Date | null;
         completedAt: Date | null;
         duration: number | null;
-        experiment: { name: string };
+        experiment: { name: string; studyId: string };
         participant: { participantCode: string };
         eventCount?: number;
         mediaCount?: number;
@@ -41,6 +43,17 @@ export function TrialAnalysisView({ trial, backHref }: TrialAnalysisViewProps) {
         limit: 1000
     });
 
+    // Auto-print effect
+    useEffect(() => {
+        const searchParams = new URLSearchParams(window.location.search);
+        if (searchParams.get('export') === 'true') {
+            // Small delay to ensure rendering
+            setTimeout(() => {
+                window.print();
+            }, 1000);
+        }
+    }, []);
+
     const videoMedia = trial.media?.find(m => m.contentType.startsWith("video/"));
     const videoUrl = videoMedia?.url;
 
@@ -51,50 +64,130 @@ export function TrialAnalysisView({ trial, backHref }: TrialAnalysisViewProps) {
 
     return (
         <PlaybackProvider events={events} startTime={trial.startedAt ?? undefined}>
-            <div className="flex h-full flex-col gap-4 p-4 text-sm">
+            <div id="trial-analysis-content" className="flex h-full flex-col gap-4 p-4 text-sm">
                 {/* Header Context */}
-                <div className="flex items-center justify-between pb-2 border-b">
+                <PageHeader
-                    <div className="flex items-center gap-4">
+                    title={trial.experiment.name}
-                        <Button variant="ghost" size="icon" asChild className="-ml-2">
+                    description={`Session ${trial.id.slice(0, 8)} • ${trial.startedAt?.toLocaleDateString() ?? 'Unknown Date'} ${trial.startedAt?.toLocaleTimeString() ?? ''}`}
-                            <Link href={backHref}>
+                    badges={[
-                                <ArrowLeft className="h-4 w-4" />
+                        {
-                            </Link>
+                            label: trial.status.toUpperCase(),
+                            variant: trial.status === 'completed' ? 'default' : 'secondary',
+                            className: trial.status === 'completed' ? 'bg-green-500 hover:bg-green-600' : ''
+                        }
+                    ]}
+                    actions={
+                        <div className="flex items-center gap-2">
+                            <style jsx global>{`
+                                @media print {
+                                    @page {
+                                        size: auto;
+                                        margin: 15mm;
+                                    }
+                                    body {
+                                        background: white;
+                                        color: black;
+                                        -webkit-print-color-adjust: exact;
+                                        print-color-adjust: exact;
+                                    }
+                                    /* Hide everything by default */
+                                    body * {
+                                        visibility: hidden;
+                                    }
+                                    /* Show only our content */
+                                    #trial-analysis-content, #trial-analysis-content * {
+                                        visibility: visible;
+                                    }
+                                    #trial-analysis-content {
+                                        position: absolute;
+                                        left: 0;
+                                        top: 0;
+                                        width: 100%;
+                                        height: auto;
+                                        overflow: visible;
+                                        padding: 0;
+                                        margin: 0;
+                                        background: white;
+                                    }
+                                    
+                                    /* Hide specific non-printable elements */
+                                    #tour-trial-video, 
+                                    button, 
+                                    .no-print, 
+                                    [role="dialog"],
+                                    header, 
+                                    nav {
+                                        display: none !important;
+                                    }
+
+                                    /* Adjust Metrics for Print */
+                                    #tour-trial-metrics {
+                                        display: grid;
+                                        grid-template-columns: repeat(4, 1fr);
+                                        gap: 1rem;
+                                        margin-bottom: 2rem;
+                                        page-break-inside: avoid;
+                                    }
+                                    #tour-trial-metrics .rounded-xl {
+                                        border: 1px solid #ddd;
+                                        box-shadow: none;
+                                    }
+
+                                    /* Expand Timeline */
+                                    .h-28 {
+                                        height: 120px !important;
+                                        page-break-inside: avoid;
+                                        border-bottom: 1px solid #eee;
+                                        margin-bottom: 1rem;
+                                    }
+
+                                    /* Remove Panel Resizing constraints */
+                                    [data-panel-group-direction="vertical"] {
+                                        flex-direction: column !important;
+                                        display: block !important;
+                                        height: auto !important;
+                                    }
+                                    [data-panel] {
+                                        flex: none !important;
+                                        height: auto !important;
+                                        overflow: visible !important;
+                                    }
+                                    [data-panel-resize-handle] {
+                                        display: none !important;
+                                    }
+
+                                    /* Table Styles: Clean & Full Width */
+                                    #tour-trial-events {
+                                        display: block !important;
+                                        border: none !important;
+                                        height: auto !important;
+                                    }
+                                    #tour-trial-events [data-radix-scroll-area-viewport] {
+                                        overflow: visible !important;
+                                        height: auto !important;
+                                    }
+                                    /* Hide "Filter" input wrapper if visible */
+                                    #tour-trial-events .border-b {
+                                        border-bottom: 2px solid #000 !important;
+                                    }
+                                }
+                            `}</style>
+                            <Button
+                                variant="outline"
+                                size="sm"
+                                className="gap-2"
+                                onClick={() => window.print()}
+                            >
+                                <Printer className="h-4 w-4" />
+                                Export Report
                             </Button>
-                        <Button variant="ghost" size="icon" className="h-7 w-7 ml-1" onClick={() => {
-                            // Dispatch custom event since useTour isn't directly available in this specific context yet
-                            // or better yet, assume we can import useTour if valid context, but here let's try direct button if applicable.
-                            // Actually, TrialAnalysisView is a child of page, we need useTour context.
-                            // Checking imports... TrialAnalysisView doesn't have useTour.
-                            // We should probably just dispatch an event or rely on the parent.
-                            // Let's assume we can add useTour hook support here.
-                            document.dispatchEvent(new CustomEvent('hristudio-start-tour', { detail: 'analytics' }));
-                        }}>
-                            <Info className="h-4 w-4" />
-                        </Button>
-                        <div className="flex flex-col">
-                            <h1 className="text-lg font-semibold leading-none tracking-tight">
-                                {trial.experiment.name}
-                            </h1>
-                            <div className="flex items-center gap-2 text-muted-foreground mt-1">
-                                <span className="font-mono">{trial.participant.participantCode}</span>
-                                <span>•</span>
-                                <span>Session {trial.id.slice(0, 4)}</span>
-                            </div>
-                        </div>
-                    </div>
-                    <div className="flex items-center gap-4">
-                        <div className="flex items-center gap-2 text-muted-foreground bg-muted/30 px-3 py-1 rounded-full border">
-                            <Clock className="h-3.5 w-3.5" />
-                            <span className="text-xs font-mono">
-                                {trial.startedAt?.toLocaleDateString()} {trial.startedAt?.toLocaleTimeString()}
-                            </span>
-                        </div>
-                    </div>
                         </div>
+                    }
+                />
 
                 {/* Metrics Header */}
                 <div className="grid grid-cols-2 gap-4 md:grid-cols-4" id="tour-trial-metrics">
-                    <Card className="bg-gradient-to-br from-blue-50 to-transparent dark:from-blue-950/20">
+                    <Card>
                         <CardHeader className="flex flex-row items-center justify-between pb-2 space-y-0">
                             <CardTitle className="text-sm font-medium text-muted-foreground">Duration</CardTitle>
                             <Clock className="h-4 w-4 text-blue-500" />
@@ -111,7 +204,7 @@ export function TrialAnalysisView({ trial, backHref }: TrialAnalysisViewProps) {
                         </CardContent>
                     </Card>
 
-                    <Card className="bg-gradient-to-br from-purple-50 to-transparent dark:from-purple-950/20">
+                    <Card>
                         <CardHeader className="flex flex-row items-center justify-between pb-2 space-y-0">
                             <CardTitle className="text-sm font-medium text-muted-foreground">Robot Actions</CardTitle>
                             <Bot className="h-4 w-4 text-purple-500" />
@@ -122,7 +215,7 @@ export function TrialAnalysisView({ trial, backHref }: TrialAnalysisViewProps) {
                         </CardContent>
                     </Card>
 
-                    <Card className="bg-gradient-to-br from-orange-50 to-transparent dark:from-orange-950/20">
+                    <Card>
                         <CardHeader className="flex flex-row items-center justify-between pb-2 space-y-0">
                             <CardTitle className="text-sm font-medium text-muted-foreground">Interventions</CardTitle>
                             <AlertTriangle className="h-4 w-4 text-orange-500" />
@@ -133,7 +226,7 @@ export function TrialAnalysisView({ trial, backHref }: TrialAnalysisViewProps) {
                         </CardContent>
                     </Card>
 
-                    <Card className="bg-gradient-to-br from-green-50 to-transparent dark:from-green-950/20">
+                    <Card>
                         <CardHeader className="flex flex-row items-center justify-between pb-2 space-y-0">
                             <CardTitle className="text-sm font-medium text-muted-foreground">Completeness</CardTitle>
                             <Activity className="h-4 w-4 text-green-500" />
@@ -154,47 +247,48 @@ export function TrialAnalysisView({ trial, backHref }: TrialAnalysisViewProps) {
                 </div>
 
                 {/* Main Workspace: Vertical Layout */}
-                <div className="flex-1 min-h-0 rounded-xl border shadow-sm overflow-hidden bg-background">
+                <div className="flex-1 min-h-0 rounded-xl border shadow-sm overflow-hidden bg-background flex flex-col">
+
+                    {/* FIXED TIMELINE: Always visible at top */}
+                    <div className="shrink-0 border-b bg-background/95 backdrop-blur supports-[backdrop-filter]:bg-background/60 p-1">
+                        <EventTimeline />
+                    </div>
+
                     <ResizablePanelGroup direction="vertical">
 
-                        {/* TOP: Video & Timeline */}
+                        {/* TOP: Video (Optional) */}
-                        <ResizablePanel defaultSize={50} minSize={30} className="flex flex-col min-h-0 bg-black/5 dark:bg-black/40" id="tour-trial-timeline">
+                        {videoUrl && (
+                            <>
+                                <ResizablePanel defaultSize={40} minSize={20} className="flex flex-col min-h-0 bg-black/5 dark:bg-black/40" id="tour-trial-video">
                                     <div className="relative flex-1 min-h-0 flex items-center justify-center">
-                                {videoUrl ? (
                                         <div className="absolute inset-0">
                                             <PlaybackPlayer src={videoUrl} />
                                         </div>
-                                ) : (
-                                    <div className="flex flex-col items-center justify-center text-muted-foreground p-8 text-center">
-                                        <div className="bg-muted rounded-full p-4 mb-4">
-                                            <VideoOff className="h-8 w-8 opacity-50" />
-                                        </div>
-                                        <h3 className="font-semibold text-lg">No playback media available</h3>
-                                        <p className="text-sm max-w-sm mt-2">
-                                            There is no video recording associated with this trial session.
-                                        </p>
-                                    </div>
-                                )}
-                            </div>
-
-                            {/* Timeline Control */}
-                            <div className="shrink-0 border-t bg-background/95 backdrop-blur supports-[backdrop-filter]:bg-background/60 p-4">
-                                <EventTimeline />
                                     </div>
                                 </ResizablePanel>
-
                                 <ResizableHandle withHandle className="bg-border/50" />
+                            </>
+                        )}
 
                         {/* BOTTOM: Events Table */}
-                        <ResizablePanel defaultSize={50} minSize={20} className="flex flex-col min-h-0 bg-background" id="tour-trial-events">
+                        <ResizablePanel defaultSize={videoUrl ? 60 : 100} minSize={20} className="flex flex-col min-h-0 bg-background" id="tour-trial-events">
-                            <div className="flex items-center justify-between px-4 py-3 border-b">
+                            <div className="flex items-center justify-between px-4 py-3 border-b shrink-0">
                                 <div className="flex items-center gap-2">
                                     <FileText className="h-4 w-4 text-primary" />
                                     <h3 className="font-semibold text-sm">Event Log</h3>
                                 </div>
+                                <div className="flex items-center gap-2">
+                                    <Input
+                                        placeholder="Filter events..."
+                                        className="h-8 w-[200px]"
+                                        disabled
+                                        style={{ display: 'none' }}
+                                    />
                                     <Badge variant="secondary" className="text-xs">{events.length} Events</Badge>
                                 </div>
-                            <ScrollArea className="flex-1">
+                            </div>
+                            <div className="flex-1 min-h-0">
+                                <ScrollArea className="h-full">
                                     <div className="p-4">
                                         <EventsDataTable
                                             data={events.map(e => ({ ...e, timestamp: new Date(e.timestamp) }))}
@@ -202,6 +296,7 @@ export function TrialAnalysisView({ trial, backHref }: TrialAnalysisViewProps) {
                                         />
                                     </div>
                                 </ScrollArea>
+                            </div>
                         </ResizablePanel>
                     </ResizablePanelGroup>
                 </div>
@@ -210,6 +305,9 @@ export function TrialAnalysisView({ trial, backHref }: TrialAnalysisViewProps) {
     );
 }
 
+// Helper specific to this file if needed, otherwise ignore.
+import { Input } from "~/components/ui/input";
+
 function formatTime(ms: number) {
     if (ms < 0) return "0:00";
     const totalSeconds = Math.floor(ms / 1000);

src/components/trials/wizard/RobotSettingsModal.tsx

@@ -0,0 +1,273 @@
+import { useState } from "react";
+import { Dialog, DialogContent, DialogDescription, DialogFooter, DialogHeader, DialogTitle } from "~/components/ui/dialog";
+import { Button } from "~/components/ui/button";
+import { Input } from "~/components/ui/input";
+import { Label } from "~/components/ui/label";
+import { Switch } from "~/components/ui/switch";
+import { Select, SelectContent, SelectItem, SelectTrigger, SelectValue } from "~/components/ui/select";
+import { Separator } from "~/components/ui/separator";
+import { Loader2, Settings2 } from "lucide-react";
+import { api } from "~/trpc/react";
+import { toast } from "sonner";
+
+interface RobotSettingsModalProps {
+    open: boolean;
+    onOpenChange: (open: boolean) => void;
+    studyId: string;
+    pluginId: string;
+    settingsSchema: SettingsSchema | null;
+}
+
+interface SettingsSchema {
+    type: "object";
+    title?: string;
+    description?: string;
+    properties: Record<string, PropertySchema>;
+}
+
+interface PropertySchema {
+    type: "object" | "string" | "number" | "integer" | "boolean";
+    title?: string;
+    description?: string;
+    properties?: Record<string, PropertySchema>;
+    enum?: string[];
+    enumNames?: string[];
+    minimum?: number;
+    maximum?: number;
+    default?: unknown;
+    pattern?: string;
+}
+
+export function RobotSettingsModal({
+    open,
+    onOpenChange,
+    studyId,
+    pluginId,
+    settingsSchema,
+}: RobotSettingsModalProps) {
+    const [settings, setSettings] = useState<Record<string, unknown>>({});
+    const [isSaving, setIsSaving] = useState(false);
+
+    // Fetch current settings
+    const { data: currentSettings, isLoading } = api.studies.getPluginConfiguration.useQuery(
+        { studyId, pluginId },
+        { enabled: open }
+    );
+
+    // Update settings mutation
+    const updateSettings = api.studies.updatePluginConfiguration.useMutation({
+        onSuccess: () => {
+            toast.success("Robot settings updated successfully");
+            onOpenChange(false);
+        },
+        onError: (error: { message: string }) => {
+            toast.error(`Failed to update settings: ${error.message}`);
+        },
+    });
+
+    // Initialize settings from current configuration
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+    useState(() => {
+        if (currentSettings) {
+            setSettings(currentSettings as Record<string, unknown>);
+        }
+    });
+
+    const handleSave = async () => {
+        setIsSaving(true);
+        try {
+            await updateSettings.mutateAsync({
+                studyId,
+                pluginId,
+                configuration: settings,
+            });
+        } finally {
+            setIsSaving(false);
+        }
+    };
+
+    const renderField = (key: string, schema: PropertySchema, parentPath: string = "") => {
+        const fullPath = parentPath ? `${parentPath}.${key}` : key;
+        const value = getNestedValue(settings, fullPath);
+        const defaultValue = schema.default;
+
+        const updateValue = (newValue: unknown) => {
+            setSettings((prev) => setNestedValue({ ...prev }, fullPath, newValue));
+        };
+
+        // Object type - render nested fields
+        if (schema.type === "object" && schema.properties) {
+            return (
+                <div key={fullPath} className="space-y-4">
+                    <div className="space-y-1">
+                        <h4 className="text-sm font-semibold">{schema.title || key}</h4>
+                        {schema.description && (
+                            <p className="text-xs text-muted-foreground">{schema.description}</p>
+                        )}
+                    </div>
+                    <div className="ml-4 space-y-3">
+                        {Object.entries(schema.properties).map(([subKey, subSchema]) =>
+                            renderField(subKey, subSchema, fullPath)
+                        )}
+                    </div>
+                </div>
+            );
+        }
+
+        // Boolean type - render switch
+        if (schema.type === "boolean") {
+            return (
+                <div key={fullPath} className="flex items-center justify-between space-x-2">
+                    <div className="space-y-0.5 flex-1">
+                        <Label htmlFor={fullPath}>{schema.title || key}</Label>
+                        {schema.description && (
+                            <p className="text-xs text-muted-foreground">{schema.description}</p>
+                        )}
+                    </div>
+                    <Switch
+                        id={fullPath}
+                        checked={(value ?? defaultValue) as boolean}
+                        onCheckedChange={updateValue}
+                    />
+                </div>
+            );
+        }
+
+        // Enum type - render select
+        if (schema.enum) {
+            return (
+                <div key={fullPath} className="space-y-2">
+                    <Label htmlFor={fullPath}>{schema.title || key}</Label>
+                    {schema.description && (
+                        <p className="text-xs text-muted-foreground">{schema.description}</p>
+                    )}
+                    <Select
+                        value={(value ?? defaultValue) as string}
+                        onValueChange={updateValue}
+                    >
+                        <SelectTrigger id={fullPath}>
+                            <SelectValue placeholder="Select an option" />
+                        </SelectTrigger>
+                        <SelectContent>
+                            {schema.enum.map((option, idx) => (
+                                <SelectItem key={option} value={option}>
+                                    {schema.enumNames?.[idx] || option}
+                                </SelectItem>
+                            ))}
+                        </SelectContent>
+                    </Select>
+                </div>
+            );
+        }
+
+        // Number/Integer type - render number input
+        if (schema.type === "number" || schema.type === "integer") {
+            return (
+                <div key={fullPath} className="space-y-2">
+                    <Label htmlFor={fullPath}>{schema.title || key}</Label>
+                    {schema.description && (
+                        <p className="text-xs text-muted-foreground">{schema.description}</p>
+                    )}
+                    <Input
+                        id={fullPath}
+                        type="number"
+                        min={schema.minimum}
+                        max={schema.maximum}
+                        step={schema.type === "integer" ? 1 : 0.1}
+                        value={(value ?? defaultValue) as number}
+                        onChange={(e) => {
+                            const newValue = schema.type === "integer"
+                                ? parseInt(e.target.value, 10)
+                                : parseFloat(e.target.value);
+                            updateValue(isNaN(newValue) ? defaultValue : newValue);
+                        }}
+                    />
+                </div>
+            );
+        }
+
+        // String type - render text input
+        return (
+            <div key={fullPath} className="space-y-2">
+                <Label htmlFor={fullPath}>{schema.title || key}</Label>
+                {schema.description && (
+                    <p className="text-xs text-muted-foreground">{schema.description}</p>
+                )}
+                <Input
+                    id={fullPath}
+                    type="text"
+                    pattern={schema.pattern}
+                    value={(value ?? defaultValue) as string}
+                    onChange={(e) => updateValue(e.target.value)}
+                />
+            </div>
+        );
+    };
+
+    if (!settingsSchema) {
+        return null;
+    }
+
+    return (
+        <Dialog open={open} onOpenChange={onOpenChange}>
+            <DialogContent className="max-w-2xl max-h-[80vh] overflow-y-auto">
+                <DialogHeader>
+                    <DialogTitle className="flex items-center gap-2">
+                        <Settings2 className="h-5 w-5" />
+                        {settingsSchema.title || "Robot Settings"}
+                    </DialogTitle>
+                    {settingsSchema.description && (
+                        <DialogDescription>{settingsSchema.description}</DialogDescription>
+                    )}
+                </DialogHeader>
+
+                {isLoading ? (
+                    <div className="flex items-center justify-center py-8">
+                        <Loader2 className="h-6 w-6 animate-spin text-muted-foreground" />
+                    </div>
+                ) : (
+                    <div className="space-y-6 py-4">
+                        {Object.entries(settingsSchema.properties).map(([key, schema], idx) => (
+                            <div key={key}>
+                                {renderField(key, schema)}
+                                {idx < Object.keys(settingsSchema.properties).length - 1 && (
+                                    <Separator className="mt-6" />
+                                )}
+                            </div>
+                        ))}
+                    </div>
+                )}
+
+                <DialogFooter>
+                    <Button variant="outline" onClick={() => onOpenChange(false)} disabled={isSaving}>
+                        Cancel
+                    </Button>
+                    <Button onClick={handleSave} disabled={isSaving || isLoading}>
+                        {isSaving && <Loader2 className="mr-2 h-4 w-4 animate-spin" />}
+                        Save Settings
+                    </Button>
+                </DialogFooter>
+            </DialogContent>
+        </Dialog>
+    );
+}
+
+// Helper functions for nested object access
+function getNestedValue(obj: Record<string, unknown>, path: string): unknown {
+    return path.split(".").reduce((current, key) => {
+        return current && typeof current === "object" ? (current as Record<string, unknown>)[key] : undefined;
+    }, obj as unknown);
+}
+
+function setNestedValue(obj: Record<string, unknown>, path: string, value: unknown): Record<string, unknown> {
+    const keys = path.split(".");
+    const lastKey = keys.pop()!;
+    const target = keys.reduce((current, key) => {
+        if (!current[key] || typeof current[key] !== "object") {
+            current[key] = {};
+        }
+        return current[key] as Record<string, unknown>;
+    }, obj);
+    target[lastKey] = value;
+    return obj;
+}

src/components/trials/wizard/WizardInterface.tsx

@@ -113,7 +113,7 @@ export const WizardInterface = React.memo(function WizardInterface({
 
   // UI State
   const [executionPanelTab, setExecutionPanelTab] = useState<"current" | "timeline" | "events">("timeline");
-  const [obsTab, setObsTab] = useState<"notes" | "timeline">("notes");
+
   const [isExecutingAction, setIsExecutingAction] = useState(false);
   const [monitoringPanelTab, setMonitoringPanelTab] = useState<
     "status" | "robot" | "events"
@@ -202,13 +202,23 @@ export const WizardInterface = React.memo(function WizardInterface({
     connect: connectRos,
     disconnect: disconnectRos,
     executeRobotAction: executeRosAction,
-    setAutonomousLife,
+    setAutonomousLife: setAutonomousLifeRaw,
   } = useWizardRos({
     autoConnect: true,
     onActionCompleted,
     onActionFailed,
   });
 
+  // Wrap setAutonomousLife in a stable callback to prevent infinite re-renders
+  // The raw function from useWizardRos is recreated when isConnected changes,
+  // which would cause WizardControlPanel (wrapped in React.memo) to re-render infinitely
+  const setAutonomousLife = useCallback(
+    async (enabled: boolean) => {
+      return setAutonomousLifeRaw(enabled);
+    },
+    [setAutonomousLifeRaw]
+  );
+
   // Use polling for trial status updates (no trial WebSocket server exists)
   const { data: pollingData } = api.trials.get.useQuery(
     { id: trial.id },
@@ -237,7 +247,14 @@ export const WizardInterface = React.memo(function WizardInterface({
         pollingData.startedAt?.getTime() !== trial.startedAt?.getTime() ||
         pollingData.completedAt?.getTime() !== trial.completedAt?.getTime()) {
 
-        setTrial((prev) => ({
+        setTrial((prev) => {
+          // Double check inside setter to be safe
+          if (prev.status === pollingData.status &&
+            prev.startedAt?.getTime() === pollingData.startedAt?.getTime() &&
+            prev.completedAt?.getTime() === pollingData.completedAt?.getTime()) {
+            return prev;
+          }
+          return {
             ...prev,
             status: pollingData.status,
             startedAt: pollingData.startedAt
@@ -246,10 +263,12 @@ export const WizardInterface = React.memo(function WizardInterface({
             completedAt: pollingData.completedAt
               ? new Date(pollingData.completedAt)
               : prev.completedAt,
-        }));
+          };
+        });
       }
     }
-  }, [pollingData, trial]);
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [pollingData]);
 
   // Auto-start trial on mount if scheduled
   useEffect(() => {
@@ -259,7 +278,6 @@ export const WizardInterface = React.memo(function WizardInterface({
   }, []); // Run once on mount
 
   // Trial events from robot actions
-
   const trialEvents = useMemo<
     Array<{
       type: string;
@@ -301,7 +319,7 @@ export const WizardInterface = React.memo(function WizardInterface({
   }, [fetchedEvents]);
 
   // Transform experiment steps to component format
-  const steps: StepData[] =
+  const steps: StepData[] = useMemo(() =>
     experimentSteps?.map((step, index) => ({
       id: step.id,
       name: step.name ?? `Step ${index + 1}`,
@@ -320,7 +338,8 @@ export const WizardInterface = React.memo(function WizardInterface({
         order: action.order,
         pluginId: action.pluginId,
       })) ?? [],
-    })) ?? [];
+    })) ?? [], [experimentSteps]);
+
 
   const currentStep = steps[currentStepIndex] ?? null;
   const totalSteps = steps.length;
@@ -451,6 +470,8 @@ export const WizardInterface = React.memo(function WizardInterface({
       const result = await startTrialMutation.mutateAsync({ id: trial.id });
       console.log("[WizardInterface] Trial started successfully", result);
 
+
+
       // Update local state immediately
       setTrial((prev) => ({
         ...prev,
@@ -471,6 +492,11 @@ export const WizardInterface = React.memo(function WizardInterface({
   const handlePauseTrial = async () => {
     try {
       await pauseTrialMutation.mutateAsync({ id: trial.id });
+      logEventMutation.mutate({
+        trialId: trial.id,
+        type: "trial_paused",
+        data: { timestamp: new Date() }
+      });
     } catch (error) {
       console.error("Failed to pause trial:", error);
     }
@@ -482,6 +508,20 @@ export const WizardInterface = React.memo(function WizardInterface({
       // Find step by index to ensure safety
       if (targetIndex >= 0 && targetIndex < steps.length) {
         console.log(`[WizardInterface] Manual jump to step ${targetIndex}`);
+
+        // Log manual jump
+        logEventMutation.mutate({
+          trialId: trial.id,
+          type: "step_jumped",
+          data: {
+            fromIndex: currentStepIndex,
+            toIndex: targetIndex,
+            fromStepId: steps[currentStepIndex]?.id,
+            toStepId: steps[targetIndex]?.id,
+            reason: "manual_choice"
+          }
+        });
+
         setCompletedActionsCount(0);
         setCurrentStepIndex(targetIndex);
         setLastResponse(null);
@@ -500,6 +540,18 @@ export const WizardInterface = React.memo(function WizardInterface({
         const targetIndex = steps.findIndex(s => s.id === matchedOption.nextStepId);
         if (targetIndex !== -1) {
           console.log(`[WizardInterface] Branching to step ${targetIndex} (${matchedOption.label})`);
+
+          logEventMutation.mutate({
+            trialId: trial.id,
+            type: "step_branched",
+            data: {
+              fromIndex: currentStepIndex,
+              toIndex: targetIndex,
+              condition: matchedOption.label,
+              value: lastResponse
+            }
+          });
+
           setCurrentStepIndex(targetIndex);
           setLastResponse(null); // Reset after consuming
           return;
@@ -514,6 +566,17 @@ export const WizardInterface = React.memo(function WizardInterface({
       const targetIndex = steps.findIndex(s => s.id === nextId);
       if (targetIndex !== -1) {
         console.log(`[WizardInterface] Condition-based jump to step ${targetIndex} (${nextId})`);
+
+        logEventMutation.mutate({
+          trialId: trial.id,
+          type: "step_jumped",
+          data: {
+            fromIndex: currentStepIndex,
+            toIndex: targetIndex,
+            reason: "condition_next_step"
+          }
+        });
+
         setCurrentStepIndex(targetIndex);
         setCompletedActionsCount(0);
         return;
@@ -549,6 +612,9 @@ export const WizardInterface = React.memo(function WizardInterface({
   const handleCompleteTrial = async () => {
     try {
       await completeTrialMutation.mutateAsync({ id: trial.id });
+
+
+
       // Trigger archive in background
       archiveTrialMutation.mutate({ id: trial.id });
     } catch (error) {
@@ -559,6 +625,8 @@ export const WizardInterface = React.memo(function WizardInterface({
   const handleAbortTrial = async () => {
     try {
       await abortTrialMutation.mutateAsync({ id: trial.id });
+
+
     } catch (error) {
       console.error("Failed to abort trial:", error);
     }
@@ -638,6 +706,16 @@ export const WizardInterface = React.memo(function WizardInterface({
           description: String(parameters?.content || "Quick note"),
           category: String(parameters?.category || "quick_note")
         });
+      } else {
+        // Generic action logging
+        await logEventMutation.mutateAsync({
+          trialId: trial.id,
+          type: "action_executed",
+          data: {
+            actionId,
+            parameters
+          }
+        });
       }
 
       // Note: Action execution can be enhanced later with tRPC mutations
@@ -733,6 +811,8 @@ export const WizardInterface = React.memo(function WizardInterface({
       options?: { autoAdvance?: boolean },
     ) => {
       try {
+        // If it's a robot action (indicated by pluginName), use the robot logger
+        if (pluginName) {
           await logRobotActionMutation.mutateAsync({
             trialId: trial.id,
             pluginName,
@@ -741,6 +821,17 @@ export const WizardInterface = React.memo(function WizardInterface({
             duration: 0,
             result: { skipped: true },
           });
+        } else {
+          // Generic skip logging
+          await logEventMutation.mutateAsync({
+            trialId: trial.id,
+            type: "action_skipped",
+            data: {
+              actionId,
+              parameters
+            }
+          });
+        }
 
         toast.info(`Action skipped: ${actionId}`);
         if (options?.autoAdvance) {
@@ -849,8 +940,8 @@ export const WizardInterface = React.memo(function WizardInterface({
                   <PanelLeftClose className="h-4 w-4" />
                 </Button>
               </div>
-              <div className="flex-1 overflow-auto min-h-0 bg-muted/10">
+              <div className="flex-1 overflow-hidden min-h-0 bg-muted/10">
-                <div id="tour-wizard-controls" className="h-full">
+                <div id="tour-wizard-controls-wrapper" className="h-full">
                   <WizardControlPanel
                     trial={trial}
                     currentStep={currentStep}
@@ -862,11 +953,7 @@ export const WizardInterface = React.memo(function WizardInterface({
                     onCompleteTrial={handleCompleteTrial}
                     onAbortTrial={handleAbortTrial}
                     onExecuteAction={handleExecuteAction}
-                    onExecuteRobotAction={handleExecuteRobotAction}
-                    studyId={trial.experiment.studyId}
-                    _isConnected={rosConnected}
                     isStarting={startTrialMutation.isPending}
-                    onSetAutonomousLife={setAutonomousLife}
                     readOnly={trial.status === 'completed' || _userRole === 'observer'}
                   />
                 </div>
@@ -937,6 +1024,7 @@ export const WizardInterface = React.memo(function WizardInterface({
                   onActionCompleted={() => setCompletedActionsCount(c => c + 1)}
                   onCompleteTrial={handleCompleteTrial}
                   readOnly={trial.status === 'completed' || _userRole === 'observer'}
+                  rosConnected={rosConnected}
                 />
               </div>
             </div>
@@ -946,7 +1034,7 @@ export const WizardInterface = React.memo(function WizardInterface({
           {!rightCollapsed && (
             <div className="flex flex-col overflow-hidden rounded-lg border bg-background shadow-sm w-80">
               <div className="flex items-center justify-between border-b px-3 py-2 bg-muted/30">
-                <span className="text-sm font-medium">Robot Status</span>
+                <span className="text-sm font-medium">Robot Control & Status</span>
                 <Button
                   variant="ghost"
                   size="icon"
@@ -966,6 +1054,10 @@ export const WizardInterface = React.memo(function WizardInterface({
                     connectRos={connectRos}
                     disconnectRos={disconnectRos}
                     executeRosAction={executeRosAction}
+                    onSetAutonomousLife={setAutonomousLife}
+                    onExecuteRobotAction={handleExecuteRobotAction}
+                    studyId={trial.experiment.studyId}
+                    trialId={trial.id}
                     readOnly={trial.status === 'completed' || _userRole === 'observer'}
                   />
                 </div>
@@ -976,13 +1068,9 @@ export const WizardInterface = React.memo(function WizardInterface({
 
         {/* Bottom Row - Observations (Full Width, Collapsible) */}
         {!obsCollapsed && (
-          <Tabs value={obsTab} onValueChange={(v) => setObsTab(v as "notes" | "timeline")} className="flex flex-col overflow-hidden rounded-lg border bg-background shadow-sm h-48 flex-none">
+          <div className="flex flex-col overflow-hidden rounded-lg border bg-background shadow-sm h-48 flex-none">
             <div className="flex items-center border-b px-3 py-2 bg-muted/30 gap-3">
               <span className="text-sm font-medium">Observations</span>
-              <TabsList className="h-7 bg-transparent border-0 p-0">
-                <TabsTrigger value="notes" className="text-xs h-7 px-3">Notes</TabsTrigger>
-                <TabsTrigger value="timeline" className="text-xs h-7 px-3">Timeline</TabsTrigger>
-              </TabsList>
               <div className="flex-1" />
               <Button
                 variant="ghost"
@@ -999,10 +1087,9 @@ export const WizardInterface = React.memo(function WizardInterface({
                 isSubmitting={addAnnotationMutation.isPending}
                 trialEvents={trialEvents}
                 readOnly={trial.status === 'completed'}
-                activeTab={obsTab}
               />
             </div>
-          </Tabs>
+          </div>
         )}
         {
           obsCollapsed && (

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

@@ -0,0 +1,498 @@
+import React, { useState, useCallback } from "react";
+import {
+    Play,
+    CheckCircle,
+    RotateCcw,
+    Clock,
+    Repeat,
+    Split,
+    Layers,
+    ChevronRight,
+    Loader2,
+} from "lucide-react";
+import { Button } from "~/components/ui/button";
+import { cn } from "~/lib/utils";
+import { Badge } from "~/components/ui/badge";
+
+export interface ActionData {
+    id: string;
+    name: string;
+    description: string | null;
+    type: string;
+    parameters: Record<string, unknown>;
+    order: number;
+    pluginId: string | null;
+}
+
+interface WizardActionItemProps {
+    action: ActionData;
+    index: number;
+    isActive: boolean;
+    isCompleted: boolean;
+    onExecute: (actionId: string, parameters?: Record<string, unknown>) => void;
+    onExecuteRobot: (
+        pluginName: string,
+        actionId: string,
+        parameters: Record<string, unknown>,
+        options?: { autoAdvance?: boolean }
+    ) => Promise<void>;
+    onSkip: (
+        pluginName: string,
+        actionId: string,
+        parameters: Record<string, unknown>,
+        options?: { autoAdvance?: boolean }
+    ) => Promise<void>;
+    onCompleted: () => void;
+    readOnly?: boolean;
+    isExecuting?: boolean;
+    depth?: number;
+    isRobotConnected?: boolean;
+}
+
+export function WizardActionItem({
+    action,
+    index,
+    isActive,
+    isCompleted,
+    onExecute,
+    onExecuteRobot,
+    onSkip,
+    onCompleted,
+    readOnly,
+    isExecuting,
+    depth = 0,
+    isRobotConnected = false,
+}: WizardActionItemProps): React.JSX.Element {
+    // Local state for container children completion
+    const [completedChildren, setCompletedChildren] = useState<Set<number>>(new Set());
+    // Local state for loop iterations
+    const [currentIteration, setCurrentIteration] = useState(1);
+    // Local state to track execution of this specific item
+    const [isRunningLocal, setIsRunningLocal] = useState(false);
+    // Local state for wait countdown
+    const [countdown, setCountdown] = useState<number | null>(null);
+
+    const isContainer =
+        action.type === "hristudio-core.sequence" ||
+        action.type === "hristudio-core.parallel" ||
+        action.type === "hristudio-core.loop" ||
+        action.type === "sequence" ||
+        action.type === "parallel" ||
+        action.type === "loop";
+
+    // Branch support
+    const isBranch = action.type === "hristudio-core.branch" || action.type === "branch";
+    const isWait = action.type === "hristudio-core.wait" || action.type === "wait";
+
+    // Helper to get children
+    const children = (action.parameters.children as ActionData[]) || [];
+    const iterations = (action.parameters.iterations as number) || 1;
+
+    // Recursive helper to check for robot actions
+    const hasRobotActions = useCallback((item: ActionData): boolean => {
+        if (item.type === "robot_action" || !!item.pluginId) return true;
+        if (item.parameters?.children && Array.isArray(item.parameters.children)) {
+            return (item.parameters.children as ActionData[]).some(hasRobotActions);
+        }
+        return false;
+    }, []);
+
+    const containsRobotActions = hasRobotActions(action);
+
+    // Countdown effect
+    React.useEffect(() => {
+        let interval: NodeJS.Timeout;
+        if (isRunningLocal && countdown !== null && countdown > 0) {
+            interval = setInterval(() => {
+                setCountdown((prev) => (prev !== null && prev > 0 ? prev - 1 : 0));
+            }, 1000);
+        }
+        return () => clearInterval(interval);
+    }, [isRunningLocal, countdown]);
+
+    // Derived state for disabled button
+    const isButtonDisabled =
+        isExecuting ||
+        isRunningLocal ||
+        (!isWait && !isRobotConnected && (action.type === 'robot_action' || !!action.pluginId || (isContainer && containsRobotActions)));
+
+
+    // Handler for child completion
+    const handleChildCompleted = useCallback((childIndex: number) => {
+        setCompletedChildren(prev => {
+            const next = new Set(prev);
+            next.add(childIndex);
+            return next;
+        });
+    }, []);
+
+    // Handler for next loop iteration
+    const handleNextIteration = useCallback(() => {
+        if (currentIteration < iterations) {
+            setCompletedChildren(new Set());
+            setCurrentIteration(prev => prev + 1);
+        } else {
+            // Loop finished - allow manual completion of the loop action
+        }
+    }, [currentIteration, iterations]);
+
+    // Check if current iteration is complete (all children done)
+    const isIterationComplete = children.length > 0 && children.every((_, idx) => completedChildren.has(idx));
+    const isLoopComplete = isIterationComplete && currentIteration >= iterations;
+
+    return (
+        <div
+            className={cn(
+                "relative pb-2 last:pb-0 transition-all duration-300",
+                depth > 0 && "ml-4 mt-2 border-l pl-4 border-l-border/30"
+            )}
+        >
+            {/* Visual Connection Line for Root items is handled by parent list, 
+          but for nested items we handle it via border-l above */}
+
+            <div
+                className={cn(
+                    "rounded-lg border transition-all duration-300",
+                    isActive
+                        ? "bg-card border-primary/50 shadow-md p-4"
+                        : "bg-muted/5 border-transparent p-3 opacity-80 hover:opacity-100",
+                    isContainer && "bg-muted/10 border-border/50"
+                )}
+            >
+                <div className="space-y-2">
+                    {/* Header Row */}
+                    <div className="flex items-start justify-between gap-4">
+                        <div className="flex items-center gap-2">
+                            {/* Icon based on type */}
+                            {isContainer && action.type.includes("loop") && <Repeat className="h-4 w-4 text-blue-500 dark:text-blue-400" />}
+                            {isContainer && action.type.includes("parallel") && <Layers className="h-4 w-4 text-purple-500 dark:text-purple-400" />}
+                            {isBranch && <Split className="h-4 w-4 text-orange-500 dark:text-orange-400" />}
+                            {isWait && <Clock className="h-4 w-4 text-amber-500 dark:text-amber-400" />}
+
+                            <div
+                                className={cn(
+                                    "text-base font-medium leading-none",
+                                    isCompleted && "line-through text-muted-foreground"
+                                )}
+                            >
+                                {action.name}
+                            </div>
+                        </div>
+
+                        {/* Completion Badge */}
+                        {isCompleted && <CheckCircle className="h-4 w-4 text-green-500 dark:text-green-400" />}
+                    </div>
+
+                    {action.description && (
+                        <div className="text-sm text-muted-foreground">
+                            {action.description}
+                        </div>
+                    )}
+
+                    {/* Details for Control Flow */}
+                    {isWait && (
+                        <div className="flex items-center gap-2 text-xs text-amber-700 bg-amber-50/80 dark:text-amber-300 dark:bg-amber-900/30 w-fit px-2 py-1 rounded border border-amber-100 dark:border-amber-800/50">
+                            <Clock className="h-3 w-3" />
+                            Wait {String(action.parameters.duration || 1)}s
+                        </div>
+                    )}
+
+                    {action.type.includes("loop") && (
+                        <div className="flex items-center gap-2 text-xs text-blue-700 bg-blue-50/80 dark:text-blue-300 dark:bg-blue-900/30 w-fit px-2 py-1 rounded border border-blue-100 dark:border-blue-800/50">
+                            <Repeat className="h-3 w-3" />
+                            {String(action.parameters.iterations || 1)} Iterations
+                        </div>
+                    )}
+
+
+                    {((!!isContainer && children.length > 0) ? (
+                        <div className="mt-4 space-y-2">
+                            {/* Loop Iteration Status & Controls */}
+                            {action.type.includes("loop") && (
+                                <div className="flex items-center justify-between bg-blue-50/50 dark:bg-blue-900/20 p-2 rounded mb-2 border border-blue-100 dark:border-blue-800/50">
+                                    <div className="flex items-center gap-2">
+                                        <Badge variant="outline" className="bg-white dark:bg-zinc-900 dark:text-zinc-100 border-zinc-200 dark:border-zinc-700">
+                                            Iteration {currentIteration} of {iterations}
+                                        </Badge>
+                                        {isIterationComplete && currentIteration < iterations && (
+                                            <span className="text-xs text-blue-600 dark:text-blue-400 font-medium animate-pulse">
+                                                All actions complete. Ready for next iteration.
+                                            </span>
+                                        )}
+                                        {isLoopComplete && (
+                                            <span className="text-xs text-green-600 dark:text-green-400 font-medium">
+                                                Loop complete!
+                                            </span>
+                                        )}
+                                    </div>
+
+                                    {isLoopComplete ? (
+                                        <Button
+                                            size="sm"
+                                            onClick={(e) => {
+                                                e.preventDefault();
+                                                onCompleted();
+                                            }}
+                                            className="h-7 text-xs bg-green-600 hover:bg-green-700 text-white dark:bg-green-600 dark:hover:bg-green-500"
+                                        >
+                                            <CheckCircle className="mr-1 h-3 w-3" />
+                                            Finish Loop
+                                        </Button>
+                                    ) : (
+                                        isIterationComplete && currentIteration < iterations && !readOnly && (
+                                            <div className="flex items-center gap-2">
+                                                <Button
+                                                    size="sm"
+                                                    variant="secondary"
+                                                    onClick={(e) => {
+                                                        e.preventDefault();
+                                                        onCompleted();
+                                                    }}
+                                                    className="h-7 text-xs"
+                                                >
+                                                    <ChevronRight className="mr-1 h-3 w-3" />
+                                                    Exit Loop
+                                                </Button>
+                                                <Button
+                                                    size="sm"
+                                                    onClick={(e) => {
+                                                        e.preventDefault();
+                                                        handleNextIteration();
+                                                    }}
+                                                    className="h-7 text-xs"
+                                                >
+                                                    <Repeat className="mr-1 h-3 w-3" />
+                                                    Next Iteration
+                                                </Button>
+                                            </div>
+                                        )
+                                    )}
+                                </div>
+                            )}
+
+                            <div className="text-xs font-semibold text-muted-foreground uppercase tracking-wider mb-2">
+                                {action.type.includes("loop") ? "Loop Body" : "Actions"}
+                            </div>
+
+                            {children.map((child, idx) => (
+                                <WizardActionItem
+                                    key={`${child.id || idx}-${currentIteration}`}
+                                    action={child as ActionData}
+                                    index={idx}
+                                    isActive={isActive && !isCompleted && !completedChildren.has(idx)}
+                                    isCompleted={isCompleted || completedChildren.has(idx)}
+                                    onExecute={onExecute}
+                                    onExecuteRobot={onExecuteRobot}
+                                    onSkip={onSkip}
+                                    onCompleted={() => handleChildCompleted(idx)}
+                                    readOnly={readOnly || isCompleted || completedChildren.has(idx) || (action.type.includes("parallel") && true)}
+                                    isExecuting={isExecuting}
+                                    depth={depth + 1}
+                                    isRobotConnected={isRobotConnected}
+                                />
+                            ))}
+                        </div>
+                    ) : null) as any}
+
+                    {/* Active Action Controls */}
+                    {isActive && !readOnly && (
+                        <div className="pt-3 flex flex-wrap items-center gap-3">
+                            {/* Parallel Container Controls */}
+                            {isContainer && action.type.includes("parallel") ? (
+                                <>
+                                    <Button
+                                        size="sm"
+                                        className={cn(
+                                            "shadow-sm min-w-[100px]",
+                                            isButtonDisabled && "opacity-50 cursor-not-allowed"
+                                        )}
+                                        onClick={async (e) => {
+                                            e.preventDefault();
+                                            // Run all child robot actions
+                                            const children = (action.parameters.children as ActionData[]) || [];
+                                            for (const child of children) {
+                                                if (child.pluginId) {
+                                                    // Fire and forget - don't await sequentially
+                                                    onExecuteRobot(
+                                                        child.pluginId,
+                                                        child.type.includes(".") ? child.type.split(".").pop()! : child.type,
+                                                        child.parameters || {},
+                                                        { autoAdvance: false }
+                                                    ).catch(console.error);
+                                                }
+                                            }
+                                        }}
+                                        disabled={isButtonDisabled}
+                                        title={isButtonDisabled && !isExecuting ? "Robot disconnected" : undefined}
+                                    >
+                                        <Play className="mr-2 h-3.5 w-3.5" />
+                                        Run All
+                                    </Button>
+                                    <Button
+                                        size="sm"
+                                        variant="outline"
+                                        onClick={(e) => {
+                                            e.preventDefault();
+                                            onCompleted();
+                                        }}
+                                        disabled={isExecuting}
+                                    >
+                                        <CheckCircle className="mr-2 h-3.5 w-3.5" />
+                                        Mark Group Complete
+                                    </Button>
+                                </>
+                            ) : (
+                                /* Standard Single Action Controls */
+                                (action.pluginId && !["hristudio-woz"].includes(action.pluginId!) && (action.pluginId !== "hristudio-core" || isWait)) ? (
+                                    <>
+                                        <Button
+                                            size="sm"
+                                            className={cn(
+                                                "shadow-sm min-w-[100px]",
+                                                isButtonDisabled && "opacity-50 cursor-not-allowed"
+                                            )}
+                                            onClick={async (e) => {
+                                                e.preventDefault();
+                                                setIsRunningLocal(true);
+
+                                                if (isWait) {
+                                                    const duration = Number(action.parameters.duration || 1);
+                                                    setCountdown(Math.ceil(duration));
+                                                }
+
+                                                try {
+                                                    await onExecuteRobot(
+                                                        action.pluginId!,
+                                                        action.type.includes(".") ? action.type.split(".").pop()! : action.type,
+                                                        action.parameters || {},
+                                                        { autoAdvance: false }
+                                                    );
+                                                    onCompleted();
+                                                } catch (error) {
+                                                    console.error("Action execution error:", error);
+                                                } finally {
+                                                    setIsRunningLocal(false);
+                                                    setCountdown(null);
+                                                }
+                                            }}
+                                            disabled={isExecuting || isRunningLocal || (!isWait && !isRobotConnected)}
+                                            title={!isWait && !isRobotConnected ? "Robot disconnected" : undefined}
+                                        >
+                                            {isRunningLocal ? (
+                                                <>
+                                                    <Loader2 className="mr-2 h-3.5 w-3.5 animate-spin" />
+                                                    {isWait ? (countdown !== null && countdown > 0 ? `Wait (${countdown}s)...` : "Finishing...") : "Running..."}
+                                                </>
+                                            ) : (
+                                                <>
+                                                    <Play className="mr-2 h-3.5 w-3.5" />
+                                                    Run
+                                                </>
+                                            )}
+                                        </Button>
+                                        <Button
+                                            size="sm"
+                                            variant="outline"
+                                            onClick={(e) => {
+                                                e.preventDefault();
+                                                onCompleted();
+                                            }}
+                                            disabled={isExecuting}
+                                        >
+                                            <CheckCircle className="mr-2 h-3.5 w-3.5" />
+                                            Mark Complete
+                                        </Button>
+                                        <Button
+                                            size="sm"
+                                            variant="ghost"
+                                            onClick={(e) => {
+                                                e.preventDefault();
+                                                if (onSkip) {
+                                                    onSkip(action.pluginId!, action.type.includes(".") ? action.type.split(".").pop()! : action.type, action.parameters || {}, { autoAdvance: false });
+                                                }
+                                                onCompleted();
+                                            }}
+                                        >
+                                            Skip
+                                        </Button>
+                                    </>
+                                ) : (
+                                    // Manual/Wizard Actions (Leaf nodes)
+                                    !isContainer && action.type !== "wizard_wait_for_response" && (
+                                        <Button
+                                            size="sm"
+                                            onClick={(e) => {
+                                                e.preventDefault();
+                                                onCompleted();
+                                            }}
+                                            disabled={isExecuting}
+                                        >
+                                            <CheckCircle className="mr-2 h-3.5 w-3.5" />
+                                            Mark Complete
+                                        </Button>
+                                    )
+                                )
+                            )}
+                        </div>
+                    )}
+
+                    {/* Branching / Choice UI */}
+                    {isActive &&
+                        (action.type === "wizard_wait_for_response" || isBranch) &&
+                        action.parameters?.options &&
+                        Array.isArray(action.parameters.options) && (
+                            <div className="pt-3 grid grid-cols-1 sm:grid-cols-2 gap-2">
+                                {(action.parameters.options as any[]).map((opt, optIdx) => {
+                                    const label = typeof opt === "string" ? opt : opt.label;
+                                    const value = typeof opt === "string" ? opt : opt.value;
+                                    const nextStepId = typeof opt === "object" ? opt.nextStepId : undefined;
+
+                                    return (
+                                        <Button
+                                            key={optIdx}
+                                            variant="outline"
+                                            className="justify-start h-auto py-3 px-4 text-left hover:border-primary hover:bg-primary/5"
+                                            onClick={(e) => {
+                                                e.preventDefault();
+                                                onExecute(action.id, { value, label, nextStepId });
+                                                onCompleted();
+                                            }}
+                                            disabled={readOnly || isExecuting}
+                                        >
+                                            <div className="flex flex-col items-start gap-1">
+                                                <span className="font-medium">{String(label)}</span>
+                                            </div>
+                                        </Button>
+                                    );
+                                })}
+                            </div>
+                        )}
+
+                    {/* Retry for failed/completed robot actions */}
+                    {isCompleted && action.pluginId && !isContainer && (
+                        <div className="pt-1 flex items-center gap-1">
+                            <Button
+                                size="sm"
+                                variant="ghost"
+                                className="h-7 px-2 text-xs text-muted-foreground hover:text-primary"
+                                onClick={(e) => {
+                                    e.preventDefault();
+                                    onExecuteRobot(
+                                        action.pluginId!,
+                                        action.type.includes(".") ? action.type.split(".").pop()! : action.type,
+                                        action.parameters || {},
+                                        { autoAdvance: false }
+                                    );
+                                }}
+                                disabled={isExecuting}
+                            >
+                                <RotateCcw className="mr-1.5 h-3 w-3" />
+                                Retry
+                            </Button>
+                        </div>
+                    )}
+                </div>
+            </div>
+        </div>
+    );
+}

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

@@ -18,12 +18,8 @@ import {
 import { Button } from "~/components/ui/button";
 import { Badge } from "~/components/ui/badge";
 import { Progress } from "~/components/ui/progress";
-import { Separator } from "~/components/ui/separator";
-import { Switch } from "~/components/ui/switch";
-import { Label } from "~/components/ui/label";
 import { Alert, AlertDescription } from "~/components/ui/alert";
 import { ScrollArea } from "~/components/ui/scroll-area";
-import { RobotActionsPanel } from "../RobotActionsPanel";
 
 interface StepData {
   id: string;
@@ -95,16 +91,7 @@ interface WizardControlPanelProps {
     actionId: string,
     parameters?: Record<string, unknown>,
   ) => void;
-  onExecuteRobotAction?: (
-    pluginName: string,
-    actionId: string,
-    parameters: Record<string, unknown>,
-  ) => Promise<void>;
-  studyId?: string;
-  _isConnected: boolean;
-
   isStarting?: boolean;
-  onSetAutonomousLife?: (enabled: boolean) => Promise<boolean | void>;
   readOnly?: boolean;
 }
 
@@ -119,30 +106,10 @@ export const WizardControlPanel = React.memo(function WizardControlPanel({
   onCompleteTrial,
   onAbortTrial,
   onExecuteAction,
-  onExecuteRobotAction,
-  studyId,
-  _isConnected,
   isStarting = false,
-  onSetAutonomousLife,
   readOnly = false,
 }: WizardControlPanelProps) {
-  const [autonomousLife, setAutonomousLife] = React.useState(true);
 
-  const handleAutonomousLifeChange = async (checked: boolean) => {
-    setAutonomousLife(checked); // Optimistic update
-    if (onSetAutonomousLife) {
-      try {
-        const result = await onSetAutonomousLife(checked);
-        if (result === false) {
-          throw new Error("Service unavailable");
-        }
-      } catch (error) {
-        console.error("Failed to set autonomous life:", error);
-        setAutonomousLife(!checked); // Revert on failure
-        // Optional: Toast error?
-      }
-    }
-  };
 
   return (
     <div className="flex h-full flex-col" id="tour-wizard-controls">
@@ -170,7 +137,7 @@ export const WizardControlPanel = React.memo(function WizardControlPanel({
                   <Button
                     variant="outline"
                     size="sm"
-                    className="w-full justify-start border-yellow-200 bg-yellow-50 text-yellow-700 hover:bg-yellow-100 hover:text-yellow-800"
+                    className="w-full justify-start border-yellow-200 bg-yellow-50 text-yellow-700 hover:bg-yellow-100 hover:text-yellow-800 dark:bg-yellow-900/20 dark:text-yellow-300 dark:border-yellow-700/50 dark:hover:bg-yellow-900/40"
                     onClick={() => onExecuteAction("intervene")}
                     disabled={readOnly}
                   >
@@ -207,46 +174,23 @@ export const WizardControlPanel = React.memo(function WizardControlPanel({
                   Controls available during trial
                 </div>
               )}
+
+              {/* Step Navigation */}
+              <div className="pt-4 border-t space-y-2">
+                <span className="text-xs font-semibold text-muted-foreground uppercase tracking-wider">Navigation</span>
+                <select
+                  className="w-full text-xs p-2 rounded-md border bg-background"
+                  value={currentStepIndex}
+                  onChange={(e) => onNextStep(parseInt(e.target.value, 10))}
+                  disabled={readOnly}
+                >
+                  {steps.map((step, idx) => (
+                    <option key={step.id} value={idx}>
+                      {idx + 1}. {step.name}
+                    </option>
+                  ))}
+                </select>
               </div>
-
-            <Separator />
-
-            {/* Robot Controls (Merged from System & Robot Tab) */}
-            <div className="space-y-3">
-              <div className="flex items-center justify-between">
-                <span className="text-muted-foreground text-xs">Connection</span>
-                {_isConnected ? (
-                  <Badge variant="default" className="bg-green-600 text-xs">Connected</Badge>
-                ) : (
-                  <Badge variant="outline" className="text-muted-foreground border-muted-foreground/30 text-xs">Offline</Badge>
-                )}
-              </div>
-
-              <div className="flex items-center justify-between">
-                <Label htmlFor="autonomous-life" className="text-xs font-normal text-muted-foreground">Autonomous Life</Label>
-                <Switch
-                  id="tour-wizard-autonomous"
-                  checked={!!autonomousLife}
-                  onCheckedChange={handleAutonomousLifeChange}
-                  disabled={!_isConnected || readOnly}
-                  className="scale-75"
-                />
-              </div>
-
-              <Separator />
-
-              {/* Robot Actions Panel Integration */}
-              {studyId && onExecuteRobotAction ? (
-                <div className={readOnly ? "pointer-events-none opacity-50" : ""}>
-                  <RobotActionsPanel
-                    studyId={studyId}
-                    trialId={trial.id}
-                    onExecuteAction={onExecuteRobotAction}
-                  />
-                </div>
-              ) : (
-                <div className="text-xs text-muted-foreground text-center py-2">Robot actions unavailable</div>
-              )}
             </div>
           </div>
         </ScrollArea>

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

@@ -1,6 +1,8 @@
 "use client";
 
+
 import React from "react";
+import { WizardActionItem } from "./WizardActionItem";
 import {
   Play,
   SkipForward,
@@ -111,6 +113,7 @@ interface WizardExecutionPanelProps {
   completedActionsCount: number;
   onActionCompleted: () => void;
   readOnly?: boolean;
+  rosConnected?: boolean;
 }
 
 export function WizardExecutionPanel({
@@ -131,6 +134,7 @@ export function WizardExecutionPanel({
   completedActionsCount,
   onActionCompleted,
   readOnly = false,
+  rosConnected,
 }: WizardExecutionPanelProps) {
   // Local state removed in favor of parent state to prevent reset on re-render
   // const [completedCount, setCompletedCount] = React.useState(0);
@@ -207,11 +211,85 @@ export function WizardExecutionPanel({
   // Active trial state
   return (
     <div className="flex h-full flex-col overflow-hidden">
-      <div className="flex-1 min-h-0 relative">
+      {/* Horizontal Step Progress Bar */}
-        <ScrollArea className="h-full w-full">
+      <div className="flex-none border-b bg-muted/30 p-3">
+        <div className="flex items-center gap-2 overflow-x-auto pb-2">
+          {steps.map((step, idx) => {
+            const isCurrent = idx === currentStepIndex;
+            const isCompleted = idx < currentStepIndex;
+            const isUpcoming = idx > currentStepIndex;
+
+            return (
+              <div
+                key={step.id}
+                className="flex items-center gap-2 flex-shrink-0"
+              >
+                <button
+                  onClick={() => onStepSelect(idx)}
+                  disabled={readOnly}
+                  className={`
+                    group relative flex items-center gap-2 rounded-lg border-2 px-3 py-2 transition-all
+                    ${isCurrent
+                      ? "border-primary bg-primary/10 shadow-sm"
+                      : isCompleted
+                        ? "border-primary/30 bg-primary/5 hover:bg-primary/10"
+                        : "border-muted-foreground/20 bg-background hover:bg-muted/50"
+                    }
+                    ${readOnly ? "cursor-default" : "cursor-pointer"}
+                  `}
+                >
+                  {/* Step Number/Icon */}
+                  <div
+                    className={`
+                      flex h-6 w-6 items-center justify-center rounded-full text-xs font-bold
+                      ${isCompleted
+                        ? "bg-primary text-primary-foreground"
+                        : isCurrent
+                          ? "bg-primary text-primary-foreground ring-2 ring-primary/20"
+                          : "bg-muted text-muted-foreground"
+                      }
+                    `}
+                  >
+                    {isCompleted ? (
+                      <CheckCircle className="h-3.5 w-3.5" />
+                    ) : (
+                      idx + 1
+                    )}
+                  </div>
+
+                  {/* Step Name */}
+                  <span
+                    className={`text-xs font-medium max-w-[120px] truncate ${isCurrent
+                      ? "text-foreground"
+                      : isCompleted
+                        ? "text-muted-foreground"
+                        : "text-muted-foreground/60"
+                      }`}
+                    title={step.name}
+                  >
+                    {step.name}
+                  </span>
+                </button>
+
+                {/* Arrow Connector */}
+                {idx < steps.length - 1 && (
+                  <ArrowRight
+                    className={`h-4 w-4 flex-shrink-0 ${isCompleted ? "text-primary/40" : "text-muted-foreground/30"
+                      }`}
+                  />
+                )}
+              </div>
+            );
+          })}
+        </div>
+      </div>
+
+      {/* Current Step Details - NO SCROLL */}
+      <div className="flex-1 min-h-0 overflow-hidden">
+        <div className="h-full overflow-y-auto">
           <div className="pr-4">
             {currentStep ? (
-              <div className="flex flex-col gap-4 p-4 max-w-2xl mx-auto">
+              <div className="flex flex-col gap-4 p-4 max-w-5xl mx-auto w-full">
                 {/* Header Info */}
                 <div className="space-y-1 pb-4 border-b">
                   <h2 className="text-xl font-bold tracking-tight">{currentStep.name}</h2>
@@ -226,7 +304,7 @@ export function WizardExecutionPanel({
                     {currentStep.actions.map((action, idx) => {
                       const isCompleted = idx < activeActionIndex;
                       const isActive: boolean = idx === activeActionIndex;
-                      const isLast = idx === currentStep.actions!.length - 1;
+                      const isLast = idx === (currentStep.actions?.length || 0) - 1;
 
                       return (
                         <div
@@ -257,176 +335,25 @@ export function WizardExecutionPanel({
                             )}
                           </div>
 
-                          {/* Content Card */}
+                          {/* Action Content */}
-                          <div
+                          <WizardActionItem
-                            className={`rounded-lg border transition-all duration-300 ${isActive
+                            action={action as any} // Cast to ActionData
-                              ? "bg-card border-primary/50 shadow-md p-5 translate-x-1"
+                            index={idx}
-                              : "bg-muted/5 border-transparent p-3 opacity-70 hover:opacity-100"
+                            isActive={isActive}
-                              }`}
+                            isCompleted={isCompleted}
-                          >
+                            onExecute={onExecuteAction}
-                            <div className="space-y-2">
+                            onExecuteRobot={onExecuteRobotAction}
-                              <div className="flex items-start justify-between gap-4">
+                            onSkip={onSkipAction}
-                                <div
+                            onCompleted={onActionCompleted}
-                                  className={`text-base font-medium leading-none ${isCompleted ? "line-through text-muted-foreground" : ""
+                            readOnly={readOnly}
-                                    }`}
+                            isExecuting={isExecuting}
-                                >
+                            isRobotConnected={rosConnected}
-                                  {action.name}
+                          />
-                                </div>
-                              </div>
-
-                              {action.description && (
-                                <div className="text-sm text-muted-foreground">
-                                  {action.description}
-                                </div>
-                              )}
-
-                              {/* Active Action Controls */}
-                              {isActive === true ? (
-                                <div className="pt-3 flex items-center gap-3">
-                                  {action.pluginId && !["hristudio-core", "hristudio-woz"].includes(action.pluginId) ? (
-                                    <>
-                                      <Button
-                                        size="sm"
-                                        className="shadow-sm min-w-[100px]"
-                                        onClick={(e) => {
-                                          e.preventDefault();
-                                          onExecuteRobotAction(
-                                            action.pluginId!,
-                                            action.type.includes(".")
-                                              ? action.type.split(".").pop()!
-                                              : action.type,
-                                            action.parameters || {},
-                                            { autoAdvance: false }
-                                          );
-                                          onActionCompleted();
-                                        }}
-                                        disabled={readOnly || isExecuting}
-                                      >
-                                        <Play className="mr-2 h-3.5 w-3.5" />
-                                        Execute
-                                      </Button>
-                                      <Button
-                                        size="sm"
-                                        variant="ghost"
-                                        className="text-muted-foreground hover:text-foreground"
-                                        onClick={(e) => {
-                                          e.preventDefault();
-                                          onSkipAction(
-                                            action.pluginId!,
-                                            action.type.includes(".")
-                                              ? action.type.split(".").pop()!
-                                              : action.type,
-                                            action.parameters || {},
-                                            { autoAdvance: false }
-                                          );
-                                          onActionCompleted();
-                                        }}
-                                        disabled={readOnly}
-                                      >
-                                        Skip
-                                      </Button>
-                                    </>
-                                  ) : (
-                                    <Button
-                                      size="sm"
-                                      onClick={(e) => {
-                                        e.preventDefault();
-                                        onActionCompleted();
-                                      }}
-                                      disabled={readOnly || isExecuting}
-                                    >
-                                      Mark Done
-                                    </Button>
-                                  )}
-                                </div>
-                              ) : null}
-
-                              {/* Wizard Wait For Response / Branching UI */}
-                              {isActive === true &&
-                                action.type === "wizard_wait_for_response" &&
-                                action.parameters?.options &&
-                                Array.isArray(action.parameters.options) ? (
-                                <div className="pt-3 grid grid-cols-1 sm:grid-cols-2 gap-2">
-                                  {(action.parameters.options as any[]).map(
-                                    (opt, optIdx) => {
-                                      // Handle both string options and object options
-                                      const label =
-                                        typeof opt === "string"
-                                          ? opt
-                                          : opt.label;
-                                      const value =
-                                        typeof opt === "string"
-                                          ? opt
-                                          : opt.value;
-                                      const nextStepId =
-                                        typeof opt === "object"
-                                          ? opt.nextStepId
-                                          : undefined;
-
-                                      return (
-                                        <Button
-                                          key={optIdx}
-                                          variant="outline"
-                                          className="justify-start h-auto py-3 px-4 text-left border-primary/20 hover:border-primary hover:bg-primary/5"
-                                          onClick={(e) => {
-                                            e.preventDefault();
-                                            onExecuteAction(action.id, {
-                                              value,
-                                              label,
-                                              nextStepId,
-                                            });
-                                            onActionCompleted();
-                                          }}
-                                          disabled={readOnly || isExecuting}
-                                        >
-                                          <div className="flex flex-col items-start gap-1">
-                                            <span className="font-medium">
-                                              {String(label)}
-                                            </span>
-                                            {typeof opt !== "string" && value && (
-                                              <span className="text-xs text-muted-foreground font-mono bg-muted px-1.5 py-0.5 rounded-sm">
-                                                {String(value)}
-                                              </span>
-                                            )}
-                                          </div>
-                                        </Button>
-                                      );
-                                    }
-                                  )}
-                                </div>
-                              ) : null}
-
-                              {/* Completed State Actions */}
-                              {isCompleted && action.pluginId && (
-                                <div className="pt-1 flex items-center gap-1">
-                                  <Button
-                                    size="sm"
-                                    variant="ghost"
-                                    className="h-7 px-2 text-xs text-muted-foreground hover:text-primary"
-                                    onClick={(e) => {
-                                      e.preventDefault();
-                                      onExecuteRobotAction(
-                                        action.pluginId!,
-                                        action.type.includes(".") ? action.type.split(".").pop()! : action.type,
-                                        action.parameters || {},
-                                        { autoAdvance: false },
-                                      );
-                                    }}
-                                    disabled={readOnly || isExecuting}
-                                  >
-                                    <RotateCcw className="mr-1.5 h-3 w-3" />
-                                    Retry
-                                  </Button>
-                                </div>
-                              )}
-                            </div>
-                          </div>
                         </div>
                       );
                     })}
                   </div>
-                )
+                )}
-                }
 
                 {/* Manual Advance Button */}
                 {activeActionIndex >= (currentStep.actions?.length || 0) && (
@@ -453,7 +380,7 @@ export function WizardExecutionPanel({
               </div>
             )}
           </div>
-        </ScrollArea>
+        </div>
       </div>
     </div>
   );

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

@@ -12,7 +12,10 @@ import { Separator } from "~/components/ui/separator";
 import { ScrollArea } from "~/components/ui/scroll-area";
 import { Alert, AlertDescription } from "~/components/ui/alert";
 import { Button } from "~/components/ui/button";
+import { Switch } from "~/components/ui/switch";
+import { Label } from "~/components/ui/label";
 import { WebcamPanel } from "./WebcamPanel";
+import { RobotActionsPanel } from "../RobotActionsPanel";
 
 interface WizardMonitoringPanelProps {
   rosConnected: boolean;
@@ -33,6 +36,14 @@ interface WizardMonitoringPanelProps {
     actionId: string,
     parameters: Record<string, unknown>,
   ) => Promise<unknown>;
+  onSetAutonomousLife?: (enabled: boolean) => Promise<boolean | void>;
+  onExecuteRobotAction?: (
+    pluginName: string,
+    actionId: string,
+    parameters: Record<string, unknown>,
+  ) => Promise<void>;
+  studyId?: string;
+  trialId?: string;
   readOnly?: boolean;
 }
 
@@ -44,8 +55,28 @@ const WizardMonitoringPanel = function WizardMonitoringPanel({
   connectRos,
   disconnectRos,
   executeRosAction,
+  onSetAutonomousLife,
+  onExecuteRobotAction,
+  studyId,
+  trialId,
   readOnly = false,
 }: WizardMonitoringPanelProps) {
+  const [autonomousLife, setAutonomousLife] = React.useState(true);
+
+  const handleAutonomousLifeChange = React.useCallback(async (checked: boolean) => {
+    setAutonomousLife(checked); // Optimistic update
+    if (onSetAutonomousLife) {
+      try {
+        const result = await onSetAutonomousLife(checked);
+        if (result === false) {
+          throw new Error("Service unavailable");
+        }
+      } catch (error) {
+        console.error("Failed to set autonomous life:", error);
+        setAutonomousLife(!checked); // Revert on failure
+      }
+    }
+  }, [onSetAutonomousLife]);
   return (
     <div className="flex h-full flex-col gap-2 p-2">
       {/* Camera View - Always Visible */}
@@ -166,6 +197,35 @@ const WizardMonitoringPanel = function WizardMonitoringPanel({
 
             <Separator />
 
+            {/* Autonomous Life Toggle */}
+            <div className="space-y-2">
+              <div className="flex items-center justify-between">
+                <Label htmlFor="autonomous-life" className="text-xs font-normal text-muted-foreground">Autonomous Life</Label>
+                <Switch
+                  id="tour-wizard-autonomous"
+                  checked={!!autonomousLife}
+                  onCheckedChange={handleAutonomousLifeChange}
+                  disabled={!rosConnected || readOnly}
+                  className="scale-75"
+                />
+              </div>
+            </div>
+
+            <Separator />
+
+            {/* Robot Actions Panel */}
+            {studyId && trialId && onExecuteRobotAction ? (
+              <div className={readOnly ? "pointer-events-none opacity-50" : ""}>
+                <RobotActionsPanel
+                  studyId={studyId}
+                  trialId={trialId}
+                  onExecuteAction={onExecuteRobotAction}
+                />
+              </div>
+            ) : null}
+
+            <Separator />
+
             {/* Movement Controls */}
             {rosConnected && (
               <div className="space-y-2">

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

@@ -14,7 +14,7 @@ import {
     SelectValue,
 } from "~/components/ui/select";
 import { Tabs, TabsList, TabsTrigger, TabsContent } from "~/components/ui/tabs";
-import { HorizontalTimeline } from "~/components/trials/timeline/HorizontalTimeline";
+
 
 interface TrialEvent {
     type: string;
@@ -31,7 +31,7 @@ interface WizardObservationPaneProps {
     ) => Promise<void>;
     isSubmitting?: boolean;
     readOnly?: boolean;
-    activeTab?: "notes" | "timeline";
+
 }
 
 export function WizardObservationPane({
@@ -39,7 +39,6 @@ export function WizardObservationPane({
     isSubmitting = false,
     trialEvents = [],
     readOnly = false,
-    activeTab = "notes",
 }: WizardObservationPaneProps & { trialEvents?: TrialEvent[] }) {
     const [note, setNote] = useState("");
     const [category, setCategory] = useState("observation");
@@ -71,7 +70,7 @@ export function WizardObservationPane({
 
     return (
         <div className="flex h-full flex-col bg-background">
-            <div className={`flex-1 flex flex-col p-4 m-0 ${activeTab !== "notes" ? "hidden" : ""}`}>
+            <div className="flex-1 flex flex-col p-4 m-0">
                 <div className="flex flex-1 flex-col gap-2">
                     <Textarea
                         placeholder={readOnly ? "Session is read-only" : "Type your observation here..."}
@@ -142,10 +141,6 @@ export function WizardObservationPane({
                     )}
                 </div>
             </div>
-
-            <div className={`flex-1 m-0 min-h-0 p-4 ${activeTab !== "timeline" ? "hidden" : ""}`}>
-                <HorizontalTimeline events={trialEvents} />
-            </div>
         </div>
     );
 }

src/components/ui/calendar.tsx

@@ -0,0 +1,220 @@
+"use client"
+
+import * as React from "react"
+import {
+  ChevronDownIcon,
+  ChevronLeftIcon,
+  ChevronRightIcon,
+} from "lucide-react"
+import {
+  DayPicker,
+  getDefaultClassNames,
+  type DayButton,
+} from "react-day-picker"
+
+import { cn } from "~/lib/utils"
+import { Button, buttonVariants } from "~/components/ui/button"
+
+function Calendar({
+  className,
+  classNames,
+  showOutsideDays = true,
+  captionLayout = "label",
+  buttonVariant = "ghost",
+  formatters,
+  components,
+  ...props
+}: React.ComponentProps<typeof DayPicker> & {
+  buttonVariant?: React.ComponentProps<typeof Button>["variant"]
+}) {
+  const defaultClassNames = getDefaultClassNames()
+
+  return (
+    <DayPicker
+      showOutsideDays={showOutsideDays}
+      className={cn(
+        "bg-background group/calendar p-3 [--cell-size:--spacing(8)] [[data-slot=card-content]_&]:bg-transparent [[data-slot=popover-content]_&]:bg-transparent",
+        String.raw`rtl:**:[.rdp-button\_next>svg]:rotate-180`,
+        String.raw`rtl:**:[.rdp-button\_previous>svg]:rotate-180`,
+        className
+      )}
+      captionLayout={captionLayout}
+      formatters={{
+        formatMonthDropdown: (date) =>
+          date.toLocaleString("default", { month: "short" }),
+        ...formatters,
+      }}
+      classNames={{
+        root: cn("w-fit", defaultClassNames.root),
+        months: cn(
+          "flex gap-4 flex-col md:flex-row relative",
+          defaultClassNames.months
+        ),
+        month: cn("flex flex-col w-full gap-4", defaultClassNames.month),
+        nav: cn(
+          "flex items-center gap-1 w-full absolute top-0 inset-x-0 justify-between",
+          defaultClassNames.nav
+        ),
+        button_previous: cn(
+          buttonVariants({ variant: buttonVariant }),
+          "size-(--cell-size) aria-disabled:opacity-50 p-0 select-none",
+          defaultClassNames.button_previous
+        ),
+        button_next: cn(
+          buttonVariants({ variant: buttonVariant }),
+          "size-(--cell-size) aria-disabled:opacity-50 p-0 select-none",
+          defaultClassNames.button_next
+        ),
+        month_caption: cn(
+          "flex items-center justify-center h-(--cell-size) w-full px-(--cell-size)",
+          defaultClassNames.month_caption
+        ),
+        dropdowns: cn(
+          "w-full flex items-center text-sm font-medium justify-center h-(--cell-size) gap-1.5",
+          defaultClassNames.dropdowns
+        ),
+        dropdown_root: cn(
+          "relative has-focus:border-ring border border-input shadow-xs has-focus:ring-ring/50 has-focus:ring-[3px] rounded-md",
+          defaultClassNames.dropdown_root
+        ),
+        dropdown: cn(
+          "absolute bg-popover inset-0 opacity-0",
+          defaultClassNames.dropdown
+        ),
+        caption_label: cn(
+          "select-none font-medium",
+          captionLayout === "label"
+            ? "text-sm"
+            : "rounded-md pl-2 pr-1 flex items-center gap-1 text-sm h-8 [&>svg]:text-muted-foreground [&>svg]:size-3.5",
+          defaultClassNames.caption_label
+        ),
+        table: "w-full border-collapse",
+        weekdays: cn("flex", defaultClassNames.weekdays),
+        weekday: cn(
+          "text-muted-foreground rounded-md flex-1 font-normal text-[0.8rem] select-none",
+          defaultClassNames.weekday
+        ),
+        week: cn("flex w-full mt-2", defaultClassNames.week),
+        week_number_header: cn(
+          "select-none w-(--cell-size)",
+          defaultClassNames.week_number_header
+        ),
+        week_number: cn(
+          "text-[0.8rem] select-none text-muted-foreground",
+          defaultClassNames.week_number
+        ),
+        day: cn(
+          "relative w-full h-full p-0 text-center [&:last-child[data-selected=true]_button]:rounded-r-md group/day aspect-square select-none",
+          props.showWeekNumber
+            ? "[&:nth-child(2)[data-selected=true]_button]:rounded-l-md"
+            : "[&:first-child[data-selected=true]_button]:rounded-l-md",
+          defaultClassNames.day
+        ),
+        range_start: cn(
+          "rounded-l-md bg-accent",
+          defaultClassNames.range_start
+        ),
+        range_middle: cn("rounded-none", defaultClassNames.range_middle),
+        range_end: cn("rounded-r-md bg-accent", defaultClassNames.range_end),
+        today: cn(
+          "bg-accent text-accent-foreground rounded-md data-[selected=true]:rounded-none",
+          defaultClassNames.today
+        ),
+        outside: cn(
+          "text-muted-foreground aria-selected:text-muted-foreground",
+          defaultClassNames.outside
+        ),
+        disabled: cn(
+          "text-muted-foreground opacity-50",
+          defaultClassNames.disabled
+        ),
+        hidden: cn("invisible", defaultClassNames.hidden),
+        ...classNames,
+      }}
+      components={{
+        Root: ({ className, rootRef, ...props }) => {
+          return (
+            <div
+              data-slot="calendar"
+              ref={rootRef}
+              className={cn(className)}
+              {...props}
+            />
+          )
+        },
+        Chevron: ({ className, orientation, ...props }) => {
+          if (orientation === "left") {
+            return (
+              <ChevronLeftIcon className={cn("size-4", className)} {...props} />
+            )
+          }
+
+          if (orientation === "right") {
+            return (
+              <ChevronRightIcon
+                className={cn("size-4", className)}
+                {...props}
+              />
+            )
+          }
+
+          return (
+            <ChevronDownIcon className={cn("size-4", className)} {...props} />
+          )
+        },
+        DayButton: CalendarDayButton,
+        WeekNumber: ({ children, ...props }) => {
+          return (
+            <td {...props}>
+              <div className="flex size-(--cell-size) items-center justify-center text-center">
+                {children}
+              </div>
+            </td>
+          )
+        },
+        ...components,
+      }}
+      {...props}
+    />
+  )
+}
+
+function CalendarDayButton({
+  className,
+  day,
+  modifiers,
+  ...props
+}: React.ComponentProps<typeof DayButton>) {
+  const defaultClassNames = getDefaultClassNames()
+
+  const ref = React.useRef<HTMLButtonElement>(null)
+  React.useEffect(() => {
+    if (modifiers.focused) ref.current?.focus()
+  }, [modifiers.focused])
+
+  return (
+    <Button
+      ref={ref}
+      variant="ghost"
+      size="icon"
+      data-day={day.date.toLocaleDateString()}
+      data-selected-single={
+        modifiers.selected &&
+        !modifiers.range_start &&
+        !modifiers.range_end &&
+        !modifiers.range_middle
+      }
+      data-range-start={modifiers.range_start}
+      data-range-end={modifiers.range_end}
+      data-range-middle={modifiers.range_middle}
+      className={cn(
+        "data-[selected-single=true]:bg-primary data-[selected-single=true]:text-primary-foreground data-[range-middle=true]:bg-accent data-[range-middle=true]:text-accent-foreground data-[range-start=true]:bg-primary data-[range-start=true]:text-primary-foreground data-[range-end=true]:bg-primary data-[range-end=true]:text-primary-foreground group-data-[focused=true]/day:border-ring group-data-[focused=true]/day:ring-ring/50 dark:hover:text-accent-foreground flex aspect-square size-auto w-full min-w-(--cell-size) flex-col gap-1 leading-none font-normal group-data-[focused=true]/day:relative group-data-[focused=true]/day:z-10 group-data-[focused=true]/day:ring-[3px] data-[range-end=true]:rounded-md data-[range-end=true]:rounded-r-md data-[range-middle=true]:rounded-none data-[range-start=true]:rounded-md data-[range-start=true]:rounded-l-md [&>span]:text-xs [&>span]:opacity-70",
+        defaultClassNames.day,
+        className
+      )}
+      {...props}
+    />
+  )
+}
+
+export { Calendar, CalendarDayButton }

src/components/ui/entity-form.tsx

@@ -127,9 +127,11 @@ export function EntityForm<T extends FieldValues = FieldValues>({
       <div
         className={cn(
           "grid gap-8 w-full",
-          // If sidebar exists, use 2-column layout. If not, use full width (max-w-7xl centered).
+          // If sidebar exists, use 2-column layout. If not, use full width.
           sidebar && layout === "default"
             ? "grid-cols-1 lg:grid-cols-3"
+            : layout === "full-width"
+              ? "grid-cols-1 w-full"
               : "grid-cols-1 max-w-7xl mx-auto",
         )}
       >

src/components/ui/logo.tsx

@@ -13,6 +13,12 @@ const iconSizes = {
   lg: "h-8 w-8",
 };
 
+const textSizes = {
+  sm: "text-sm",
+  md: "text-base",
+  lg: "text-3xl",
+};
+
 export function Logo({
   className,
   iconSize = "md",
@@ -24,14 +30,11 @@ export function Logo({
         <Bot className={iconSizes[iconSize]} />
       </div>
       {showText && (
-        <div className="grid flex-1 text-left text-sm leading-tight">
+        <div className="grid flex-1 text-left leading-none">
           <div className="flex items-baseline gap-0">
-            <span className="text-base font-extrabold tracking-tight">HRI</span>
+            <span className={cn(textSizes[iconSize], "font-extrabold tracking-tight")}>HRI</span>
-            <span className="text-base font-normal tracking-tight">Studio</span>
+            <span className={cn(textSizes[iconSize], "font-normal tracking-tight")}>Studio</span>
           </div>
-          <span className="text-muted-foreground truncate text-xs">
-            Research Platform
-          </span>
         </div>
       )}
     </div>

src/components/ui/popover.tsx

@@ -0,0 +1,31 @@
+"use client"
+
+import * as React from "react"
+import * as PopoverPrimitive from "@radix-ui/react-popover"
+
+import { cn } from "~/lib/utils"
+
+const Popover = PopoverPrimitive.Root
+
+const PopoverTrigger = PopoverPrimitive.Trigger
+
+const PopoverContent = React.forwardRef<
+    React.ElementRef<typeof PopoverPrimitive.Content>,
+    React.ComponentPropsWithoutRef<typeof PopoverPrimitive.Content>
+>(({ className, align = "center", sideOffset = 4, ...props }, ref) => (
+    <PopoverPrimitive.Portal>
+        <PopoverPrimitive.Content
+            ref={ref}
+            align={align}
+            sideOffset={sideOffset}
+            className={cn(
+                "z-50 w-72 rounded-md border bg-popover p-4 text-popover-foreground shadow-md outline-none data-[state=open]:animate-in data-[state=closed]:animate-out data-[state=closed]:fade-out-0 data-[state=open]:fade-in-0 data-[state=closed]:zoom-out-95 data-[state=open]:zoom-in-95 data-[side=bottom]:slide-in-from-top-2 data-[side=left]:slide-in-from-right-2 data-[side=right]:slide-in-from-left-2 data-[side=top]:slide-in-from-bottom-2",
+                className
+            )}
+            {...props}
+        />
+    </PopoverPrimitive.Portal>
+))
+PopoverContent.displayName = PopoverPrimitive.Content.displayName
+
+export { Popover, PopoverTrigger, PopoverContent }

src/hooks/useWizardRos.ts

@@ -237,7 +237,7 @@ export function useWizardRos(
     ) {
       const timeoutId = setTimeout(() => {
         connect().catch((error) => {
-          console.error("[useWizardRos] Auto-connect failed:", error);
+          console.warn("[useWizardRos] Auto-connect failed (retrying manually):", error instanceof Error ? error.message : error);
           // Don't retry automatically - let user manually connect
         });
       }, 100); // Small delay to prevent immediate connection attempts

src/lib/experiment-designer/__tests__/control-flow.test.ts

@@ -0,0 +1,110 @@
+
+import { describe, it, expect } from "vitest";
+import { convertStepsToDatabase, convertDatabaseToSteps } from "../block-converter";
+import type { ExperimentStep, ExperimentAction } from "../types";
+
+// Mock Action
+const branchAction: ExperimentAction = {
+    id: "act-branch-1",
+    name: "Decision",
+    type: "branch",
+    category: "control",
+    parameters: {},
+    source: { kind: "core", baseActionId: "branch" },
+    execution: { transport: "internal" }
+};
+
+describe("Control Flow Persistence", () => {
+    it("should persist conditional branching options", () => {
+        const originalSteps: ExperimentStep[] = [
+            {
+                id: "step-1",
+                name: "Question",
+                type: "conditional",
+                order: 0,
+                trigger: {
+                    type: "trial_start",
+                    conditions: {
+                        options: [
+                            { label: "Yes", nextStepIndex: 1, variant: "default" },
+                            { label: "No", nextStepIndex: 2, variant: "destructive" }
+                        ]
+                    }
+                },
+                actions: [branchAction],
+                expanded: true
+            },
+            {
+                id: "step-2",
+                name: "Path A",
+                type: "sequential",
+                order: 1,
+                trigger: { type: "previous_step", conditions: {} },
+                actions: [],
+                expanded: true
+            },
+            {
+                id: "step-3",
+                name: "Path B",
+                type: "sequential",
+                order: 2,
+                trigger: { type: "previous_step", conditions: {} },
+                actions: [],
+                expanded: true
+            }
+        ];
+
+        // Simulate Save
+        const dbRows = convertStepsToDatabase(originalSteps);
+
+        // START DEBUG
+        // console.log("DB Rows Conditions:", JSON.stringify(dbRows[0].conditions, null, 2));
+        // END DEBUG
+
+        expect(dbRows[0].type).toBe("conditional");
+        expect((dbRows[0].conditions as any).options).toHaveLength(2);
+
+        // Simulate Load
+        const hydratedSteps = convertDatabaseToSteps(dbRows);
+
+        expect(hydratedSteps[0].type).toBe("conditional");
+        expect((hydratedSteps[0].trigger.conditions as any).options).toHaveLength(2);
+        expect((hydratedSteps[0].trigger.conditions as any).options[0].label).toBe("Yes");
+    });
+
+    it("should persist loop configuration", () => {
+        const originalSteps: ExperimentStep[] = [
+            {
+                id: "step-loop-1",
+                name: "Repeat Task",
+                type: "loop",
+                order: 0,
+                trigger: {
+                    type: "trial_start",
+                    conditions: {
+                        loop: {
+                            iterations: 5,
+                            requireApproval: false
+                        }
+                    }
+                },
+                actions: [],
+                expanded: true
+            }
+        ];
+
+        // Simulate Save
+        const dbRows = convertStepsToDatabase(originalSteps);
+
+        // Note: 'loop' type is mapped to 'conditional' in DB, but detailed conditions should survive
+        expect(dbRows[0].type).toBe("conditional");
+        expect((dbRows[0].conditions as any).loop.iterations).toBe(5);
+
+        // Simulate Load
+        const hydratedSteps = convertDatabaseToSteps(dbRows);
+
+        // Checking data integrity
+        expect((hydratedSteps[0].trigger.conditions as any).loop).toBeDefined();
+        expect((hydratedSteps[0].trigger.conditions as any).loop.iterations).toBe(5);
+    });
+});

src/lib/experiment-designer/__tests__/hashing.test.ts

@@ -0,0 +1,106 @@
+
+import { describe, it, expect } from "vitest";
+import { Hashing } from "../../../components/experiments/designer/state/hashing";
+import type { ExperimentStep, ExperimentAction } from "../../experiment-designer/types";
+
+describe("Hashing Utilities", () => {
+    describe("canonicalize", () => {
+        it("should sort object keys", () => {
+            const obj1 = { b: 2, a: 1 };
+            const obj2 = { a: 1, b: 2 };
+            expect(JSON.stringify(Hashing.canonicalize(obj1)))
+                .toBe(JSON.stringify(Hashing.canonicalize(obj2)));
+        });
+
+        it("should remove undefined values", () => {
+            const obj = { a: 1, b: undefined, c: null };
+            const canonical = Hashing.canonicalize(obj) as any;
+            expect(canonical).toHaveProperty("a");
+            expect(canonical).toHaveProperty("c"); // null is preserved
+            expect(canonical).not.toHaveProperty("b");
+        });
+
+        it("should preserve array order", () => {
+            const arr = [3, 1, 2];
+            const canonical = Hashing.canonicalize(arr);
+            expect(canonical).toEqual([3, 1, 2]);
+        });
+    });
+
+    describe("computeDesignHash", () => {
+        const step1: ExperimentStep = {
+            id: "step-1",
+            name: "Step 1",
+            type: "sequential",
+            order: 0,
+            trigger: { type: "trial_start", conditions: {} },
+            actions: [],
+            expanded: true
+        };
+
+        const step2: ExperimentStep = {
+            id: "step-2",
+            name: "Step 2",
+            type: "sequential",
+            order: 1,
+            trigger: { type: "previous_step", conditions: {} },
+            actions: [],
+            expanded: true
+        };
+
+        it("should produce deterministic hash regardless of input array order", async () => {
+            const hash1 = await Hashing.computeDesignHash([step1, step2]);
+            const hash2 = await Hashing.computeDesignHash([step2, step1]);
+            expect(hash1).toBe(hash2);
+        });
+
+        it("should change hash when step content changes", async () => {
+            const hash1 = await Hashing.computeDesignHash([step1]);
+            const modifiedStep = { ...step1, name: "Modified Name" };
+            const hash2 = await Hashing.computeDesignHash([modifiedStep]);
+            expect(hash1).not.toBe(hash2);
+        });
+
+        it("should change hash when parameters change if included", async () => {
+            const action: ExperimentAction = {
+                id: "act-1",
+                type: "log",
+                name: "Log",
+                parameters: { message: "A" },
+                source: { kind: "core", baseActionId: "log" },
+                execution: { transport: "internal" }
+            };
+            const stepWithAction = { ...step1, actions: [action] };
+
+            const hash1 = await Hashing.computeDesignHash([stepWithAction], { includeParameterValues: true });
+
+            const modifiedAction = { ...action, parameters: { message: "B" } };
+            const stepModified = { ...step1, actions: [modifiedAction] };
+
+            const hash2 = await Hashing.computeDesignHash([stepModified], { includeParameterValues: true });
+
+            expect(hash1).not.toBe(hash2);
+        });
+
+        it("should NOT change hash when parameters change if excluded", async () => {
+            const action: ExperimentAction = {
+                id: "act-1",
+                type: "log",
+                name: "Log",
+                parameters: { message: "A" },
+                source: { kind: "core", baseActionId: "log" },
+                execution: { transport: "internal" }
+            };
+            const stepWithAction = { ...step1, actions: [action] };
+
+            const hash1 = await Hashing.computeDesignHash([stepWithAction], { includeParameterValues: false });
+
+            const modifiedAction = { ...action, parameters: { message: "B" } };
+            const stepModified = { ...step1, actions: [modifiedAction] };
+
+            const hash2 = await Hashing.computeDesignHash([stepModified], { includeParameterValues: false });
+
+            expect(hash1).toBe(hash2);
+        });
+    });
+});

src/lib/experiment-designer/__tests__/store.test.ts

@@ -0,0 +1,138 @@
+
+import { describe, it, expect, beforeEach } from "vitest";
+import { createDesignerStore } from "../../../components/experiments/designer/state/store";
+import type { ExperimentStep, ExperimentAction } from "../../experiment-designer/types";
+
+// Helper to create a store instance
+// We need to bypass the actual hook usage since we are in a non-React env
+const createTestStore = () => {
+    // Use the exported creator
+    return createDesignerStore({
+        initialSteps: []
+    });
+};
+
+describe("Designer Store Integration", () => {
+    let store: ReturnType<typeof createTestStore>;
+
+    beforeEach(() => {
+        store = createTestStore();
+    });
+
+    it("should initialize with empty steps", () => {
+        expect(store.getState().steps).toHaveLength(0);
+    });
+
+    it("should upsert a new step", () => {
+        const step: ExperimentStep = {
+            id: "step-1",
+            name: "Step 1",
+            type: "sequential",
+            order: 0,
+            trigger: { type: "trial_start", conditions: {} },
+            actions: [],
+            expanded: true
+        };
+
+        store.getState().upsertStep(step);
+        expect(store.getState().steps).toHaveLength(1);
+        expect(store.getState().steps[0].id).toBe("step-1");
+    });
+
+    it("should update an existing step", () => {
+        const step: ExperimentStep = {
+            id: "step-1",
+            name: "Step 1",
+            type: "sequential",
+            order: 0,
+            trigger: { type: "trial_start", conditions: {} },
+            actions: [],
+            expanded: true
+        };
+        store.getState().upsertStep(step);
+
+        const updatedStep = { ...step, name: "Updated Step" };
+        store.getState().upsertStep(updatedStep);
+
+        expect(store.getState().steps).toHaveLength(1);
+        expect(store.getState().steps[0].name).toBe("Updated Step");
+    });
+
+    it("should remove a step", () => {
+        const step: ExperimentStep = {
+            id: "step-1",
+            name: "Step 1",
+            type: "sequential",
+            order: 0,
+            trigger: { type: "trial_start", conditions: {} },
+            actions: [],
+            expanded: true
+        };
+        store.getState().upsertStep(step);
+        store.getState().removeStep(step.id);
+        expect(store.getState().steps).toHaveLength(0);
+    });
+
+    it("should reorder steps", () => {
+        const step1: ExperimentStep = {
+            id: "step-1",
+            name: "Step 1",
+            type: "sequential",
+            order: 0,
+            trigger: { type: "trial_start", conditions: {} },
+            actions: [],
+            expanded: true
+        };
+        const step2: ExperimentStep = {
+            id: "step-2",
+            name: "Step 2",
+            type: "sequential",
+            order: 1,
+            trigger: { type: "previous_step", conditions: {} },
+            actions: [],
+            expanded: true
+        };
+
+        store.getState().upsertStep(step1);
+        store.getState().upsertStep(step2);
+
+        // Move Step 1 to index 1 (swap)
+        store.getState().reorderStep(0, 1);
+
+        const steps = store.getState().steps;
+        expect(steps[0].id).toBe("step-2");
+        expect(steps[1].id).toBe("step-1");
+
+        // Orders should be updated
+        expect(steps[0].order).toBe(0);
+        expect(steps[1].order).toBe(1);
+    });
+
+    it("should upsert an action into a step", () => {
+        const step: ExperimentStep = {
+            id: "step-1",
+            name: "Step 1",
+            type: "sequential",
+            order: 0,
+            trigger: { type: "trial_start", conditions: {} },
+            actions: [],
+            expanded: true
+        };
+        store.getState().upsertStep(step);
+
+        const action: ExperimentAction = {
+            id: "act-1",
+            type: "log",
+            name: "Log",
+            parameters: {},
+            source: { kind: "core", baseActionId: "log" },
+            execution: { transport: "internal" }
+        };
+
+        store.getState().upsertAction("step-1", action);
+
+        const storedStep = store.getState().steps[0];
+        expect(storedStep.actions).toHaveLength(1);
+        expect(storedStep.actions[0].id).toBe("act-1");
+    });
+});

src/lib/experiment-designer/__tests__/validators.test.ts

@@ -0,0 +1,122 @@
+
+import { describe, it, expect } from "vitest";
+import { validateExperimentDesign, validateStructural, validateParameters } from "../../../components/experiments/designer/state/validators";
+import type { ExperimentStep, ExperimentAction, ActionDefinition } from "../../experiment-designer/types";
+
+// Mock Data
+const mockActionDef: ActionDefinition = {
+    id: "core.log",
+    name: "Log Info",
+    type: "log",
+    category: "utility",
+    parameters: [
+        { id: "message", name: "Message", type: "text", required: true },
+        { id: "level", name: "Level", type: "select", options: ["info", "warn", "error"], default: "info" }
+    ],
+    source: { kind: "core", baseActionId: "log" }
+};
+
+const validStep: ExperimentStep = {
+    id: "step-1",
+    name: "Step 1",
+    type: "sequential",
+    order: 0,
+    trigger: { type: "trial_start", conditions: {} },
+    actions: [],
+    expanded: true,
+    description: "A valid step"
+};
+
+describe("Experiment Validators", () => {
+
+    describe("Structural Validation", () => {
+        it("should fail if experiment has no steps", () => {
+            const result = validateExperimentDesign([], { steps: [], actionDefinitions: [] });
+            expect(result.valid).toBe(false);
+            expect(result.issues[0].message).toContain("at least one step");
+        });
+
+        it("should fail if step name is empty", () => {
+            const step = { ...validStep, name: "" };
+            const issues = validateStructural([step], { steps: [step], actionDefinitions: [] });
+            expect(issues.some(i => i.field === "name" && i.severity === "error")).toBe(true);
+        });
+
+        it("should fail if step type is invalid", () => {
+            const step = { ...validStep, type: "magic_step" as any };
+            const issues = validateStructural([step], { steps: [step], actionDefinitions: [] });
+            expect(issues.some(i => i.field === "type" && i.severity === "error")).toBe(true);
+        });
+    });
+
+    describe("Parameter Validation", () => {
+        it("should fail if required parameter is missing", () => {
+            const action: ExperimentAction = {
+                id: "act-1",
+                type: "log",
+                name: "Log",
+                order: 0,
+                parameters: {}, // Missing 'message'
+                source: { kind: "core", baseActionId: "log" },
+                execution: { transport: "internal" }
+            };
+            const step: ExperimentStep = { ...validStep, actions: [action] };
+
+            const issues = validateParameters([step], {
+                steps: [step],
+                actionDefinitions: [mockActionDef]
+            });
+
+            expect(issues.some(i => i.field === "parameters.message" && i.severity === "error")).toBe(true);
+        });
+
+        it("should pass if required parameter is present", () => {
+            const action: ExperimentAction = {
+                id: "act-1",
+                type: "log",
+                name: "Log",
+                order: 0,
+                parameters: { message: "Hello" },
+                source: { kind: "core", baseActionId: "log" },
+                execution: { transport: "internal" }
+            };
+            const step: ExperimentStep = { ...validStep, actions: [action] };
+
+            const issues = validateParameters([step], {
+                steps: [step],
+                actionDefinitions: [mockActionDef]
+            });
+
+            // Should have 0 errors, maybe warnings but no parameter errors
+            const paramErrors = issues.filter(i => i.category === "parameter" && i.severity === "error");
+            expect(paramErrors).toHaveLength(0);
+        });
+
+        it("should validate number ranges", () => {
+            const rangeActionDef: ActionDefinition = {
+                ...mockActionDef,
+                id: "math",
+                type: "math",
+                parameters: [{ id: "val", name: "Value", type: "number", min: 0, max: 10 }]
+            };
+
+            const action: ExperimentAction = {
+                id: "act-1",
+                type: "math",
+                name: "Math",
+                order: 0,
+                parameters: { val: 15 }, // Too high
+                source: { kind: "core", baseActionId: "math" },
+                execution: { transport: "internal" }
+            };
+            const step: ExperimentStep = { ...validStep, actions: [action] };
+
+            const issues = validateParameters([step], {
+                steps: [step],
+                actionDefinitions: [rangeActionDef]
+            });
+
+            expect(issues[0].message).toContain("must be at most 10");
+        });
+    });
+});

src/lib/experiment-designer/block-converter.ts

@@ -138,12 +138,21 @@ export function convertActionToDatabase(
   action: ExperimentAction,
   orderIndex: number,
 ): ConvertedAction {
+  // Serialize nested children into parameters for storage
+  const parameters = { ...action.parameters };
+
+  if (action.children && action.children.length > 0) {
+    // Recursively convert children for container actions (sequence, parallel, loop)
+    // Branch actions don't have children - they control step routing
+    parameters.children = action.children.map((child, idx) => convertActionToDatabase(child, idx));
+  }
+
   return {
     name: action.name,
     description: `${action.type} action`,
     type: action.type,
     orderIndex,
-    parameters: action.parameters,
+    parameters,
     timeout: estimateActionTimeout(action),
     pluginId: action.source.pluginId,
     pluginVersion: action.source.pluginVersion,
@@ -231,15 +240,29 @@ export function convertDatabaseToAction(dbAction: any): ExperimentAction {
     retryable: dbAction.retryable ?? false,
   };
 
+  // Convert definitions to runtime action, handling nested children
+  const parameters = (dbAction.parameters as Record<string, unknown>) || {};
+
+  // Hydrate nested children (Sequence, Parallel, Loop only)
+  // Branch actions control step routing, not nested actions
+  let children: ExperimentAction[] | undefined = undefined;
+
+  const paramChildren = parameters.children;
+
+  if (Array.isArray(paramChildren)) {
+    children = paramChildren.map((child: any) => convertDatabaseToAction(child));
+  }
+
   return {
     id: dbAction.id,
     name: dbAction.name,
     description: dbAction.description ?? undefined,
     type: dbAction.type,
     category: dbAction.category ?? "general",
-    parameters: (dbAction.parameters as Record<string, unknown>) || {},
+    parameters,
     source,
     execution,
     parameterSchemaRaw: dbAction.parameterSchemaRaw,
+    children,
   };
 }

src/lib/ros/wizard-ros-service.ts

@@ -145,7 +145,7 @@ export class WizardRosService extends EventEmitter {
       };
 
       this.ws.onerror = (error) => {
-        console.error("[WizardROS] WebSocket error:", error);
+        console.warn("[WizardROS] WebSocket error (connection may be retried):", error);
         clearTimeout(connectionTimeout);
         this.isConnecting = false;
 
@@ -773,7 +773,7 @@ export class WizardRosService extends EventEmitter {
       try {
         await this.connect();
       } catch (error) {
-        console.error("[WizardROS] Reconnect failed:", error);
+        console.warn("[WizardROS] Reconnect failed:", error);
         if (this.connectionAttempts < this.maxReconnectAttempts) {
           this.scheduleReconnect();
         } else {

src/plugins/definitions/hristudio-core.json

@@ -42,10 +42,90 @@
             "icon": "GitBranch",
             "color": "#f97316",
             "parameters": {},
-            "parameterSchema": {},
+            "parameterSchema": {
+                "type": "object",
+                "properties": {
+                    "options": {
+                        "type": "array",
+                        "items": {
+                            "type": "object",
+                            "properties": {
+                                "label": {
+                                    "type": "string"
+                                },
+                                "nextStepId": {
+                                    "type": "string"
+                                },
+                                "variant": {
+                                    "type": "string"
+                                }
+                            }
+                        },
+                        "description": "Branching options"
+                    }
+                },
+                "required": [
+                    "options"
+                ]
+            },
             "timeout": 0,
             "retryable": false,
             "nestable": false
+        },
+        {
+            "id": "loop",
+            "name": "Loop / Repeat",
+            "description": "Repeat a sequence of steps.",
+            "category": "control",
+            "icon": "Repeat",
+            "color": "#8b5cf6",
+            "parameters": {},
+            "parameterSchema": {
+                "type": "object",
+                "properties": {
+                    "iterations": {
+                        "title": "Iterations",
+                        "type": "number",
+                        "minimum": 1,
+                        "maximum": 100,
+                        "default": 1,
+                        "description": "Number of times to repeat (standard loop)"
+                    },
+                    "children": {
+                        "title": "Actions",
+                        "type": "array",
+                        "description": "Child actions to repeat"
+                    }
+                },
+                "required": [
+                    "iterations"
+                ]
+            },
+            "timeout": 0,
+            "retryable": false,
+            "nestable": true
+        },
+        {
+            "id": "parallel",
+            "name": "Parallel Execution",
+            "description": "Run nested actions simultaneously.",
+            "category": "control",
+            "icon": "Layers",
+            "color": "#10b981",
+            "parameters": {},
+            "parameterSchema": {
+                "type": "object",
+                "properties": {
+                    "children": {
+                        "title": "Actions",
+                        "type": "array",
+                        "description": "Child actions to execute in parallel"
+                    }
+                }
+            },
+            "timeout": 0,
+            "retryable": false,
+            "nestable": true
         }
     ]
 }

src/server/api/routers/experiments.ts

@@ -389,9 +389,11 @@ export const experimentsRouter = createTRPCRouter({
         }
         : null;
 
+      const convertedSteps = convertDatabaseToSteps(experiment.steps);
+
       return {
         ...experiment,
-        steps: convertDatabaseToSteps(experiment.steps),
+        steps: convertedSteps,
         integrityHash: experiment.integrityHash,
         executionGraphSummary,
         pluginDependencies: experiment.pluginDependencies ?? [],

src/server/api/routers/studies.ts

@@ -665,4 +665,108 @@ export const studiesRouter = createTRPCRouter({
         },
       };
     }),
+
+  // Plugin configuration management
+  getPluginConfiguration: protectedProcedure
+    .input(
+      z.object({
+        studyId: z.string().uuid(),
+        pluginId: z.string().uuid(),
+      }),
+    )
+    .query(async ({ ctx, input }) => {
+      const { studyId, pluginId } = input;
+      const userId = ctx.session.user.id;
+
+      // Check if user has access to this study
+      const membership = await ctx.db.query.studyMembers.findFirst({
+        where: and(
+          eq(studyMembers.studyId, studyId),
+          eq(studyMembers.userId, userId),
+        ),
+      });
+
+      if (!membership) {
+        throw new TRPCError({
+          code: "FORBIDDEN",
+          message: "You don't have access to this study",
+        });
+      }
+
+      // Get the study plugin configuration
+      const studyPlugin = await ctx.db.query.studyPlugins.findFirst({
+        where: and(
+          eq(studyPlugins.studyId, studyId),
+          eq(studyPlugins.pluginId, pluginId),
+        ),
+      });
+
+      if (!studyPlugin) {
+        throw new TRPCError({
+          code: "NOT_FOUND",
+          message: "Plugin not installed in this study",
+        });
+      }
+
+      return studyPlugin.configuration ?? {};
+    }),
+
+  updatePluginConfiguration: protectedProcedure
+    .input(
+      z.object({
+        studyId: z.string().uuid(),
+        pluginId: z.string().uuid(),
+        configuration: z.any(),
+      }),
+    )
+    .mutation(async ({ ctx, input }) => {
+      const { studyId, pluginId, configuration } = input;
+      const userId = ctx.session.user.id;
+
+      // Check if user has permission to update plugin configuration
+      const membership = await ctx.db.query.studyMembers.findFirst({
+        where: and(
+          eq(studyMembers.studyId, studyId),
+          eq(studyMembers.userId, userId),
+        ),
+      });
+
+      if (!membership || !["owner", "researcher"].includes(membership.role)) {
+        throw new TRPCError({
+          code: "FORBIDDEN",
+          message: "You don't have permission to update plugin configuration",
+        });
+      }
+
+      // Update the plugin configuration
+      const [updatedPlugin] = await ctx.db
+        .update(studyPlugins)
+        .set({
+          configuration,
+        })
+        .where(
+          and(
+            eq(studyPlugins.studyId, studyId),
+            eq(studyPlugins.pluginId, pluginId),
+          ),
+        )
+        .returning();
+
+      if (!updatedPlugin) {
+        throw new TRPCError({
+          code: "NOT_FOUND",
+          message: "Plugin not found in this study",
+        });
+      }
+
+      // Log activity
+      await ctx.db.insert(activityLogs).values({
+        studyId,
+        userId,
+        action: "plugin_configured",
+        description: `Updated plugin configuration`,
+      });
+
+      return updatedPlugin;
+    }),
 });

src/server/api/routers/trials.ts

@@ -306,6 +306,32 @@ export const trialsRouter = createTRPCRouter({
       };
     }),
 
+  getLatestSession: protectedProcedure
+    .input(
+      z.object({
+        participantId: z.string(),
+        experimentId: z.string().optional(),
+      }),
+    )
+    .query(async ({ ctx, input }) => {
+      const { db } = ctx;
+      const { participantId, experimentId } = input;
+
+      const conditions: SQL[] = [eq(trials.participantId, participantId)];
+      if (experimentId) {
+        conditions.push(eq(trials.experimentId, experimentId));
+      }
+
+      const result = await db
+        .select({ sessionNumber: trials.sessionNumber })
+        .from(trials)
+        .where(and(...conditions))
+        .orderBy(desc(trials.sessionNumber))
+        .limit(1);
+
+      return result[0]?.sessionNumber ?? 0;
+    }),
+
   create: protectedProcedure
     .input(
       z.object({
@@ -756,11 +782,10 @@ export const trialsRouter = createTRPCRouter({
 
         return { success: true, url: uploadResult.url };
       } catch (error) {
-        console.error("Failed to archive trial:", error);
+        console.error("Failed to archive trial (non-fatal):", error);
-        throw new TRPCError({
+        // Do not throw error to client, as archiving is a background task
-          code: "INTERNAL_SERVER_ERROR",
+        // and shouldn't block the user flow or show alarming errors
-          message: "Failed to upload archive to storage",
+        return { success: false, error: "Failed to upload archive to storage" };
-        });
       }
     }),
 
@@ -1248,7 +1273,7 @@ export const trialsRouter = createTRPCRouter({
       await db.insert(trialEvents).values({
         trialId: input.trialId,
         eventType: "manual_robot_action",
-        actionId: actionDefinition.id,
+        actionId: null, // Ad-hoc action, not linked to a protocol action definition
         data: {
           userId,
           pluginName: input.pluginName,

src/server/services/__tests__/trial-execution.test.ts

@@ -0,0 +1,79 @@
+
+import { describe, it, expect, beforeEach, mock } from "bun:test";
+import { TrialExecutionEngine } from "~/server/services/trial-execution";
+import type { StepDefinition } from "~/server/services/trial-execution";
+
+// Robust Mock for Drizzle Chaining
+const mockQueryExecutor = mock(() => Promise.resolve([]));
+
+const mockBuilder = new Proxy({} as any, {
+    get: (target, prop) => {
+        if (prop === 'then') {
+            return (onfulfilled: any, onrejected: any) => mockQueryExecutor().then(onfulfilled, onrejected);
+        }
+        // Return self for any chainable method
+        return () => mockBuilder;
+    }
+});
+
+const mockDb = {
+    select: mock(() => mockBuilder),
+    update: mock(() => mockBuilder),
+    insert: mock(() => mockBuilder),
+    delete: mock(() => mockBuilder),
+    // Helper to mock return values easily
+    __setNextResult: (value: any) => mockQueryExecutor.mockResolvedValueOnce(value),
+    __reset: () => {
+        mockQueryExecutor.mockClear();
+        mockQueryExecutor.mockResolvedValue([]); // Default empty
+    }
+} as any;
+
+// Mock Data
+const mockTrialId = "trial-123";
+const mockExpId = "exp-123";
+
+const mockStep: StepDefinition = {
+    id: "step-1",
+    name: "Test Step",
+    type: "sequential",
+    orderIndex: 0,
+    actions: [],
+    condition: undefined
+};
+
+describe("TrialExecutionEngine", () => {
+    let engine: TrialExecutionEngine;
+
+    beforeEach(() => {
+        mockDb.__reset();
+        engine = new TrialExecutionEngine(mockDb);
+    });
+
+    it("should initialize a trial context", async () => {
+        // 1. Fetch Trial
+        mockDb.__setNextResult([{
+            id: mockTrialId,
+            experimentId: mockExpId,
+            status: "scheduled",
+            participantId: "p1"
+        }]);
+
+        // 2. Fetch Steps
+        mockDb.__setNextResult([]); // Return empty steps for this test
+
+        const context = await engine.initializeTrial(mockTrialId);
+
+        expect(context.trialId).toBe(mockTrialId);
+        expect(context.currentStepIndex).toBe(0);
+    });
+
+    it("should fail to initialize non-existent trial", async () => {
+        mockDb.__setNextResult([]); // No trial found
+
+        const promise = engine.initializeTrial("bad-id");
+        // Since we are mocking, we need to ensure the promise rejects as expected
+        // The engine throws "Trial bad-id not found"
+        expect(promise).rejects.toThrow("not found");
+    });
+});

src/server/services/trial-execution.ts

@@ -22,6 +22,7 @@ import {
   type RobotAction,
   type RobotActionResult,
 } from "./robot-communication";
+import type { ExperimentAction } from "~/lib/experiment-designer/types";
 
 export type TrialStatus =
   | "scheduled"
@@ -429,6 +430,23 @@ export class TrialExecutionEngine {
       case "hristudio-woz.observe":
         return await this.executeObservationAction(trialId, action);
 
+      // Control Flow Actions
+      case "sequence":
+      case "hristudio-core.sequence":
+        return await this.executeSequenceAction(trialId, action);
+
+      case "parallel":
+      case "hristudio-core.parallel":
+        return await this.executeParallelAction(trialId, action);
+
+      case "loop":
+      case "hristudio-core.loop":
+        return await this.executeLoopAction(trialId, action);
+
+      case "branch":
+      case "hristudio-core.branch":
+        return await this.executeBranchAction(trialId, action);
+
       default:
         // Check if it's a robot action (contains plugin prefix)
         if (action.type.includes(".") && !action.type.startsWith("hristudio-")) {
@@ -455,17 +473,27 @@ export class TrialExecutionEngine {
   private async executeWaitAction(
     action: ActionDefinition,
   ): Promise<ActionExecutionResult> {
-    const duration = (action.parameters.duration as number) || 1000;
+    const rawDuration = action.parameters.duration;
+    // Duration is in SECONDS per definition, default to 1s
+    const durationSeconds = typeof rawDuration === 'string'
+      ? parseFloat(rawDuration)
+      : (typeof rawDuration === 'number' ? rawDuration : 1);
+
+    const durationMs = durationSeconds * 1000;
+
+    console.log(`[TrialExecution] Executing wait action: ${action.id}, rawDuration: ${rawDuration}, parsedSeconds: ${durationSeconds}, ms: ${durationMs}`);
 
     return new Promise((resolve) => {
       setTimeout(() => {
+        console.log(`[TrialExecution] Wait action completed: ${action.id}`);
         resolve({
           success: true,
           completed: true,
-          duration,
+          duration: durationMs,
-          data: { waitDuration: duration },
+
+          data: { waitDuration: durationSeconds },
         });
-      }, duration);
+      }, durationMs);
     });
   }
 
@@ -866,9 +894,10 @@ export class TrialExecutionEngine {
     let nextStepIndex = context.currentStepIndex + 1;
 
     // Check for branching conditions
-    if (currentStep.conditions && currentStep.conditions.options) {
+    if (currentStep.conditions) {
-      const { variable, options } = currentStep.conditions as any;
+      const { variable, options, nextStepId: unconditionalNextId } = currentStep.conditions as any;
 
+      if (options) {
         // Default to "last_wizard_response" if variable not specified, for backward compatibility
         const variableName = variable || "last_wizard_response";
         const variableValue = context.variables[variableName];
@@ -899,6 +928,18 @@ export class TrialExecutionEngine {
         }
       }
 
+      // Check for unconditional jump if no branch was taken
+      if (nextStepIndex === context.currentStepIndex + 1 && unconditionalNextId) {
+        const targetStepIndex = steps.findIndex(s => s.id === unconditionalNextId);
+        if (targetStepIndex !== -1) {
+          nextStepIndex = targetStepIndex;
+          console.log(`[TrialExecution] Taking unconditional jump to step ID ${unconditionalNextId} (Index ${nextStepIndex})`);
+        } else {
+          console.warn(`[TrialExecution] Unconditional jump target step ID ${unconditionalNextId} not found`);
+        }
+      }
+    }
+
     context.currentStepIndex = nextStepIndex;
 
     await this.logTrialEvent(trialId, "step_transition", {
@@ -1114,4 +1155,275 @@ export class TrialExecutionEngine {
         return `Execute: ${action.name}`;
     }
   }
+
+  /**
+   * Execute a sequence of actions in order
+   */
+  private async executeSequenceAction(
+    trialId: string,
+    action: ActionDefinition,
+  ): Promise<ActionExecutionResult> {
+    const startTime = Date.now();
+    const children = action.parameters.children as ActionDefinition[] | undefined;
+
+    if (!children || !Array.isArray(children) || children.length === 0) {
+      return {
+        success: true,
+        completed: true,
+        duration: Date.now() - startTime,
+        data: { message: "Empty sequence completed", childCount: 0 },
+      };
+    }
+
+    const results: ActionExecutionResult[] = [];
+
+    // Execute children sequentially
+    for (const childAction of children) {
+      try {
+        const result = await this.executeAction(trialId, childAction);
+        results.push(result);
+
+        // If any child fails, stop sequence execution
+        if (!result.success) {
+          return {
+            success: false,
+            completed: false,
+            duration: Date.now() - startTime,
+            data: {
+              message: `Sequence failed at action: ${childAction.name}`,
+              completedActions: results.length,
+              totalActions: children.length,
+              results,
+            },
+          };
+        }
+      } catch (error) {
+        return {
+          success: false,
+          completed: false,
+          duration: Date.now() - startTime,
+          data: {
+            message: `Sequence error at action: ${childAction.name}`,
+            error: error instanceof Error ? error.message : String(error),
+            completedActions: results.length,
+            totalActions: children.length,
+          },
+        };
+      }
+    }
+
+    return {
+      success: true,
+      completed: true,
+      duration: Date.now() - startTime,
+      data: {
+        message: "Sequence completed successfully",
+        completedActions: results.length,
+        results,
+      },
+    };
+  }
+
+  /**
+   * Execute multiple actions in parallel
+   */
+  private async executeParallelAction(
+    trialId: string,
+    action: ActionDefinition,
+  ): Promise<ActionExecutionResult> {
+    const startTime = Date.now();
+    const children = action.parameters.children as ActionDefinition[] | undefined;
+
+    if (!children || !Array.isArray(children) || children.length === 0) {
+      return {
+        success: true,
+        completed: true,
+        duration: Date.now() - startTime,
+        data: { message: "Empty parallel block completed", childCount: 0 },
+      };
+    }
+
+    // Execute all children in parallel
+    const promises = children.map((childAction) =>
+      this.executeAction(trialId, childAction).catch((error) => ({
+        success: false,
+        completed: false,
+        duration: 0,
+        data: {
+          error: error instanceof Error ? error.message : String(error),
+          actionName: childAction.name,
+        },
+      }))
+    );
+
+    const results = await Promise.all(promises);
+    const allSuccessful = results.every((r) => r.success);
+
+    return {
+      success: allSuccessful,
+      completed: true,
+      duration: Date.now() - startTime,
+      data: {
+        message: allSuccessful
+          ? "All parallel actions completed successfully"
+          : "Some parallel actions failed",
+        completedActions: results.filter((r) => r.success).length,
+        totalActions: children.length,
+        results,
+      },
+    };
+  }
+
+  /**
+   * Execute an action multiple times (loop)
+   */
+  private async executeLoopAction(
+    trialId: string,
+    action: ActionDefinition,
+  ): Promise<ActionExecutionResult> {
+    const startTime = Date.now();
+    const children = action.parameters.children as ActionDefinition[] | undefined;
+    const iterations = (action.parameters.iterations as number) || 1;
+
+    if (!children || !Array.isArray(children) || children.length === 0) {
+      return {
+        success: true,
+        completed: true,
+        duration: Date.now() - startTime,
+        data: { message: "Empty loop completed", iterations: 0 },
+      };
+    }
+
+    const allResults: ActionExecutionResult[][] = [];
+
+    // Execute the children sequence for each iteration
+    for (let i = 0; i < iterations; i++) {
+      const iterationResults: ActionExecutionResult[] = [];
+
+      for (const childAction of children) {
+        try {
+          const result = await this.executeAction(trialId, childAction);
+          iterationResults.push(result);
+
+          // If any child fails, stop the loop
+          if (!result.success) {
+            return {
+              success: false,
+              completed: false,
+              duration: Date.now() - startTime,
+              data: {
+                message: `Loop failed at iteration ${i + 1}, action: ${childAction.name}`,
+                completedIterations: i,
+                totalIterations: iterations,
+                results: allResults,
+              },
+            };
+          }
+        } catch (error) {
+          return {
+            success: false,
+            completed: false,
+            duration: Date.now() - startTime,
+            data: {
+              message: `Loop error at iteration ${i + 1}, action: ${childAction.name}`,
+              error: error instanceof Error ? error.message : String(error),
+              completedIterations: i,
+              totalIterations: iterations,
+            },
+          };
+        }
+      }
+
+      allResults.push(iterationResults);
+    }
+
+    return {
+      success: true,
+      completed: true,
+      duration: Date.now() - startTime,
+      data: {
+        message: `Loop completed ${iterations} iterations successfully`,
+        completedIterations: iterations,
+        results: allResults,
+      },
+    };
+  }
+
+  /**
+   * Execute branch action - prompts wizard to choose a path
+   * Returns the selected option which determines next step routing
+   */
+  private async executeBranchAction(
+    trialId: string,
+    action: ActionDefinition,
+  ): Promise<ActionExecutionResult> {
+    const startTime = Date.now();
+
+    await this.logTrialEvent(trialId, "action_started", {
+      actionId: action.id,
+      actionType: action.type,
+      actionName: action.name,
+    });
+
+    try {
+      const options = (action.parameters.options as any[]) || [];
+
+      if (options.length === 0) {
+        return {
+          success: false,
+          completed: false,
+          duration: Date.now() - startTime,
+          data: {
+            message: "Branch action has no options configured",
+            error: "No routing options available",
+          },
+        };
+      }
+
+      // Branch actions are wizard-driven - they pause execution
+      // and wait for wizard to make a choice
+      // The wizard UI should display the options and record the selection
+
+      await this.logTrialEvent(trialId, "action_completed", {
+        actionId: action.id,
+        actionType: action.type,
+        actionName: action.name,
+        duration: Date.now() - startTime,
+        data: {
+          message: "Branch action presented to wizard",
+          optionsCount: options.length,
+          options: options.map(opt => ({ label: opt.label, nextStepId: opt.nextStepId })),
+        },
+      });
+
+      return {
+        success: true,
+        completed: true,
+        duration: Date.now() - startTime,
+        data: {
+          message: "Branch action completed - wizard choice required",
+          options,
+          // The wizard's selected option will determine the next step
+          // This is handled by the trial runner's step navigation logic
+        },
+      };
+    } catch (error) {
+      await this.logTrialEvent(trialId, "action_failed", {
+        actionId: action.id,
+        actionType: action.type,
+        actionName: action.name,
+        error: error instanceof Error ? error.message : String(error),
+      });
+
+      return {
+        success: false,
+        completed: false,
+        duration: Date.now() - startTime,
+        data: {
+          message: "Branch action failed",
+          error: error instanceof Error ? error.message : String(error),
+        },
+      };
+    }
+  }
 }