feat: Add Test Action button, fix ros2 config copying, fix transform functions

- Add Test Action button in experiment designer properties panel
- Fix DesignerRoot to copy full ros2 config when adding actions
- Add transformToWaveGoodbye and transformToAnimation cases
- Fix escape sequences for NAOqi markup
- Update TrialForm with FormSection, sidebar, and visible validation
- Add db:reset and db:restart scripts
- Update docker-compose with configurable PostgreSQL and MinIO vars

.env.example

@@ -16,11 +16,19 @@
 AUTH_SECRET=""
 
 # Drizzle
-DATABASE_URL="postgresql://postgres:password@localhost:5433/hristudio"
+DATABASE_URL="postgresql://${POSTGRES_USER:-postgres}:${POSTGRES_PASSWORD:-postgres}@localhost:${POSTGRES_PORT:-5432}/${POSTGRES_DB:-hristudio}"
+
+# PostgreSQL (used by docker-compose)
+POSTGRES_USER="postgres"
+POSTGRES_PASSWORD="postgres"
+POSTGRES_DB="hristudio"
+POSTGRES_PORT="5432"
 
 # MinIO/S3 Configuration
-MINIO_ENDPOINT="http://localhost:9000"
+MINIO_ENDPOINT="http://localhost:${MINIO_PORT_API:-9000}"
 MINIO_REGION="us-east-1"
 MINIO_ACCESS_KEY="minioadmin"
 MINIO_SECRET_KEY="minioadmin"
 MINIO_BUCKET_NAME="hristudio-data"
+MINIO_PORT_API="9000"
+MINIO_PORT_CONSOLE="9001"

docker-compose.yml

@@ -2,13 +2,13 @@ services:
   db:
     image: postgres:15
     environment:
-      POSTGRES_USER: postgres
+      POSTGRES_USER: ${POSTGRES_USER:-postgres}
-      POSTGRES_PASSWORD: postgres
+      POSTGRES_PASSWORD: ${POSTGRES_PASSWORD:-postgres}
-      POSTGRES_DB: hristudio
+      POSTGRES_DB: ${POSTGRES_DB:-hristudio}
       PGSSLMODE: disable
     command: -c ssl=off
     ports:
-      - "5140:5432"
+      - "${POSTGRES_PORT:-5432}:5432"
     volumes:
       - postgres_data:/var/lib/postgresql/data
     healthcheck:
@@ -20,11 +20,11 @@ services:
   minio:
     image: minio/minio
     ports:
-      - "9000:9000" # API
+      - "${MINIO_PORT_API:-9000}:9000" # API
-      - "9001:9001" # Console
+      - "${MINIO_PORT_CONSOLE:-9001}:9001" # Console
     environment:
-      MINIO_ROOT_USER: minioadmin
+      MINIO_ROOT_USER: ${MINIO_ACCESS_KEY:-minioadmin}
-      MINIO_ROOT_PASSWORD: minioadmin
+      MINIO_ROOT_PASSWORD: ${MINIO_SECRET_KEY:-minioadmin}
     volumes:
       - minio_data:/data
     command: server --console-address ":9001" /data
@@ -35,9 +35,9 @@ services:
       - minio
     entrypoint: >
       /bin/sh -c "
-      /usr/bin/mc alias set myminio http://minio:9000 minioadmin minioadmin;
+      /usr/bin/mc alias set myminio http://minio:9000 ${MINIO_ACCESS_KEY:-minioadmin} ${MINIO_SECRET_KEY:-minioadmin};
-      /usr/bin/mc mb myminio/hristudio-data;
+      /usr/bin/mc mb myminio/${MINIO_BUCKET_NAME:-hristudio-data};
-      /usr/bin/mc anonymous set public myminio/hristudio-data;
+      /usr/bin/mc anonymous set public myminio/${MINIO_BUCKET_NAME:-hristudio-data};
       exit 0;
       "
 

package.json

@@ -5,22 +5,26 @@
   "type": "module",
   "scripts": {
     "build": "next build",
-    "check": "next lint && tsc --noEmit",
+    "check": "eslint . && tsc --noEmit",
     "db:generate": "drizzle-kit generate",
     "db:migrate": "drizzle-kit migrate",
     "db:push": "drizzle-kit push",
     "db:studio": "drizzle-kit studio",
     "db:seed": "bun db:push && bun scripts/seed-dev.ts",
-    "dev": "bun run ws-server.ts & next dev --turbo",
+    "db:reset": "docker compose rm -s -f -v db && docker compose up -d db && sleep 2 && bun db:seed",
+    "db:restart": "docker compose restart db",
+    "dev": "bun run dev:ws & next dev",
     "dev:ws": "bun run ws-server.ts",
     "docker:up": "if [ \"$(uname)\" = \"Darwin\" ]; then colima start; fi && docker compose up -d",
     "docker:down": "docker compose down && if [ \"$(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",
+    "lint": "eslint .",
-    "lint:fix": "next lint --fix",
+    "lint:fix": "eslint . --fix",
     "preview": "next build && next start",
-    "start": "next start",
+    "start": "bun run start:ws & next start",
+    "start:ws": "bun run ws-server.ts",
+    "start:web": "next start",
     "typecheck": "tsc --noEmit"
   },
   "dependencies": {

src/components/experiments/designer/DesignerRoot.tsx

@@ -1079,14 +1079,18 @@ export function DesignerRoot({
           }
         }
 
+        const defExec = actionDef.execution as any;
         const execution: ExperimentAction["execution"] =
-          actionDef.execution &&
+          defExec &&
-          (actionDef.execution.transport === "internal" ||
+          (defExec.transport === "internal" ||
-            actionDef.execution.transport === "rest" ||
+            defExec.transport === "rest" ||
-            actionDef.execution.transport === "ros2")
+            defExec.transport === "ros2")
             ? {
-                transport: actionDef.execution.transport,
+                transport: defExec.transport,
-                retryable: actionDef.execution.retryable ?? false,
+                retryable: defExec.retryable ?? false,
+                timeoutMs: defExec.timeoutMs,
+                ros2: defExec.ros2,
+                rest: defExec.rest,
               }
             : undefined;
 

src/components/experiments/designer/PropertiesPanel.tsx

@@ -43,7 +43,14 @@ import {
   Plus,
   GitBranch,
   Trash2,
+  PlayCircle,
+  Square,
+  Loader2,
+  CheckCircle2,
+  XCircle,
 } from "lucide-react";
+import { toast } from "sonner";
+import { getWizardRosService, initWizardRosService, resetWizardRosService } from "~/lib/ros/wizard-ros-service";
 
 /**
  * PropertiesPanel
@@ -90,6 +97,10 @@ export function PropertiesPanelBase({
   const [localStepDescription, setLocalStepDescription] = useState("");
   const [localParams, setLocalParams] = useState<Record<string, unknown>>({});
 
+  // Test action state
+  const [isTesting, setIsTesting] = useState(false);
+  const [testStatus, setTestStatus] = useState<"idle" | "running" | "success" | "error">("idle");
+
   // Debounce timers
   const actionUpdateTimer = useRef<NodeJS.Timeout | undefined>(undefined);
   const stepUpdateTimer = useRef<NodeJS.Timeout | undefined>(undefined);
@@ -168,6 +179,74 @@ export function PropertiesPanelBase({
     selectedAction &&
     design.steps.find((s) => s.actions.some((a) => a.id === selectedAction.id));
 
+  // Test action handler
+  const handleTestAction = useCallback(async () => {
+    if (!selectedAction || !containingStep) return;
+
+    setIsTesting(true);
+    setTestStatus("running");
+
+    try {
+      console.log("[Test Action] Starting test for action:", selectedAction.name, selectedAction.type);
+      console.log("[Test Action] Execution config:", JSON.stringify(selectedAction.execution, null, 2));
+      console.log("[Test Action] Parameters:", selectedAction.parameters);
+
+      // Reset service to ensure clean state for testing
+      resetWizardRosService();
+      
+      // Initialize with actual robot connection (not simulation)
+      const rosService = await initWizardRosService(false);
+      console.log("[Test Action] ROS service initialized, connected:", rosService.getConnectionStatus());
+
+      // Build action config from execution descriptor
+      const execution = selectedAction.execution;
+      let actionConfig: {
+        topic: string;
+        messageType: string;
+        payloadMapping: {
+          type: string;
+          payload?: Record<string, unknown>;
+          transformFn?: string;
+        };
+      } | undefined;
+
+      if (execution?.transport === "ros2" && execution.ros2) {
+        const ros2 = execution.ros2 as any;
+        actionConfig = {
+          topic: ros2.topic || "/speech",
+          messageType: ros2.messageType || "std_msgs/msg/String",
+          payloadMapping: {
+            type: ros2.payloadMapping?.type || "static",
+            payload: ros2.payloadMapping?.payload,
+            transformFn: ros2.payloadMapping?.transformFn,
+          },
+        };
+        console.log("[Test Action] Action config built:", JSON.stringify(actionConfig, null, 2));
+      }
+
+      // Execute the action on the real robot
+      const result = await rosService.executeRobotAction(
+        selectedAction.source?.kind === "plugin" ? (selectedAction.source?.pluginId || "core") : "core",
+        selectedAction.type,
+        selectedAction.parameters,
+        actionConfig,
+      );
+      console.log("[Test Action] Execution result:", result);
+
+      setTestStatus("success");
+      toast.success(`Action "${selectedAction.name}" executed on robot`);
+    } catch (error) {
+      setTestStatus("error");
+      const message = error instanceof Error ? error.message : "Action execution failed";
+      toast.error(message);
+      console.error("Test action error:", error);
+    } finally {
+      setIsTesting(false);
+      // Reset status after a delay
+      setTimeout(() => setTestStatus("idle"), 2000);
+    }
+  }, [selectedAction, containingStep]);
+
   /* -------------------------- Action Properties View -------------------------- */
   if (selectedAction && containingStep) {
     let def = registry.getAction(selectedAction.type);
@@ -277,6 +356,41 @@ export function PropertiesPanelBase({
           )}
         </div>
 
+        {/* Test Action Button */}
+        {selectedAction.execution?.transport !== "internal" && (
+          <div className="flex items-center gap-2">
+            <Button
+              variant="outline"
+              size="sm"
+              className="w-full gap-1.5"
+              onClick={handleTestAction}
+              disabled={isTesting}
+            >
+              {testStatus === "running" ? (
+                <>
+                  <Loader2 className="h-4 w-4 animate-spin" />
+                  Running...
+                </>
+              ) : testStatus === "success" ? (
+                <>
+                  <CheckCircle2 className="h-4 w-4 text-green-500" />
+                  Success!
+                </>
+              ) : testStatus === "error" ? (
+                <>
+                  <XCircle className="h-4 w-4 text-red-500" />
+                  Failed
+                </>
+              ) : (
+                <>
+                  <PlayCircle className="h-4 w-4" />
+                  Test Action
+                </>
+              )}
+            </Button>
+          </div>
+        )}
+
         {/* General */}
         <div className="space-y-2">
           <div className="text-muted-foreground text-[10px] tracking-wide uppercase">

src/components/trials/TrialForm.tsx

@@ -11,6 +11,7 @@ import {
   EntityForm,
   FormField,
   FormSection,
+  NextSteps,
   Tips,
 } from "~/components/ui/entity-form";
 import { Input } from "~/components/ui/input";
@@ -26,7 +27,7 @@ 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 { Calendar as CalendarIcon, Clock, Clock2 } from "lucide-react";
 import { format } from "date-fns";
 import { cn } from "~/lib/utils";
 import { Button } from "~/components/ui/button";
@@ -84,60 +85,61 @@ function DateTimePicker({
 
   return (
     <div className="flex items-end gap-2">
-      <div className="grid gap-1.5">
+      <Popover open={open} onOpenChange={setOpen}>
-        <Label htmlFor="date-picker" className="text-xs">
+        <PopoverTrigger asChild>
-          Date
+          <Button
-        </Label>
+            variant={"outline"}
-        <Popover open={open} onOpenChange={setOpen}>
+            id="date-picker"
-          <PopoverTrigger asChild>
+            className={cn(
-            <Button
+              "w-[200px] justify-start text-left font-normal",
-              variant={"outline"}
+              !value && "text-muted-foreground",
-              id="date-picker"
+            )}
-              className={cn(
+          >
-                "w-[240px] justify-start text-left font-normal",
+            <CalendarIcon className="mr-2 h-4 w-4" />
-                !value && "text-muted-foreground",
+            {value ? format(value, "MMM d, yyyy") : <span>Pick a date</span>}
-              )}
+          </Button>
-            >
+        </PopoverTrigger>
-              <CalendarIcon className="mr-2 h-4 w-4" />
+        <PopoverContent className="w-auto p-0" align="start">
-              {value ? format(value, "PPP") : <span>Pick a date</span>}
+          <Calendar
-            </Button>
+            mode="single"
-          </PopoverTrigger>
+            selected={value}
-          <PopoverContent className="w-auto p-0" align="start">
+            onSelect={onDateSelect}
-            <Calendar
+            initialFocus
-              mode="single"
+          />
-              selected={value}
+        </PopoverContent>
-              onSelect={onDateSelect}
+      </Popover>
-              initialFocus
+
-            />
+      <div className="relative">
-          </PopoverContent>
+        <Input
-        </Popover>
+          id="time-picker"
+          type="time"
+          value={timeValue}
+          onChange={onTimeChange}
+          disabled={!value}
+          className="w-[110px]"
+        />
+        <Clock className="text-muted-foreground pointer-events-none absolute top-2.5 right-3 h-4 w-4" />
       </div>
 
-      <div className="grid gap-1.5">
+      <Button
-        <Label htmlFor="time-picker" className="text-xs">
+        type="button"
-          Time
+        variant="outline"
-        </Label>
+        size="sm"
-        <div className="relative">
+        onClick={() => onChange(new Date())}
-          <Input
+        className="h-10 gap-1.5"
-            id="time-picker"
+      >
-            type="time"
+        <Clock2 className="h-4 w-4" />
-            value={timeValue}
+        Now
-            onChange={onTimeChange}
+      </Button>
-            disabled={!value}
-            className="w-[120px]"
-          />
-          <Clock className="text-muted-foreground pointer-events-none absolute top-2.5 right-3 h-4 w-4" />
-        </div>
-      </div>
     </div>
   );
 }
 
 const trialSchema = z.object({
-  experimentId: z.string().uuid("Please select an experiment"),
+  experimentId: z.string().min(1, "Please select an experiment *"),
-  participantId: z.string().uuid("Please select a participant"),
+  participantId: z.string().min(1, "Please select a participant *"),
-  scheduledAt: z.date(),
+  scheduledAt: z.date({ message: "Scheduled date and time is required *" }),
-  wizardId: z.string().uuid().optional().or(z.literal("")),
+  wizardId: z.string().optional().or(z.literal("")),
   notes: z.string().max(1000, "Notes cannot exceed 1000 characters").optional(),
   sessionNumber: z
     .number()
@@ -165,7 +167,7 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
     defaultValues: {
       experimentId: "" as any,
       participantId: "" as any,
-      scheduledAt: new Date(),
+      scheduledAt: undefined,
       wizardId: undefined,
       notes: "",
       sessionNumber: 1,
@@ -329,6 +331,249 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
     return <div>Error loading trial: {fetchError.message}</div>;
   }
 
+  // Sidebar content
+  const sidebar = (
+    <>
+      <NextSteps
+        steps={[
+          {
+            title: "Configure Experiment",
+            description: "Ensure the experiment protocol is designed and ready",
+            completed: !!form.watch("experimentId"),
+          },
+          {
+            title: "Select Participant",
+            description: "Choose a participant for this trial",
+            completed: !!form.watch("participantId"),
+          },
+          {
+            title: "Assign Wizard",
+            description: "Assign a wizard to operate the robot",
+          },
+          {
+            title: "Run Trial",
+            description: "Execute the trial and collect data",
+          },
+        ]}
+      />
+      <Tips
+        tips={[
+          "Verify experiment status: Only 'Ready' experiments can be used in trials.",
+          "Check participant availability: Ensure participants are available at the scheduled time.",
+          "Assign wizards early: Give wizards time to prepare before the trial.",
+          "Prepare notes: Add any special instructions for the wizard.",
+        ]}
+      />
+    </>
+  );
+
+  // Form fields
+  const formFields = (
+    <>
+      <FormSection
+        title="Trial Configuration"
+        description="Select the experiment and participant for this trial."
+      >
+        <div className="grid grid-cols-1 gap-6 md:grid-cols-2">
+          <FormField>
+            <Label htmlFor="experimentId">
+              Experiment <span className="text-red-500">*</span>
+            </Label>
+            <Select
+              value={form.watch("experimentId") ?? ""}
+              onValueChange={(value) => form.setValue("experimentId", value)}
+              disabled={experimentsLoading || mode === "edit"}
+            >
+              <SelectTrigger
+                className={
+                  form.formState.errors.experimentId ? "border-red-500 ring-1 ring-red-500" : ""
+                }
+              >
+                <SelectValue
+                  placeholder={
+                    experimentsLoading
+                      ? "Loading experiments..."
+                      : "Select an experiment"
+                  }
+                />
+              </SelectTrigger>
+              <SelectContent>
+                {experimentsData?.map((experiment) => (
+                  <SelectItem key={experiment.id} value={experiment.id}>
+                    {experiment.name} ({experiment.status})
+                  </SelectItem>
+                ))}
+              </SelectContent>
+            </Select>
+            {form.formState.errors.experimentId && (
+              <p className="mt-1 text-sm text-red-500 font-medium">
+                {form.formState.errors.experimentId.message}
+              </p>
+            )}
+            {mode === "edit" && (
+              <p className="text-muted-foreground mt-1 text-xs">
+                Experiment cannot be changed after creation
+              </p>
+            )}
+          </FormField>
+
+          <FormField>
+            <Label htmlFor="participantId">
+              Participant <span className="text-red-500">*</span>
+            </Label>
+            <Select
+              value={form.watch("participantId") ?? ""}
+              onValueChange={(value) => form.setValue("participantId", value)}
+              disabled={participantsLoading || mode === "edit"}
+            >
+              <SelectTrigger
+                className={
+                  form.formState.errors.participantId ? "border-red-500 ring-1 ring-red-500" : ""
+                }
+              >
+                <SelectValue
+                  placeholder={
+                    participantsLoading
+                      ? "Loading participants..."
+                      : "Select a participant"
+                  }
+                />
+              </SelectTrigger>
+              <SelectContent>
+                {participantsData?.participants?.map((participant) => (
+                  <SelectItem key={participant.id} value={participant.id}>
+                    {participant.name ?? participant.participantCode}
+                  </SelectItem>
+                ))}
+              </SelectContent>
+            </Select>
+            {form.formState.errors.participantId && (
+              <p className="mt-1 text-sm text-red-500 font-medium">
+                {form.formState.errors.participantId.message}
+              </p>
+            )}
+            {mode === "edit" && (
+              <p className="text-muted-foreground mt-1 text-xs">
+                Participant cannot be changed after creation
+              </p>
+            )}
+          </FormField>
+        </div>
+      </FormSection>
+
+      <FormSection
+        title="Scheduling"
+        description="Set when this trial should be conducted."
+      >
+        <div className="grid grid-cols-1 gap-6 md:grid-cols-2">
+          <FormField>
+            <Label htmlFor="scheduledAt">
+              Scheduled Date & Time <span className="text-red-500">*</span>
+            </Label>
+            <Controller
+              control={form.control}
+              name="scheduledAt"
+              render={({ field }) => (
+                <DateTimePicker
+                  value={field.value}
+                  onChange={field.onChange}
+                />
+              )}
+            />
+            {form.formState.errors.scheduledAt && (
+              <p className="mt-1 text-sm text-red-500 font-medium">
+                {form.formState.errors.scheduledAt.message}
+              </p>
+            )}
+            <p className="text-muted-foreground mt-1 text-xs">
+              When should this trial be conducted?
+            </p>
+          </FormField>
+
+          <FormField>
+            <Label htmlFor="sessionNumber">Session Number</Label>
+            <Input
+              id="sessionNumber"
+              type="number"
+              min="1"
+              {...form.register("sessionNumber", { valueAsNumber: true })}
+              placeholder="1"
+              className={
+                form.formState.errors.sessionNumber ? "border-red-500 ring-1 ring-red-500" : ""
+              }
+            />
+            {form.formState.errors.sessionNumber && (
+              <p className="mt-1 text-sm text-red-500 font-medium">
+                {form.formState.errors.sessionNumber.message}
+              </p>
+            )}
+            <p className="text-muted-foreground mt-1 text-xs">
+              Auto-incremented based on participant history
+            </p>
+          </FormField>
+        </div>
+      </FormSection>
+
+      <FormSection
+        title="Assignment & Notes"
+        description="Assign a wizard and add any special instructions."
+      >
+        <FormField>
+          <Label htmlFor="wizardId">Assigned Wizard</Label>
+          <Select
+            value={form.watch("wizardId") ?? "none"}
+            onValueChange={(value) =>
+              form.setValue("wizardId", value === "none" ? undefined : value)
+            }
+            disabled={usersLoading}
+          >
+            <SelectTrigger>
+              <SelectValue
+                placeholder={
+                  usersLoading
+                    ? "Loading wizards..."
+                    : "Select a wizard (optional)"
+                }
+              />
+            </SelectTrigger>
+            <SelectContent>
+              <SelectItem value="none">No wizard assigned</SelectItem>
+              {usersData?.map(
+                (user: { id: string; name: string; email: string }) => (
+                  <SelectItem key={user.id} value={user.id}>
+                    {user.name} ({user.email})
+                  </SelectItem>
+                ),
+              )}
+            </SelectContent>
+          </Select>
+          <p className="text-muted-foreground mt-1 text-xs">
+            Who will operate the robot during this trial?
+          </p>
+        </FormField>
+
+        <FormField>
+          <Label htmlFor="notes">Notes</Label>
+          <Textarea
+            id="notes"
+            {...form.register("notes")}
+            placeholder="Special instructions for the wizard, environmental setup notes, or other relevant information..."
+            rows={4}
+            className={form.formState.errors.notes ? "border-red-500 ring-1 ring-red-500" : ""}
+          />
+          {form.formState.errors.notes && (
+            <p className="mt-1 text-sm text-red-500 font-medium">
+              {form.formState.errors.notes.message}
+            </p>
+          )}
+          <p className="text-muted-foreground mt-1 text-xs">
+            Optional: Add any special instructions for this trial
+          </p>
+        </FormField>
+      </FormSection>
+    </>
+  );
+
   return (
     <EntityForm
       mode={mode}
@@ -351,196 +596,10 @@ export function TrialForm({ mode, trialId, studyId }: TrialFormProps) {
       onSubmit={onSubmit}
       isSubmitting={isSubmitting}
       error={error}
-      sidebar={undefined}
+      sidebar={sidebar}
       submitText={mode === "create" ? "Schedule Trial" : "Save Changes"}
-      layout="full-width"
     >
-      <div className="grid grid-cols-1 gap-6 md:grid-cols-3">
+      {formFields}
-        {/* Left Column: Main Info (Spans 2) */}
-        <div className="space-y-6 md:col-span-2">
-          <div className="grid grid-cols-1 gap-6 md:grid-cols-2">
-            <FormField>
-              <Label htmlFor="experimentId">Experiment *</Label>
-              <Select
-                value={form.watch("experimentId") ?? ""}
-                onValueChange={(value) => form.setValue("experimentId", value)}
-                disabled={experimentsLoading || mode === "edit"}
-              >
-                <SelectTrigger
-                  className={
-                    form.formState.errors.experimentId ? "border-red-500" : ""
-                  }
-                >
-                  <SelectValue
-                    placeholder={
-                      experimentsLoading
-                        ? "Loading experiments..."
-                        : "Select an experiment"
-                    }
-                  />
-                </SelectTrigger>
-                <SelectContent>
-                  {experimentsData?.map((experiment) => (
-                    <SelectItem key={experiment.id} value={experiment.id}>
-                      {experiment.name}
-                    </SelectItem>
-                  ))}
-                </SelectContent>
-              </Select>
-              {form.formState.errors.experimentId && (
-                <p className="text-sm text-red-600">
-                  {form.formState.errors.experimentId.message}
-                </p>
-              )}
-              {mode === "edit" && (
-                <p className="text-muted-foreground text-xs">
-                  Experiment cannot be changed after creation
-                </p>
-              )}
-            </FormField>
-
-            <FormField>
-              <Label htmlFor="participantId">Participant *</Label>
-              <Select
-                value={form.watch("participantId") ?? ""}
-                onValueChange={(value) => form.setValue("participantId", value)}
-                disabled={participantsLoading || mode === "edit"}
-              >
-                <SelectTrigger
-                  className={
-                    form.formState.errors.participantId ? "border-red-500" : ""
-                  }
-                >
-                  <SelectValue
-                    placeholder={
-                      participantsLoading
-                        ? "Loading participants..."
-                        : "Select a participant"
-                    }
-                  />
-                </SelectTrigger>
-                <SelectContent>
-                  {participantsData?.participants?.map((participant) => (
-                    <SelectItem key={participant.id} value={participant.id}>
-                      {participant.name ?? participant.participantCode} (
-                      {participant.participantCode})
-                    </SelectItem>
-                  ))}
-                </SelectContent>
-              </Select>
-              {form.formState.errors.participantId && (
-                <p className="text-sm text-red-600">
-                  {form.formState.errors.participantId.message}
-                </p>
-              )}
-              {mode === "edit" && (
-                <p className="text-muted-foreground text-xs">
-                  Participant cannot be changed after creation
-                </p>
-              )}
-            </FormField>
-          </div>
-
-          <div className="grid grid-cols-1 gap-6 md:grid-cols-2">
-            <FormField>
-              <Label htmlFor="scheduledAt">Scheduled Date & Time *</Label>
-              <Controller
-                control={form.control}
-                name="scheduledAt"
-                render={({ field }) => (
-                  <DateTimePicker
-                    value={field.value}
-                    onChange={field.onChange}
-                  />
-                )}
-              />
-              {form.formState.errors.scheduledAt && (
-                <p className="text-sm text-red-600">
-                  {form.formState.errors.scheduledAt.message}
-                </p>
-              )}
-              <p className="text-muted-foreground text-xs">
-                When should this trial be conducted?
-              </p>
-            </FormField>
-
-            <FormField>
-              <Label htmlFor="sessionNumber">Session Number</Label>
-              <Input
-                id="sessionNumber"
-                type="number"
-                min="1"
-                {...form.register("sessionNumber", { valueAsNumber: true })}
-                placeholder="1"
-                className={
-                  form.formState.errors.sessionNumber ? "border-red-500" : ""
-                }
-              />
-              {form.formState.errors.sessionNumber && (
-                <p className="text-sm text-red-600">
-                  {form.formState.errors.sessionNumber.message}
-                </p>
-              )}
-              <p className="text-muted-foreground text-xs">
-                Auto-incremented based on participant history
-              </p>
-            </FormField>
-          </div>
-        </div>
-
-        {/* Right Column: Assignment & Notes (Spans 1) */}
-        <div className="space-y-6">
-          <FormField>
-            <Label htmlFor="wizardId">Assigned Wizard</Label>
-            <Select
-              value={form.watch("wizardId") ?? "none"}
-              onValueChange={(value) =>
-                form.setValue("wizardId", value === "none" ? undefined : value)
-              }
-              disabled={usersLoading}
-            >
-              <SelectTrigger>
-                <SelectValue
-                  placeholder={
-                    usersLoading
-                      ? "Loading wizards..."
-                      : "Select a wizard (optional)"
-                  }
-                />
-              </SelectTrigger>
-              <SelectContent>
-                <SelectItem value="none">No wizard assigned</SelectItem>
-                {usersData?.map(
-                  (user: { id: string; name: string; email: string }) => (
-                    <SelectItem key={user.id} value={user.id}>
-                      {user.name} ({user.email})
-                    </SelectItem>
-                  ),
-                )}
-              </SelectContent>
-            </Select>
-            <p className="text-muted-foreground text-xs">
-              Who will operate the robot?
-            </p>
-          </FormField>
-
-          <FormField>
-            <Label htmlFor="notes">Notes</Label>
-            <Textarea
-              id="notes"
-              {...form.register("notes")}
-              placeholder="Special instructions..."
-              rows={5}
-              className={form.formState.errors.notes ? "border-red-500" : ""}
-            />
-            {form.formState.errors.notes && (
-              <p className="text-sm text-red-600">
-                {form.formState.errors.notes.message}
-              </p>
-            )}
-          </FormField>
-        </div>
-      </div>
     </EntityForm>
   );
 }

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

@@ -1042,6 +1042,12 @@ export class WizardRosService extends EventEmitter {
       case "transformToEmotionalSpeech":
         return this.transformToEmotionalSpeech(parameters);
 
+      case "transformToWaveGoodbye":
+        return this.transformToWaveGoodbye(parameters);
+
+      case "transformToAnimation":
+        return this.transformToAnimation(parameters);
+
       default:
         console.warn(`Unknown transform function: ${transformFn}`);
         return parameters;
@@ -1051,7 +1057,7 @@ export class WizardRosService extends EventEmitter {
   /**
    * Transform parameters for emotional speech
    * NAOqi markup: \rspd=<speed>\<text>
-   * For animated speech: ^start(animations/Stand/Gestures/...)
+   * Using pure speech modifiers without animations to avoid sound effects
    */
   private transformToEmotionalSpeech(parameters: Record<string, unknown>): {
     data: string;
@@ -1065,20 +1071,20 @@ export class WizardRosService extends EventEmitter {
 
     switch (emotion) {
       case "happy":
-        markedText = `\\rspd=120\\^start(animations/Stand/Gestures/Happy_4) ${text}`;
+        markedText = `\\\\rspd=120\\\\vct=100\\\\ ${text}`;
         break;
       case "excited":
-        markedText = `\\rspd=140\\^start(animations/Stand/Gestures/Enthusiastic_1) ${text}`;
+        markedText = `\\\\rspd=140\\\\vct=110\\\\ ${text}`;
         break;
       case "sad":
-        markedText = `\\rspd=80\\vct=80\\${text}`;
+        markedText = `\\\\rspd=80\\\\vct=80\\\\ ${text}`;
         break;
       case "calm":
-        markedText = `\\rspd=90\\${text}`;
+        markedText = `\\\\rspd=90\\\\vct=90\\\\ ${text}`;
         break;
       case "neutral":
       default:
-        markedText = `\\rspd=${speedPercent}\\${text}`;
+        markedText = `\\\\rspd=${speedPercent}\\\\vct=100\\\\ ${text}`;
         break;
     }
 
@@ -1086,13 +1092,13 @@ export class WizardRosService extends EventEmitter {
   }
 
   /**
-   * Transform for wave goodbye - animated speech with waving
+   * Transform for wave goodbye - speech without animation sound
    */
   private transformToWaveGoodbye(parameters: Record<string, unknown>): {
     data: string;
   } {
     const text = String(parameters.text || "Goodbye!");
-    const markedText = `\\rspd=110\\^start(animations/Stand/Gestures/Hey_1) ${text} ^start(animations/Stand/Gestures/Hey_1)`;
+    const markedText = `\\\\rspd=110\\\\ ${text}`;
     return { data: markedText };
   }