feat: Implement dynamic plugin definition loading from remote/local sources and standardize action IDs using plugin metadata.

bun.lock

@@ -49,7 +49,7 @@
         "js-cookie": "^3.0.5",
         "lucide-react": "^0.536.0",
         "minio": "^8.0.6",
-        "next": "^16.0.10",
+        "next": "^16.1.6",
         "next-auth": "^5.0.0-beta.29",
         "next-themes": "^0.4.6",
         "postgres": "^3.4.4",
@@ -70,6 +70,7 @@
         "@eslint/eslintrc": "^3.3.1",
         "@tailwindcss/postcss": "^4.0.15",
         "@types/bcryptjs": "^3.0.0",
+        "@types/crypto-js": "^4.2.2",
         "@types/node": "^20.14.10",
         "@types/react": "^19.0.0",
         "@types/react-dom": "^19.0.0",
@@ -347,25 +348,25 @@
 
     "@napi-rs/wasm-runtime": ["@napi-rs/wasm-runtime@0.2.12", "", { "dependencies": { "@emnapi/core": "^1.4.3", "@emnapi/runtime": "^1.4.3", "@tybys/wasm-util": "^0.10.0" } }, "sha512-ZVWUcfwY4E/yPitQJl481FjFo3K22D6qF0DuFH6Y/nbnE11GY5uguDxZMGXPQ8WQ0128MXQD7TnfHyK4oWoIJQ=="],
 
-    "@next/env": ["@next/env@16.0.10", "", {}, "sha512-8tuaQkyDVgeONQ1MeT9Mkk8pQmZapMKFh5B+OrFUlG3rVmYTXcXlBetBgTurKXGaIZvkoqRT9JL5K3phXcgang=="],
+    "@next/env": ["@next/env@16.1.6", "", {}, "sha512-N1ySLuZjnAtN3kFnwhAwPvZah8RJxKasD7x1f8shFqhncnWZn4JMfg37diLNuoHsLAlrDfM3g4mawVdtAG8XLQ=="],
 
     "@next/eslint-plugin-next": ["@next/eslint-plugin-next@15.4.5", "", { "dependencies": { "fast-glob": "3.3.1" } }, "sha512-YhbrlbEt0m4jJnXHMY/cCUDBAWgd5SaTa5mJjzOt82QwflAFfW/h3+COp2TfVSzhmscIZ5sg2WXt3MLziqCSCw=="],
 
-    "@next/swc-darwin-arm64": ["@next/swc-darwin-arm64@16.0.10", "", { "os": "darwin", "cpu": "arm64" }, "sha512-4XgdKtdVsaflErz+B5XeG0T5PeXKDdruDf3CRpnhN+8UebNa5N2H58+3GDgpn/9GBurrQ1uWW768FfscwYkJRg=="],
+    "@next/swc-darwin-arm64": ["@next/swc-darwin-arm64@16.1.6", "", { "os": "darwin", "cpu": "arm64" }, "sha512-wTzYulosJr/6nFnqGW7FrG3jfUUlEf8UjGA0/pyypJl42ExdVgC6xJgcXQ+V8QFn6niSG2Pb8+MIG1mZr2vczw=="],
 
-    "@next/swc-darwin-x64": ["@next/swc-darwin-x64@16.0.10", "", { "os": "darwin", "cpu": "x64" }, "sha512-spbEObMvRKkQ3CkYVOME+ocPDFo5UqHb8EMTS78/0mQ+O1nqE8toHJVioZo4TvebATxgA8XMTHHrScPrn68OGw=="],
+    "@next/swc-darwin-x64": ["@next/swc-darwin-x64@16.1.6", "", { "os": "darwin", "cpu": "x64" }, "sha512-BLFPYPDO+MNJsiDWbeVzqvYd4NyuRrEYVB5k2N3JfWncuHAy2IVwMAOlVQDFjj+krkWzhY2apvmekMkfQR0CUQ=="],
 
-    "@next/swc-linux-arm64-gnu": ["@next/swc-linux-arm64-gnu@16.0.10", "", { "os": "linux", "cpu": "arm64" }, "sha512-uQtWE3X0iGB8apTIskOMi2w/MKONrPOUCi5yLO+v3O8Mb5c7K4Q5KD1jvTpTF5gJKa3VH/ijKjKUq9O9UhwOYw=="],
+    "@next/swc-linux-arm64-gnu": ["@next/swc-linux-arm64-gnu@16.1.6", "", { "os": "linux", "cpu": "arm64" }, "sha512-OJYkCd5pj/QloBvoEcJ2XiMnlJkRv9idWA/j0ugSuA34gMT6f5b7vOiCQHVRpvStoZUknhl6/UxOXL4OwtdaBw=="],
 
-    "@next/swc-linux-arm64-musl": ["@next/swc-linux-arm64-musl@16.0.10", "", { "os": "linux", "cpu": "arm64" }, "sha512-llA+hiDTrYvyWI21Z0L1GiXwjQaanPVQQwru5peOgtooeJ8qx3tlqRV2P7uH2pKQaUfHxI/WVarvI5oYgGxaTw=="],
+    "@next/swc-linux-arm64-musl": ["@next/swc-linux-arm64-musl@16.1.6", "", { "os": "linux", "cpu": "arm64" }, "sha512-S4J2v+8tT3NIO9u2q+S0G5KdvNDjXfAv06OhfOzNDaBn5rw84DGXWndOEB7d5/x852A20sW1M56vhC/tRVbccQ=="],
 
-    "@next/swc-linux-x64-gnu": ["@next/swc-linux-x64-gnu@16.0.10", "", { "os": "linux", "cpu": "x64" }, "sha512-AK2q5H0+a9nsXbeZ3FZdMtbtu9jxW4R/NgzZ6+lrTm3d6Zb7jYrWcgjcpM1k8uuqlSy4xIyPR2YiuUr+wXsavA=="],
+    "@next/swc-linux-x64-gnu": ["@next/swc-linux-x64-gnu@16.1.6", "", { "os": "linux", "cpu": "x64" }, "sha512-2eEBDkFlMMNQnkTyPBhQOAyn2qMxyG2eE7GPH2WIDGEpEILcBPI/jdSv4t6xupSP+ot/jkfrCShLAa7+ZUPcJQ=="],
 
-    "@next/swc-linux-x64-musl": ["@next/swc-linux-x64-musl@16.0.10", "", { "os": "linux", "cpu": "x64" }, "sha512-1TDG9PDKivNw5550S111gsO4RGennLVl9cipPhtkXIFVwo31YZ73nEbLjNC8qG3SgTz/QZyYyaFYMeY4BKZR/g=="],
+    "@next/swc-linux-x64-musl": ["@next/swc-linux-x64-musl@16.1.6", "", { "os": "linux", "cpu": "x64" }, "sha512-oicJwRlyOoZXVlxmIMaTq7f8pN9QNbdes0q2FXfRsPhfCi8n8JmOZJm5oo1pwDaFbnnD421rVU409M3evFbIqg=="],
 
-    "@next/swc-win32-arm64-msvc": ["@next/swc-win32-arm64-msvc@16.0.10", "", { "os": "win32", "cpu": "arm64" }, "sha512-aEZIS4Hh32xdJQbHz121pyuVZniSNoqDVx1yIr2hy+ZwJGipeqnMZBJHyMxv2tiuAXGx6/xpTcQJ6btIiBjgmg=="],
+    "@next/swc-win32-arm64-msvc": ["@next/swc-win32-arm64-msvc@16.1.6", "", { "os": "win32", "cpu": "arm64" }, "sha512-gQmm8izDTPgs+DCWH22kcDmuUp7NyiJgEl18bcr8irXA5N2m2O+JQIr6f3ct42GOs9c0h8QF3L5SzIxcYAAXXw=="],
 
-    "@next/swc-win32-x64-msvc": ["@next/swc-win32-x64-msvc@16.0.10", "", { "os": "win32", "cpu": "x64" }, "sha512-E+njfCoFLb01RAFEnGZn6ERoOqhK1Gl3Lfz1Kjnj0Ulfu7oJbuMyvBKNj/bw8XZnenHDASlygTjZICQW+rYW1Q=="],
+    "@next/swc-win32-x64-msvc": ["@next/swc-win32-x64-msvc@16.1.6", "", { "os": "win32", "cpu": "x64" }, "sha512-NRfO39AIrzBnixKbjuo2YiYhB6o9d8v/ymU9m/Xk8cyVk+k7XylniXkHwjs4s70wedVffc6bQNbufk5v0xEm0A=="],
 
     "@nodelib/fs.scandir": ["@nodelib/fs.scandir@2.1.5", "", { "dependencies": { "@nodelib/fs.stat": "2.0.5", "run-parallel": "^1.1.9" } }, "sha512-vq24Bq3ym5HEQm2NKCr3yXDwjc7vTsEThRDnkp2DK9p1uqLR+DHurm/NOTo0KG7HYHU7eppKZj3MyqYuMBf62g=="],
 
@@ -633,6 +634,8 @@
 
     "@types/bcryptjs": ["@types/bcryptjs@3.0.0", "", { "dependencies": { "bcryptjs": "*" } }, "sha512-WRZOuCuaz8UcZZE4R5HXTco2goQSI2XxjGY3hbM/xDvwmqFWd4ivooImsMx65OKM6CtNKbnZ5YL+YwAwK7c1dg=="],
 
+    "@types/crypto-js": ["@types/crypto-js@4.2.2", "", {}, "sha512-sDOLlVbHhXpAUAL0YHDUUwDZf3iN4Bwi4W6a0W0b+QcAezUbRtH4FVb+9J4h+XFPW7l/gQ9F8qC7P+Ec4k8QVQ=="],
+
     "@types/estree": ["@types/estree@1.0.8", "", {}, "sha512-dWHzHa2WqEXI/O1E9OjrocMTKJl2mSrEolh1Iomrv6U+JuNwaHXsXx9bLu5gG7BUWFIN0skIQJQ/L1rIex4X6w=="],
 
     "@types/js-cookie": ["@types/js-cookie@3.0.6", "", {}, "sha512-wkw9yd1kEXOPnvEeEV1Go1MmxtBJL0RR79aOTAApecWFVu7w0NNXNqhcWgvw2YgZDYadliXkl14pa3WXw5jlCQ=="],
@@ -759,6 +762,8 @@
 
     "base64-js": ["base64-js@1.5.1", "", {}, "sha512-AKpaYlHn8t4SVbOHCy+b5+KKgvR4vrsD8vbvrbiQJps7fKDTkjkDry6ji0rUJjC0kzbNePLwzxq8iypo41qeWA=="],
 
+    "baseline-browser-mapping": ["baseline-browser-mapping@2.9.19", "", { "bin": { "baseline-browser-mapping": "dist/cli.js" } }, "sha512-ipDqC8FrAl/76p2SSWKSI+H9tFwm7vYqXQrItCuiVPt26Km0jS+NzSsBWAaBusvSbQcfJG+JitdMm+wZAgTYqg=="],
+
     "bcryptjs": ["bcryptjs@3.0.2", "", { "bin": { "bcrypt": "bin/bcrypt" } }, "sha512-k38b3XOZKv60C4E2hVsXTolJWfkGRMbILBIe2IBITXciy5bOsTKot5kDrf3ZfufQtQOUN5mXceUEpU1rTl9Uog=="],
 
     "bl": ["bl@5.1.0", "", { "dependencies": { "buffer": "^6.0.3", "inherits": "^2.0.4", "readable-stream": "^3.4.0" } }, "sha512-tv1ZJHLfTDnXE6tMHv73YgSJaWR2AFuPwMntBe7XL/GBFHnT0CLnsHMogfk5+GzCDC5ZWarSCYaIGATZt9dNsQ=="],
@@ -1191,7 +1196,7 @@
 
     "natural-compare": ["natural-compare@1.4.0", "", {}, "sha512-OWND8ei3VtNC9h7V60qff3SVobHr996CTwgxubgyQYEpg290h9J0buyECNNJexkFm5sOajh5G116RYA1c8ZMSw=="],
 
-    "next": ["next@16.0.10", "", { "dependencies": { "@next/env": "16.0.10", "@swc/helpers": "0.5.15", "caniuse-lite": "^1.0.30001579", "postcss": "8.4.31", "styled-jsx": "5.1.6" }, "optionalDependencies": { "@next/swc-darwin-arm64": "16.0.10", "@next/swc-darwin-x64": "16.0.10", "@next/swc-linux-arm64-gnu": "16.0.10", "@next/swc-linux-arm64-musl": "16.0.10", "@next/swc-linux-x64-gnu": "16.0.10", "@next/swc-linux-x64-musl": "16.0.10", "@next/swc-win32-arm64-msvc": "16.0.10", "@next/swc-win32-x64-msvc": "16.0.10", "sharp": "^0.34.4" }, "peerDependencies": { "@opentelemetry/api": "^1.1.0", "@playwright/test": "^1.51.1", "babel-plugin-react-compiler": "*", "react": "^18.2.0 || 19.0.0-rc-de68d2f4-20241204 || ^19.0.0", "react-dom": "^18.2.0 || 19.0.0-rc-de68d2f4-20241204 || ^19.0.0", "sass": "^1.3.0" }, "optionalPeers": ["@opentelemetry/api", "@playwright/test", "babel-plugin-react-compiler", "sass"], "bin": { "next": "dist/bin/next" } }, "sha512-RtWh5PUgI+vxlV3HdR+IfWA1UUHu0+Ram/JBO4vWB54cVPentCD0e+lxyAYEsDTqGGMg7qpjhKh6dc6aW7W/sA=="],
+    "next": ["next@16.1.6", "", { "dependencies": { "@next/env": "16.1.6", "@swc/helpers": "0.5.15", "baseline-browser-mapping": "^2.8.3", "caniuse-lite": "^1.0.30001579", "postcss": "8.4.31", "styled-jsx": "5.1.6" }, "optionalDependencies": { "@next/swc-darwin-arm64": "16.1.6", "@next/swc-darwin-x64": "16.1.6", "@next/swc-linux-arm64-gnu": "16.1.6", "@next/swc-linux-arm64-musl": "16.1.6", "@next/swc-linux-x64-gnu": "16.1.6", "@next/swc-linux-x64-musl": "16.1.6", "@next/swc-win32-arm64-msvc": "16.1.6", "@next/swc-win32-x64-msvc": "16.1.6", "sharp": "^0.34.4" }, "peerDependencies": { "@opentelemetry/api": "^1.1.0", "@playwright/test": "^1.51.1", "babel-plugin-react-compiler": "*", "react": "^18.2.0 || 19.0.0-rc-de68d2f4-20241204 || ^19.0.0", "react-dom": "^18.2.0 || 19.0.0-rc-de68d2f4-20241204 || ^19.0.0", "sass": "^1.3.0" }, "optionalPeers": ["@opentelemetry/api", "@playwright/test", "babel-plugin-react-compiler", "sass"], "bin": { "next": "dist/bin/next" } }, "sha512-hkyRkcu5x/41KoqnROkfTm2pZVbKxvbZRuNvKXLRXxs3VfyO0WhY50TQS40EuKO9SW3rBj/sF3WbVwDACeMZyw=="],
 
     "next-auth": ["next-auth@5.0.0-beta.29", "", { "dependencies": { "@auth/core": "0.40.0" }, "peerDependencies": { "@simplewebauthn/browser": "^9.0.1", "@simplewebauthn/server": "^9.0.2", "next": "^14.0.0-0 || ^15.0.0-0", "nodemailer": "^6.6.5", "react": "^18.2.0 || ^19.0.0-0" }, "optionalPeers": ["@simplewebauthn/browser", "@simplewebauthn/server", "nodemailer"] }, "sha512-Ukpnuk3NMc/LiOl32njZPySk7pABEzbjhMUFd5/n10I0ZNC7NCuVv8IY2JgbDek2t/PUOifQEoUiOOTLy4os5A=="],
 

package.json

@@ -10,10 +10,10 @@
     "db:migrate": "drizzle-kit migrate",
     "db:push": "drizzle-kit push",
     "db:studio": "drizzle-kit studio",
-    "db:seed": "bun scripts/seed-dev.ts",
+    "db:seed": "bun db:push && bun scripts/seed-dev.ts",
     "dev": "next dev --turbo",
-    "docker:up": "colima start && docker-compose up -d",
+    "docker:up": "if [ \"$(uname)\" = \"Darwin\" ]; then colima start; fi && docker compose up -d",
-    "docker:down": "docker-compose down && colima stop",
+    "docker:down": "docker compose down && if [ \"$(uname)\" = \"Darwin\" ]; then colima stop; fi",
     "format:check": "prettier --check \"**/*.{ts,tsx,js,jsx,mdx}\" --cache",
     "format:write": "prettier --write \"**/*.{ts,tsx,js,jsx,mdx}\" --cache",
     "lint": "next lint",
@@ -67,7 +67,7 @@
     "js-cookie": "^3.0.5",
     "lucide-react": "^0.536.0",
     "minio": "^8.0.6",
-    "next": "^16.0.10",
+    "next": "^16.1.6",
     "next-auth": "^5.0.0-beta.29",
     "next-themes": "^0.4.6",
     "postgres": "^3.4.4",
@@ -88,6 +88,7 @@
     "@eslint/eslintrc": "^3.3.1",
     "@tailwindcss/postcss": "^4.0.15",
     "@types/bcryptjs": "^3.0.0",
+    "@types/crypto-js": "^4.2.2",
     "@types/node": "^20.14.10",
     "@types/react": "^19.0.0",
     "@types/react-dom": "^19.0.0",
@@ -113,4 +114,4 @@
     "sharp",
     "unrs-resolver"
   ]
-}
+}

scripts/seed-dev.ts

@@ -3,32 +3,52 @@ 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";
 
 // Database connection
 const connectionString = process.env.DATABASE_URL!;
 const connection = postgres(connectionString);
 const db = drizzle(connection, { schema });
 
-// --- NAO6 Plugin Definitions (Synced from seed-nao6-plugin.ts) ---
+// --- NAO6 Plugin Definitions ---
-const NAO_PLUGIN_DEF = {
+import * as fs from "fs";
-  name: "NAO6 Robot (Enhanced ROS2 Integration)",
+import * as path from "path";
-  version: "2.0.0",
+
-  description: "Comprehensive NAO6 robot integration for HRIStudio experiments via ROS2.",
+// Function to load plugin definition (Remote -> Local Fallback)
-  actions: [
+async function loadNaoPluginDef() {
-    { id: "nao_speak", name: "Speak Text", category: "speech", parametersSchema: { type: "object", properties: { text: { type: "string" }, volume: { type: "number", default: 0.7 } }, required: ["text"] } },
+  const REMOTE_URL = "https://repo.hristudio.com/plugins/nao6-ros2.json";
-    { id: "nao_gesture", name: "Perform Gesture", category: "interaction", parametersSchema: { type: "object", properties: { gesture: { type: "string", enum: ["wave", "bow", "point"] }, speed: { type: "number", default: 0.8 } } } },
+  const LOCAL_PATH = path.join(__dirname, "../robot-plugins/plugins/nao6-ros2.json");
-    { id: "nao_look_at", name: "Look At", category: "movement", parametersSchema: { type: "object", properties: { target: { type: "string", enum: ["participant", "screen", "away"] }, duration: { type: "number", default: 2.0 } } } },
+
-    { id: "nao_nod", name: "Nod Head", category: "interaction", parametersSchema: { type: "object", properties: { speed: { type: "number", default: 1.0 } } } },
+  try {
-    { id: "nao_shake_head", name: "Shake Head", category: "interaction", parametersSchema: { type: "object", properties: { speed: { type: "number", default: 1.0 } } } },
+    console.log(`🌐 Attempting to fetch plugin definition from ${REMOTE_URL}...`);
-    { id: "nao_bow", name: "Bow", category: "interaction", parametersSchema: { type: "object", properties: {} } },
+    const response = await fetch(REMOTE_URL, { signal: AbortSignal.timeout(3000) }); // 3s timeout
-    { id: "nao_open_hand", name: "Present (Open Hand)", category: "interaction", parametersSchema: { type: "object", properties: { hand: { type: "string", enum: ["left", "right", "both"], default: "right" } } } }
+    if (!response.ok) throw new Error(`HTTP ${response.status}`);
-  ]
+    const data = await response.json();
-};
+    console.log("✅ Successfully fetched plugin definition from remote.");
+    return data;
+  } catch (err) {
+    console.warn(`⚠️ Remote fetch failed (${err instanceof Error ? err.message : String(err)}). Falling back to local file.`);
+    const rawPlugin = fs.readFileSync(LOCAL_PATH, "utf-8");
+    return JSON.parse(rawPlugin);
+  }
+}
+
+// Global variable to hold the loaded definition
+let NAO_PLUGIN_DEF: any;
 
 async function main() {
   console.log("🌱 Starting realistic seed script...");
 
+
+
   try {
+    NAO_PLUGIN_DEF = await loadNaoPluginDef();
+
+    // Ensure legacy 'actions' property maps to 'actionDefinitions' if needed, though schema supports both if we map it
+    if (NAO_PLUGIN_DEF.actions && !NAO_PLUGIN_DEF.actionDefinitions) {
+      NAO_PLUGIN_DEF.actionDefinitions = NAO_PLUGIN_DEF.actions;
+    }
+
     // 1. Clean existing data (Full Wipe)
     console.log("🧹 Cleaning existing data...");
     await db.delete(schema.mediaCaptures).where(sql`1=1`);
@@ -51,12 +71,14 @@ async function main() {
     console.log("👥 Creating users...");
     const hashedPassword = await bcrypt.hash("password123", 12);
 
+    const gravatarUrl = (email: string) => `https://www.gravatar.com/avatar/${createHash("md5").update(email.toLowerCase().trim()).digest("hex")}?d=identicon`;
+
     const [adminUser] = await db.insert(schema.users).values({
       name: "Sean O'Connor",
       email: "sean@soconnor.dev",
       password: hashedPassword,
       emailVerified: new Date(),
-      image: "https://api.dicebear.com/7.x/avataaars/svg?seed=Sean",
+      image: gravatarUrl("sean@soconnor.dev"),
     }).returning();
 
     const [researcherUser] = await db.insert(schema.users).values({
@@ -98,12 +120,12 @@ async function main() {
       version: NAO_PLUGIN_DEF.version,
       description: NAO_PLUGIN_DEF.description,
       author: "HRIStudio Team",
-      trustLevel: "official",
+      repositoryUrl: "https://github.com/hristudio/plugins/tree/main/nao6",
+      trustLevel: "verified",
+      actionDefinitions: NAO_PLUGIN_DEF.actionDefinitions,
+      metadata: NAO_PLUGIN_DEF,
       status: "active",
-      repositoryUrl: naoRepo!.url,
+      createdAt: new Date(),
-      actionDefinitions: NAO_PLUGIN_DEF.actions,
-      configurationSchema: { type: "object", properties: { robotIp: { type: "string", default: "192.168.1.100" } } },
-      metadata: { category: "robot_control" }
     }).returning();
 
     // 4. Create Study & Experiment - Comparative WoZ Study
@@ -157,21 +179,29 @@ async function main() {
       {
         stepId: step1!.id,
         name: "Greet Participant",
-        type: "nao6.nao_speak",
+        type: "nao6-ros2.say_with_emotion",
         orderIndex: 0,
-        parameters: { text: "Hello there! I have a wonderful story to share with you today.", volume: 0.8 },
+        parameters: { text: "Hello there! I have a wonderful story to share with you today.", emotion: "happy", speed: 1.0 },
         pluginId: naoPlugin!.id,
-        category: "speech",
+        category: "interaction",
         retryable: true
       },
       {
         stepId: step1!.id,
         name: "Wave Greeting",
-        type: "nao6.nao_gesture",
+        type: "nao6-ros2.move_arm",
         orderIndex: 1,
-        parameters: { gesture: "wave" },
+        // Raising right arm to wave position
+        parameters: {
+          arm: "right",
+          shoulder_pitch: -1.0,
+          shoulder_roll: -0.3,
+          elbow_yaw: 1.5,
+          elbow_roll: 0.5,
+          speed: 0.5
+        },
         pluginId: naoPlugin!.id,
-        category: "interaction",
+        category: "movement",
         retryable: true
       }
     ]);
@@ -191,20 +221,20 @@ async function main() {
       {
         stepId: step2!.id,
         name: "Tell Story Part 1",
-        type: "nao6.nao_speak",
+        type: "nao6-ros2.say_text",
         orderIndex: 0,
-        parameters: { text: "Once upon a time, in a land far away, there lived a curious robot named Alpha.", volume: 0.8 },
+        parameters: { text: "Once upon a time, in a land far away, there lived a curious robot named Alpha." },
         pluginId: naoPlugin!.id,
-        category: "speech"
+        category: "interaction"
       },
       {
         stepId: step2!.id,
-        name: "Present Gesture",
+        name: "Look at Audience",
-        type: "nao6.nao_open_hand",
+        type: "nao6-ros2.move_head",
         orderIndex: 1,
-        parameters: { hand: "right" },
+        parameters: { yaw: 0.0, pitch: -0.2, speed: 0.5 },
         pluginId: naoPlugin!.id,
-        category: "interaction"
+        category: "movement"
       }
     ]);
 
@@ -225,18 +255,22 @@ async function main() {
       {
         stepId: step3!.id,
         name: "Ask Question",
-        type: "nao6.nao_speak",
+        type: "nao6-ros2.say_with_emotion",
         orderIndex: 0,
-        parameters: { text: "What was the robot's name?", volume: 0.8 },
+        parameters: { text: "Did you understand the story so far?", emotion: "happy", speed: 1.0 },
         pluginId: naoPlugin!.id,
-        category: "speech"
+        category: "interaction"
       },
       {
         stepId: step3!.id,
         name: "Wait for Wizard Input",
-        type: "core.wait_for_response",
+        type: "wizard_wait_for_response",
         orderIndex: 1,
-        parameters: { prompt: "Did participant answer 'Alpha'?", options: ["Yes", "No"] },
+        parameters: {
+          prompt_text: "Did participant answer 'Alpha'?",
+          response_type: "verbal",
+          timeout: 60
+        },
         sourceKind: "core",
         category: "wizard"
       }
@@ -257,21 +291,21 @@ async function main() {
     await db.insert(schema.actions).values([
       {
         stepId: step4!.id,
-        name: "Nod Affirmation",
+        name: "Express Agreement",
-        type: "nao6.nao_nod",
+        type: "nao6-ros2.say_with_emotion",
         orderIndex: 0,
-        parameters: { speed: 1.0 },
+        parameters: { text: "Yes, exactly!", emotion: "happy", speed: 1.0 },
         pluginId: naoPlugin!.id,
         category: "interaction"
       },
       {
         stepId: step4!.id,
         name: "Say Correct",
-        type: "nao6.nao_speak",
+        type: "nao6-ros2.say_text",
         orderIndex: 1,
-        parameters: { text: "That is correct! Well done.", volume: 0.8 },
+        parameters: { text: "That is correct! Well done." },
         pluginId: naoPlugin!.id,
-        category: "speech"
+        category: "interaction"
       }
     ]);
 
@@ -290,18 +324,18 @@ async function main() {
       {
         stepId: step5!.id,
         name: "Finish Story",
-        type: "nao6.nao_speak",
+        type: "nao6-ros2.say_text",
         orderIndex: 0,
-        parameters: { text: "Alpha explored the world and learned many things. The end.", volume: 0.8 },
+        parameters: { text: "Alpha explored the world and learned many things. The end." },
         pluginId: naoPlugin!.id,
-        category: "speech"
+        category: "interaction"
       },
       {
         stepId: step5!.id,
-        name: "Bow Goodbye",
+        name: "Say Goodbye",
-        type: "nao6.nao_bow",
+        type: "nao6-ros2.say_with_emotion",
         orderIndex: 1,
-        parameters: {},
+        parameters: { text: "Goodbye everyone!", emotion: "happy", speed: 1.0 },
         pluginId: naoPlugin!.id,
         category: "interaction"
       }

scripts/verify-study-readiness.ts

@@ -47,10 +47,13 @@ async function verify() {
     // Verify Step Names
     const expectedSteps = ["The Hook", "The Narrative - Part 1", "Comprehension Check", "Positive Feedback", "Conclusion"];
     for (let i = 0; i < expectedSteps.length; i++) {
-        if (steps[i].name !== expectedSteps[i]) {
+        const step = steps[i];
-            console.error(`❌ Step mismatch at index ${i}. Expected '${expectedSteps[i]}', got '${steps[i].name}'`);
+        if (!step) continue;
+
+        if (step.name !== expectedSteps[i]) {
+            console.error(`❌ Step mismatch at index ${i}. Expected '${expectedSteps[i]}', got '${step.name}'`);
         } else {
-            console.log(`✅ Step ${i + 1}: ${steps[i].name}`);
+            console.log(`✅ Step ${i + 1}: ${step.name}`);
         }
     }
 

src/app/(dashboard)/nao-test/page.tsx

@@ -161,7 +161,7 @@ export default function NaoTestPage() {
       data.topic?.includes("touch") ||
       data.topic?.includes("sonar")
     ) {
-      setSensorData((prev) => ({
+      setSensorData((prev: any) => ({
         ...prev,
         [data.topic]: data.msg,
       }));
@@ -196,14 +196,14 @@ export default function NaoTestPage() {
 
   const walkForward = () => {
     publishMessage("/cmd_vel", "geometry_msgs/Twist", {
-      linear: { x: walkSpeed[0], y: 0, z: 0 },
+      linear: { x: walkSpeed[0] ?? 0, y: 0, z: 0 },
       angular: { x: 0, y: 0, z: 0 },
     });
   };
 
   const walkBackward = () => {
     publishMessage("/cmd_vel", "geometry_msgs/Twist", {
-      linear: { x: -walkSpeed[0], y: 0, z: 0 },
+      linear: { x: -(walkSpeed[0] ?? 0), y: 0, z: 0 },
       angular: { x: 0, y: 0, z: 0 },
     });
   };
@@ -211,14 +211,14 @@ export default function NaoTestPage() {
   const turnLeft = () => {
     publishMessage("/cmd_vel", "geometry_msgs/Twist", {
       linear: { x: 0, y: 0, z: 0 },
-      angular: { x: 0, y: 0, z: turnSpeed[0] },
+      angular: { x: 0, y: 0, z: turnSpeed[0] ?? 0 },
     });
   };
 
   const turnRight = () => {
     publishMessage("/cmd_vel", "geometry_msgs/Twist", {
       linear: { x: 0, y: 0, z: 0 },
-      angular: { x: 0, y: 0, z: -turnSpeed[0] },
+      angular: { x: 0, y: 0, z: -(turnSpeed[0] ?? 0) },
     });
   };
 
@@ -232,7 +232,7 @@ export default function NaoTestPage() {
   const moveHead = () => {
     publishMessage("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
       joint_names: ["HeadYaw", "HeadPitch"],
-      joint_angles: [headYaw[0], headPitch[0]],
+      joint_angles: [headYaw[0] ?? 0, headPitch[0] ?? 0],
       speed: 0.3,
     });
   };
@@ -365,7 +365,7 @@ export default function NaoTestPage() {
                   </CardHeader>
                   <CardContent className="space-y-4">
                     <div className="space-y-2">
-                      <Label>Walk Speed: {walkSpeed[0].toFixed(2)} m/s</Label>
+                      <Label>Walk Speed: {(walkSpeed[0] ?? 0).toFixed(2)} m/s</Label>
                       <Slider
                         value={walkSpeed}
                         onValueChange={setWalkSpeed}
@@ -375,7 +375,7 @@ export default function NaoTestPage() {
                       />
                     </div>
                     <div className="space-y-2">
-                      <Label>Turn Speed: {turnSpeed[0].toFixed(2)} rad/s</Label>
+                      <Label>Turn Speed: {(turnSpeed[0] ?? 0).toFixed(2)} rad/s</Label>
                       <Slider
                         value={turnSpeed}
                         onValueChange={setTurnSpeed}
@@ -415,7 +415,7 @@ export default function NaoTestPage() {
                   </CardHeader>
                   <CardContent className="space-y-4">
                     <div className="space-y-2">
-                      <Label>Head Yaw: {headYaw[0].toFixed(2)} rad</Label>
+                      <Label>Head Yaw: {(headYaw[0] ?? 0).toFixed(2)} rad</Label>
                       <Slider
                         value={headYaw}
                         onValueChange={setHeadYaw}
@@ -425,7 +425,7 @@ export default function NaoTestPage() {
                       />
                     </div>
                     <div className="space-y-2">
-                      <Label>Head Pitch: {headPitch[0].toFixed(2)} rad</Label>
+                      <Label>Head Pitch: {(headPitch[0] ?? 0).toFixed(2)} rad</Label>
                       <Slider
                         value={headPitch}
                         onValueChange={setHeadPitch}

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

@@ -260,7 +260,6 @@ export default function StudyAnalyticsPage() {
             setSelectedTrialId={setSelectedTrialId}
             trialsList={trialsList ?? []}
             isLoadingList={isLoadingList}
-            studyId={studyId}
           />
         </Suspense>
       </div>

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

@@ -26,21 +26,17 @@ import {
 import { toast } from "sonner";
 import { api } from "~/trpc/react";
 import { useRouter } from "next/navigation";
-import { type Experiment } from "~/lib/experiments/types";
+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([
+    status: z.enum(experimentStatusEnum.enumValues),
-        "draft",
-        "ready",
-        "data_collection",
-        "analysis",
-        "completed",
-        "archived",
-    ]),
 });
 
 interface ExperimentFormProps {
@@ -133,11 +129,9 @@ export function ExperimentForm({ experiment }: ExperimentFormProps) {
                                 </FormControl>
                                 <SelectContent>
                                     <SelectItem value="draft">Draft</SelectItem>
+                                    <SelectItem value="testing">Testing</SelectItem>
                                     <SelectItem value="ready">Ready</SelectItem>
-                                    <SelectItem value="data_collection">Data Collection</SelectItem>
+                                    <SelectItem value="deprecated">Deprecated</SelectItem>
-                                    <SelectItem value="analysis">Analysis</SelectItem>
-                                    <SelectItem value="completed">Completed</SelectItem>
-                                    <SelectItem value="archived">Archived</SelectItem>
                                 </SelectContent>
                             </Select>
                             <FormDescription>

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

@@ -1,5 +1,8 @@
 import { notFound } from "next/navigation";
-import { type Experiment } from "~/lib/experiments/types";
+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 {
@@ -43,14 +46,6 @@ export default async function ExperimentEditPage({
                 title="Edit Experiment"
                 subtitle={`Update settings for ${experiment.name}`}
                 icon="Edit"
-                backButton={
-                    <Button variant="ghost" size="sm" asChild className="-ml-2 mb-2">
-                        <Link href={`/studies/${studyId}/experiments/${experimentId}`}>
-                            <ArrowLeft className="mr-2 h-4 w-4" />
-                            Back to Experiment
-                        </Link>
-                    </Button>
-                }
             />
 
             <div className="max-w-2xl">

src/app/(dashboard)/studies/[id]/participants/[participantId]/page.tsx

@@ -39,11 +39,10 @@ export default async function ParticipantDetailPage({
                 title={participant.participantCode}
                 subtitle={participant.name ?? "Unnamed Participant"}
                 icon="Users"
-                badge={
+                status={{
-                    <Badge variant={participant.consentGiven ? "default" : "secondary"}>
+                    label: participant.consentGiven ? "Consent Given" : "No Consent",
-                        {participant.consentGiven ? "Consent Given" : "No Consent"}
+                    variant: participant.consentGiven ? "default" : "secondary"
-                    </Badge>
+                }}
-                }
                 actions={
                     <Button asChild variant="outline" size="sm">
                         <Link href={`/studies/${studyId}/participants/${participantId}/edit`}>

src/components/experiments/designer/ActionRegistry.ts

@@ -318,20 +318,11 @@ export class ActionRegistry {
             headers?: Record<string, string>;
           };
         }>;
+        metadata?: Record<string, any>;
       };
     }>,
   ): void {
-    console.log("ActionRegistry.loadPluginActions called with:", {
+    // console.log("ActionRegistry.loadPluginActions called with:", { studyId, pluginCount: studyPlugins?.length ?? 0 });
-      studyId,
-      pluginCount: studyPlugins?.length ?? 0,
-      plugins: studyPlugins?.map((sp) => ({
-        id: sp.plugin.id,
-        actionCount: Array.isArray(sp.plugin.actionDefinitions)
-          ? sp.plugin.actionDefinitions.length
-          : 0,
-        hasActionDefs: !!sp.plugin.actionDefinitions,
-      })),
-    });
 
     if (this.pluginActionsLoaded && this.loadedStudyId === studyId) return;
 
@@ -347,11 +338,7 @@ export class ActionRegistry {
         ? plugin.actionDefinitions
         : undefined;
 
-      console.log(`Plugin ${plugin.id}:`, {
+      // console.log(`Plugin ${plugin.id}:`, { actionCount: actionDefs?.length ?? 0 });
-        actionDefinitions: plugin.actionDefinitions,
-        isArray: Array.isArray(plugin.actionDefinitions),
-        actionCount: actionDefs?.length ?? 0,
-      });
 
       if (!actionDefs) return;
 
@@ -399,9 +386,13 @@ export class ActionRegistry {
               retryable: action.retryable,
             };
 
+        // Extract semantic ID from metadata if available, otherwise fall back to database IDs (which typically causes mismatch if seed uses semantic)
+        // Ideally, plugin.metadata.robotId should populate this.
+        const semanticRobotId = plugin.metadata?.robotId || plugin.robotId || plugin.id;
+
         const actionDef: ActionDefinition = {
-          id: `${plugin.robotId ?? plugin.id}.${action.id}`,
+          id: `${semanticRobotId}.${action.id}`,
-          type: `${plugin.robotId ?? plugin.id}.${action.id}`,
+          type: `${semanticRobotId}.${action.id}`,
           name: action.name,
           description: action.description ?? "",
           category,
@@ -412,7 +403,7 @@ export class ActionRegistry {
           ),
           source: {
             kind: "plugin",
-            pluginId: plugin.robotId ?? plugin.id,
+            pluginId: semanticRobotId, // Use semantic ID here too
             robotId: plugin.robotId,
             pluginVersion: plugin.version ?? undefined,
             baseActionId: action.id,
@@ -439,15 +430,8 @@ export class ActionRegistry {
     console.log(
       `ActionRegistry: Loaded ${totalActionsLoaded} plugin actions for study ${studyId}`,
     );
-    console.log("Current action registry state:", {
+    // console.log("Current action registry state:", { totalActions: this.actions.size });
-      totalActions: this.actions.size,
+
-      actionsByCategory: {
-        wizard: this.getActionsByCategory("wizard").length,
-        robot: this.getActionsByCategory("robot").length,
-        control: this.getActionsByCategory("control").length,
-        observation: this.getActionsByCategory("observation").length,
-      },
-    });
 
     this.pluginActionsLoaded = true;
     this.loadedStudyId = studyId;

src/components/experiments/designer/DesignerRoot.tsx

@@ -180,6 +180,8 @@ export function DesignerRoot({
         robotId: sp.plugin.robotId ?? "",
         name: sp.plugin.name,
         version: sp.plugin.version,
+        actionDefinitions: sp.plugin.actionDefinitions as any[],
+        metadata: sp.plugin.metadata as Record<string, any>,
       })),
     [studyPluginsRaw],
   );
@@ -272,11 +274,11 @@ export function DesignerRoot({
     if (initialized) return;
     if (loadingExperiment && !initialDesign) return;
 
-    console.log('[DesignerRoot] 🚀 INITIALIZING', {
+    // console.log('[DesignerRoot] 🚀 INITIALIZING', {
-      hasExperiment: !!experiment,
+    //   hasExperiment: !!experiment,
-      hasInitialDesign: !!initialDesign,
+    //   hasInitialDesign: !!initialDesign,
-      loadingExperiment,
+    //   loadingExperiment,
-    });
+    // });
 
     const adapted =
       initialDesign ??
@@ -304,7 +306,7 @@ export function DesignerRoot({
     setInitialized(true);
     // NOTE: We don't call recomputeHash() here because the automatic
     // hash recomputation useEffect will trigger when setSteps() updates the steps array
-    console.log('[DesignerRoot] 🚀 Initialization complete, steps set');
+    // console.log('[DesignerRoot] 🚀 Initialization complete, steps set');
   }, [
     initialized,
     loadingExperiment,
@@ -346,7 +348,7 @@ export function DesignerRoot({
       // Small delay to ensure all components have rendered
       const timer = setTimeout(() => {
         setIsReady(true);
-        console.log('[DesignerRoot] ✅ Designer ready (plugins loaded), fading in');
+        // console.log('[DesignerRoot] ✅ Designer ready (plugins loaded), fading in');
       }, 150);
       return () => clearTimeout(timer);
     }
@@ -357,19 +359,13 @@ export function DesignerRoot({
   useEffect(() => {
     if (!initialized) return;
 
-    console.log('[DesignerRoot] Steps changed, scheduling hash recomputation', {
+    // console.log('[DesignerRoot] Steps changed, scheduling hash recomputation');
-      stepsCount: steps.length,
-      actionsCount: steps.reduce((sum, s) => sum + s.actions.length, 0),
-    });
 
     const timeoutId = setTimeout(async () => {
-      console.log('[DesignerRoot] Executing debounced hash recomputation');
+      // console.log('[DesignerRoot] Executing debounced hash recomputation');
       const result = await recomputeHash();
       if (result) {
-        console.log('[DesignerRoot] Hash recomputed:', {
+        // console.log('[DesignerRoot] Hash recomputed:', result.designHash.slice(0, 16));
-          newHash: result.designHash.slice(0, 16),
-          fullHash: result.designHash,
-        });
       }
     }, 300); // Debounce 300ms
 
@@ -383,13 +379,12 @@ export function DesignerRoot({
 
   // Debug logging to track hash updates and save button state
   useEffect(() => {
-    console.log('[DesignerRoot] Hash State:', {
+    // console.log('[DesignerRoot] Hash State:', {
-      currentDesignHash: currentDesignHash?.slice(0, 10),
+    //   currentDesignHash: currentDesignHash?.slice(0, 10),
-      lastPersistedHash: lastPersistedHash?.slice(0, 10),
+    //   lastPersistedHash: lastPersistedHash?.slice(0, 10),
-      hasUnsavedChanges,
+    //   hasUnsavedChanges,
-      stepsCount: steps.length,
+    // });
-    });
+  }, [currentDesignHash, lastPersistedHash, hasUnsavedChanges]);
-  }, [currentDesignHash, lastPersistedHash, hasUnsavedChanges, steps.length]);
 
   /* ------------------------------- Step Ops -------------------------------- */
   const createNewStep = useCallback(() => {
@@ -426,13 +421,28 @@ export function DesignerRoot({
       });
       // Debug: log validation results for troubleshooting
 
-      console.debug("[DesignerRoot] validation", {
+      // Debug: Improved structured logging for validation results
-        valid: result.valid,
+      console.group("🧪 Experiment Validation Results");
-        errors: result.errorCount,
+      if (result.valid) {
-        warnings: result.warningCount,
+        console.log(`%c✓ VALID (0 errors, ${result.warningCount} warnings, ${result.infoCount} hints)`, "color: green; font-weight: bold; font-size: 12px;");
-        infos: result.infoCount,
+      } else {
-        issues: result.issues,
+        console.log(`%c✗ INVALID (${result.errorCount} errors, ${result.warningCount} warnings)`, "color: red; font-weight: bold; font-size: 12px;");
-      });
+      }
+
+      if (result.issues.length > 0) {
+        console.table(
+          result.issues.map(i => ({
+            Severity: i.severity.toUpperCase(),
+            Category: i.category,
+            Message: i.message,
+            Suggest: i.suggestion,
+            Location: i.actionId ? `Action ${i.actionId}` : (i.stepId ? `Step ${i.stepId}` : 'Global')
+          }))
+        );
+      } else {
+        console.log("No issues found. Design is perfectly compliant.");
+      }
+      console.groupEnd();
       // Persist issues to store for inspector rendering
       const grouped = groupIssuesByEntity(result.issues);
       clearAllValidationIssues();

src/components/experiments/designer/PropertiesPanel.tsx

@@ -232,9 +232,9 @@ export function PropertiesPanelBase({
             </Badge>
             {/* internal plugin identifiers hidden from UI */}
             <Badge variant="outline" className="h-4 text-[10px]">
-              {selectedAction.execution.transport}
+              {selectedAction.execution?.transport}
             </Badge>
-            {selectedAction.execution.retryable && (
+            {selectedAction.execution?.retryable && (
               <Badge variant="outline" className="h-4 text-[10px]">
                 retryable
               </Badge>
@@ -473,7 +473,7 @@ const ParameterEditor = React.memo(function ParameterEditor({
 }: ParameterEditorProps) {
   // Local state for immediate feedback
   const [localValue, setLocalValue] = useState<unknown>(rawValue);
-  const debounceRef = useRef<NodeJS.Timeout | undefined>();
+  const debounceRef = useRef<NodeJS.Timeout | undefined>(undefined);
 
   // Sync from prop if it changes externally
   useEffect(() => {

src/components/experiments/designer/panels/InspectorPanel.tsx

@@ -207,6 +207,18 @@ export function InspectorPanel({
   /* ------------------------------------------------------------------------ */
   /* Render                                                                   */
   /* ------------------------------------------------------------------------ */
+  const designObject = useMemo(
+    () => ({
+      id: "design",
+      name: "Design",
+      description: "",
+      version: 1,
+      steps,
+      lastSaved: new Date(),
+    }),
+    [steps],
+  );
+
   return (
     <div
       className={cn(
@@ -284,17 +296,7 @@ export function InspectorPanel({
               <div className="flex-1 overflow-x-hidden overflow-y-auto">
                 <div className="w-full px-0 py-2 break-words whitespace-normal">
                   <PropertiesPanel
-                    design={useMemo(
+                    design={designObject}
-                      () => ({
-                        id: "design",
-                        name: "Design",
-                        description: "",
-                        version: 1,
-                        steps,
-                        lastSaved: new Date(),
-                      }),
-                      [steps],
-                    )}
                     selectedStep={selectedStep}
                     selectedAction={selectedAction}
                     onActionUpdate={handleActionUpdate}

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

@@ -659,8 +659,8 @@ export function validateExecution(
   const robotActions = steps.flatMap((step) =>
     step.actions.filter(
       (action) =>
-        action.execution.transport === "ros2" ||
+        action.execution?.transport === "ros2" ||
-        action.execution.transport === "rest",
+        action.execution?.transport === "rest",
     ),
   );
 

src/components/participants/ParticipantForm.tsx

@@ -505,7 +505,7 @@ export function ParticipantForm({
       error={error}
       onDelete={mode === "edit" ? onDelete : undefined}
       isDeleting={isDeleting}
-      isDeleting={isDeleting}
+
       // sidebar={sidebar} // Removed for cleaner UI per user request
       submitText={mode === "create" ? "Register Participant" : "Save Changes"}
     >

src/components/trials/playback/EventTimeline.tsx

@@ -188,7 +188,7 @@ export function EventTimeline() {
                                     <div className="text-[10px] font-mono opacity-70 mb-1">
                                         {new Date(event.timestamp).toLocaleTimeString()}
                                     </div>
-                                    {event.data && (
+                                    {!!event.data && (
                                         <div className="bg-muted/50 p-1 rounded font-mono text-[9px] max-w-[200px] break-all">
                                             {JSON.stringify(event.data as object).slice(0, 100)}
                                         </div>

src/components/trials/playback/PlaybackPlayer.tsx

@@ -114,8 +114,8 @@ export function PlaybackPlayer({ src }: PlaybackPlayerProps) {
                                 step={0.1}
                                 onValueChange={([val]) => {
                                     if (videoRef.current) {
-                                        videoRef.current.currentTime = val;
+                                        videoRef.current.currentTime = val ?? 0;
-                                        setCurrentTime(val);
+                                        setCurrentTime(val ?? 0);
                                     }
                                 }}
                                 className="cursor-pointer"

src/components/trials/views/TrialAnalysisView.tsx

@@ -156,7 +156,7 @@ export function TrialAnalysisView({ trial }: TrialAnalysisViewProps) {
                                                             {event.eventType.replace(/_/g, " ")}
                                                         </span>
                                                     </div>
-                                                    {event.data && (
+                                                    {!!event.data && (
                                                         <div className="text-[10px] text-muted-foreground bg-muted p-1.5 rounded border font-mono whitespace-pre-wrap break-all opacity-80 group-hover:opacity-100">
                                                             {JSON.stringify(event.data as object, null, 1).replace(/"/g, '').replace(/[{}]/g, '').trim()}
                                                         </div>

src/components/trials/wizard/RobotActionsPanel.tsx

@@ -255,10 +255,10 @@ export function RobotActionsPanel({
           // Look for ROS2 configuration in the action definition
           const actionConfig = (actionDef as any).ros2
             ? {
-                topic: (actionDef as any).ros2.topic,
+              topic: (actionDef as any).ros2.topic,
-                messageType: (actionDef as any).ros2.messageType,
+              messageType: (actionDef as any).ros2.messageType,
-                payloadMapping: (actionDef as any).ros2.payloadMapping,
+              payloadMapping: (actionDef as any).ros2.payloadMapping,
-              }
+            }
             : undefined;
 
           await executeRosAction(
@@ -635,7 +635,7 @@ export function RobotActionsPanel({
           <CardContent className="space-y-4">
             {/* Parameters */}
             {selectedAction.parameters &&
-            selectedAction.parameters.length > 0 ? (
+              selectedAction.parameters.length > 0 ? (
               <div className="space-y-4">
                 <Label className="text-base">Parameters</Label>
                 {selectedAction.parameters.map((param, index) =>
@@ -662,9 +662,9 @@ export function RobotActionsPanel({
               className="w-full"
             >
               {selectedPluginData &&
-              executingActions.has(
+                executingActions.has(
-                `${selectedPluginData.plugin.name}.${selectedAction.id}`,
+                  `${selectedPluginData.plugin.name}.${selectedAction.id}`,
-              ) ? (
+                ) ? (
                 <>
                   <Loader2 className="mr-2 h-4 w-4 animate-spin" />
                   Executing...
@@ -900,50 +900,50 @@ export function RobotActionsPanel({
               {selectedPluginData &&
                 Object.entries(
                   groupActionsByCategory(
-                    (selectedPluginData.plugin
+                    (selectedPluginData?.plugin
                       .actionDefinitions as RobotAction[]) ?? [],
                   ),
                 ).map(([category, actions]) => {
-                const CategoryIcon = getCategoryIcon(category);
+                  const CategoryIcon = getCategoryIcon(category);
-                const isExpanded = expandedCategories.has(category);
+                  const isExpanded = expandedCategories.has(category);
 
-                return (
+                  return (
-                  <Collapsible
+                    <Collapsible
-                    key={category}
+                      key={category}
-                    open={isExpanded}
+                      open={isExpanded}
-                    onOpenChange={() => toggleCategory(category)}
+                      onOpenChange={() => toggleCategory(category)}
-                  >
+                    >
-                    <CollapsibleTrigger asChild>
+                      <CollapsibleTrigger asChild>
-                      <Button
-                        variant="ghost"
-                        className="w-full justify-start p-2"
-                      >
-                        <CategoryIcon className="mr-2 h-4 w-4" />
-                        {category.charAt(0).toUpperCase() + category.slice(1)}
-                        <Badge variant="secondary" className="ml-auto">
-                          {actions.length}
-                        </Badge>
-                      </Button>
-                    </CollapsibleTrigger>
-                    <CollapsibleContent className="ml-6 space-y-1">
-                      {actions.map((action) => (
                         <Button
-                          key={action.id}
+                          variant="ghost"
-                          variant={
+                          className="w-full justify-start p-2"
-                            selectedAction?.id === action.id
-                              ? "default"
-                              : "ghost"
-                          }
-                          className="w-full justify-start text-sm"
-                          onClick={() => setSelectedAction(action)}
                         >
-                          {action.name}
+                          <CategoryIcon className="mr-2 h-4 w-4" />
+                          {category.charAt(0).toUpperCase() + category.slice(1)}
+                          <Badge variant="secondary" className="ml-auto">
+                            {actions.length}
+                          </Badge>
                         </Button>
-                      ))}
+                      </CollapsibleTrigger>
-                    </CollapsibleContent>
+                      <CollapsibleContent className="ml-6 space-y-1">
-                  </Collapsible>
+                        {actions.map((action) => (
-                );
+                          <Button
-              })}
+                            key={action.id}
+                            variant={
+                              selectedAction?.id === action.id
+                                ? "default"
+                                : "ghost"
+                            }
+                            className="w-full justify-start text-sm"
+                            onClick={() => setSelectedAction(action)}
+                          >
+                            {action.name}
+                          </Button>
+                        ))}
+                      </CollapsibleContent>
+                    </Collapsible>
+                  );
+                })}
             </div>
           </ScrollArea>
         </div>
@@ -962,7 +962,7 @@ export function RobotActionsPanel({
           <CardContent className="space-y-4">
             {/* Parameters */}
             {selectedAction?.parameters &&
-            (selectedAction.parameters?.length ?? 0) > 0 ? (
+              (selectedAction?.parameters?.length ?? 0) > 0 ? (
               <div className="space-y-4">
                 <Label className="text-base">Parameters</Label>
                 {selectedAction?.parameters?.map((param, index) =>
@@ -990,10 +990,10 @@ export function RobotActionsPanel({
               className="w-full"
             >
               {selectedPluginData &&
-              selectedAction &&
+                selectedAction &&
-              executingActions.has(
+                executingActions.has(
-                `${selectedPluginData?.plugin.name}.${selectedAction?.id}`,
+                  `${selectedPluginData?.plugin.name}.${selectedAction?.id}`,
-              ) ? (
+                ) ? (
                 <>
                   <Loader2 className="mr-2 h-4 w-4 animate-spin" />
                   Executing...

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

@@ -149,10 +149,10 @@ export function convertActionToDatabase(
     pluginVersion: action.source.pluginVersion,
     robotId: action.source.robotId,
     baseActionId: action.source.baseActionId,
-    transport: action.execution.transport,
+    transport: action.execution?.transport,
-    ros2: action.execution.ros2,
+    ros2: action.execution?.ros2,
-    rest: action.execution.rest,
+    rest: action.execution?.rest,
-    retryable: action.execution.retryable,
+    retryable: action.execution?.retryable,
     parameterSchemaRaw: action.parameterSchemaRaw,
     sourceKind: action.source.kind,
     category: action.category,

src/lib/experiment-designer/visual-design-guard.ts

@@ -267,7 +267,7 @@ export function parseVisualDesignSteps(raw: unknown): {
       if (!act.source.kind) {
         issues.push(`Action "${act.id}" missing source.kind`);
       }
-      if (!act.execution.transport) {
+      if (!act.execution?.transport) {
         issues.push(`Action "${act.id}" missing execution transport`);
       }
     }

src/server/api/routers/robots.ts

@@ -471,6 +471,7 @@ export const robotsRouter = createTRPCRouter({
               actionDefinitions: plugins.actionDefinitions,
               createdAt: plugins.createdAt,
               updatedAt: plugins.updatedAt,
+              metadata: plugins.metadata,
             },
             installation: {
               id: studyPlugins.id,