fix: SSH actions in experiment runner, branch ID serialization, and branch UI

- robot-communication.ts: add sshCommand to payloadMapping type
- trial-execution.ts: fix executeRobotActionWithComm to use ros2 key as
  implementation fallback and skip ROS connection for SSH actions
- route.ts: move studyId membership check inside initialize/executeSystemAction
  cases so executeSSH works without studyId; fix command param location
- experiments.ts: build tempId→dbUUID map on step insert and replace branch
  nextStepId references after all steps are saved
- WizardInterface.tsx: stop filtering branch actions from step action list

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

src/app/api/robots/command/route.ts

@@ -21,27 +21,27 @@ export async function POST(request: NextRequest) {
     const body = await request.json();
     const { action, studyId, robotId, parameters } = body;
 
-    // Verify user has access to the study
-    const membership = await db.query.studyMembers.findFirst({
-      where: and(
-        eq(studyMembers.studyId, studyId),
-        eq(studyMembers.userId, session.user.id),
-      ),
-    });
-
-    if (!membership || !["owner", "researcher"].includes(membership.role)) {
-      return NextResponse.json(
-        { error: "Insufficient permissions" },
-        { status: 403 },
-      );
-    }
-
     const robotIp =
       process.env.NAO_ROBOT_IP || process.env.NAO_IP || "134.82.159.168";
     const password = process.env.NAO_PASSWORD || "robolab";
 
     switch (action) {
       case "initialize": {
+        // Requires study membership
+        const membership = await db.query.studyMembers.findFirst({
+          where: and(
+            eq(studyMembers.studyId, studyId),
+            eq(studyMembers.userId, session.user.id),
+          ),
+        });
+
+        if (!membership || !["owner", "researcher"].includes(membership.role)) {
+          return NextResponse.json(
+            { error: "Insufficient permissions" },
+            { status: 403 },
+          );
+        }
+
         console.log(`[Robots API] Initializing robot at ${robotIp}`);
 
         const disableAlCmd = `sshpass -p "${password}" ssh -o StrictHostKeyChecking=no "nao@${robotIp}" "python2 -c \\"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; al = naoqi.ALProxy('ALAutonomousLife', '127.0.0.1', 9559); al.setState('disabled')\\""`;
@@ -58,6 +58,21 @@ export async function POST(request: NextRequest) {
       }
 
       case "executeSystemAction": {
+        // Requires study membership
+        const membership = await db.query.studyMembers.findFirst({
+          where: and(
+            eq(studyMembers.studyId, studyId),
+            eq(studyMembers.userId, session.user.id),
+          ),
+        });
+
+        if (!membership || !["owner", "researcher"].includes(membership.role)) {
+          return NextResponse.json(
+            { error: "Insufficient permissions" },
+            { status: 403 },
+          );
+        }
+
         const { id, parameters: actionParams } = parameters ?? {};
         console.log(`[Robots API] Executing system action ${id}`);
 
@@ -145,7 +160,9 @@ export async function POST(request: NextRequest) {
       }
 
       case "executeSSH": {
-        const { command } = parameters ?? {};
+        // Session auth is sufficient — no studyId needed
+        // command may be top-level in body or nested under parameters
+        const { command } = parameters ?? body;
         if (!command) {
           return NextResponse.json(
             { error: "Missing command parameter" },

src/components/trials/wizard/WizardInterface.tsx

@@ -430,8 +430,7 @@ export const WizardInterface = React.memo(function WizardInterface({
         order: step.order ?? index,
         actions:
           step.actions
-            ?.filter((a) => a.type !== "branch")
+            ?.map((action) => ({
-            .map((action) => ({
               id: action.id,
               name: action.name,
               description: action.description,

src/server/api/routers/experiments.ts

@@ -675,8 +675,11 @@ export const experimentsRouter = createTRPCRouter({
           // Delete existing steps and actions for this experiment
           await ctx.db.delete(steps).where(eq(steps.experimentId, id));
 
+          // Map from designer temp step ID → new DB UUID (for branch nextStepId fix-up)
+          const stepIdMap = new Map<string, string>();
+
           // Create new steps and actions
-          for (const convertedStep of convertedSteps) {
+          for (const [i, convertedStep] of convertedSteps.entries()) {
             const [newStep] = await ctx.db
               .insert(steps)
               .values({
@@ -698,6 +701,10 @@ export const experimentsRouter = createTRPCRouter({
               });
             }
 
+            // Record temp ID → real UUID so branch nextStepId refs can be fixed up
+            const tempId = normalizedSteps[i]?.id;
+            if (tempId) stepIdMap.set(tempId, newStep.id);
+
             // Create actions for this step
             for (const convertedAction of convertedStep.actions) {
               await ctx.db.insert(actions).values({
@@ -724,6 +731,25 @@ export const experimentsRouter = createTRPCRouter({
               });
             }
           }
+
+          // Fix-up branch nextStepId: replace temp designer IDs with real DB UUIDs
+          // in both action parameters and step conditions
+          for (const [tempId, dbId] of stepIdMap) {
+            await ctx.db.execute(
+              sql`UPDATE ${actions}
+                  SET parameters = replace(parameters::text, ${tempId}, ${dbId})::jsonb
+                  WHERE step_id IN (
+                    SELECT id FROM ${steps} WHERE experiment_id = ${id}
+                  )
+                  AND parameters::text LIKE ${"%" + tempId + "%"}`,
+            );
+            await ctx.db.execute(
+              sql`UPDATE ${steps}
+                  SET conditions = replace(conditions::text, ${tempId}, ${dbId})::jsonb
+                  WHERE experiment_id = ${id}
+                  AND conditions::text LIKE ${"%" + tempId + "%"}`,
+            );
+          }
         } catch (error) {
           throw new TRPCError({
             code: "INTERNAL_SERVER_ERROR",

src/server/services/robot-communication.ts

@@ -30,6 +30,7 @@ export interface RobotAction {
       type?: string;
       transformFn?: string;
       payload?: Record<string, unknown>;
+      sshCommand?: string;
     };
     ros2?: {
       topic?: string;
@@ -40,6 +41,7 @@ export interface RobotAction {
         type?: string;
         transformFn?: string;
         payload?: Record<string, unknown>;
+        sshCommand?: string;
       };
     };
   };

src/server/services/trial-execution.ts

@@ -799,8 +799,18 @@ export class TrialExecutionEngine {
     parameters: Record<string, unknown>,
     trialId: string,
   ): Promise<string> {
-    // Ensure robot communication service is available
+    // Plugin JSON uses a top-level "ros2" key; fall back to it if "implementation" is absent
-    if (!this.robotComm.getConnectionStatus()) {
+    const impl = actionDefinition.implementation ?? actionDefinition.ros2;
+
+    // Determine if this action uses SSH (animations or explicit sshCommand)
+    const sshCommand =
+      impl?.payloadMapping?.sshCommand ||
+      impl?.ros2?.payloadMapping?.sshCommand;
+    const isSSHAction =
+      actionDefinition.id?.startsWith("play_animation_") || !!sshCommand;
+
+    // SSH actions bypass ROS bridge — only connect for ROS-dependent actions
+    if (!isSSHAction && !this.robotComm.getConnectionStatus()) {
       try {
         await this.robotComm.connect();
       } catch (error) {
@@ -810,12 +820,12 @@ export class TrialExecutionEngine {
       }
     }
 
-    // Prepare robot action - use action.type which contains the namespaced format (plugin.actionId)
+    // Prepare robot action
     const robotAction: RobotAction = {
       pluginName: plugin.name,
-      actionId: action.type, // e.g., "nao6-ros2.play_animation_bow"
+      actionId: actionDefinition.id, // e.g., "play_animation_yes"
       parameters,
-      implementation: actionDefinition.implementation,
+      implementation: impl,
     };
 
     // Execute action through robot communication service