feat: Redesign Landing, Auth, and Dashboard Pages

Also fixed schema type exports and seed script errors.

docs/README.md

@@ -112,10 +112,16 @@ This documentation suite provides everything needed to understand, build, deploy
     - Technical debt resolution
     - UI/UX enhancements
 
+### **🤖 Robot Integration Guides**
+
+14. **[NAO6 Complete Integration Guide](./nao6-integration-complete-guide.md)** - Comprehensive NAO6 setup, troubleshooting, and production deployment
+15. **[NAO6 Quick Reference](./nao6-quick-reference.md)** - Essential commands and troubleshooting for NAO6 integration
+16. **[NAO6 ROS2 Setup](./nao6-ros2-setup.md)** - Basic NAO6 ROS2 driver installation guide
+
 ### **📖 Academic References**
 
-14. **[Research Paper](./root.tex)** - Academic LaTeX document
-15. **[Bibliography](./refs.bib)** - Research references
+17. **[Research Paper](./root.tex)** - Academic LaTeX document
+18. **[Bibliography](./refs.bib)** - Research references
 
 ---
 
@@ -152,8 +158,14 @@ This documentation suite provides everything needed to understand, build, deploy
 ### **For Researchers**
 1. **[Project Overview](./project-overview.md)** - Research platform capabilities
 2. **[Feature Requirements](./feature-requirements.md)** - User workflows and features
-3. **[ROS2 Integration](./ros2-integration.md)** - Robot platform integration
-4. **[Research Paper](./root.tex)** - Academic context and methodology
+3. **[NAO6 Quick Reference](./nao6-quick-reference.md)** - Essential NAO6 robot control commands
+4. **[ROS2 Integration](./ros2-integration.md)** - Robot platform integration
+5. **[Research Paper](./root.tex)** - Academic context and methodology
+
+### **For Robot Integration**
+1. **[NAO6 Complete Integration Guide](./nao6-integration-complete-guide.md)** - Full NAO6 setup and troubleshooting
+2. **[NAO6 Quick Reference](./nao6-quick-reference.md)** - Essential commands and quick fixes
+3. **[ROS2 Integration](./ros2-integration.md)** - General robot integration patterns
 
 ---
 
@@ -219,6 +231,13 @@ bun dev
 - **Comprehensive Testing**: Realistic seed data with complete scenarios
 - **Developer Friendly**: Clear patterns and extensive documentation
 
+### **Robot Integration**
+- **NAO6 Full Support**: Complete ROS2 integration with movement, speech, and sensor control
+- **Real-time Control**: WebSocket-based robot control through web interface
+- **Safety Features**: Emergency stops, movement limits, and comprehensive monitoring
+- **Production Ready**: Tested with NAO V6.0 / NAOqi 2.8.7.4 / ROS2 Humble
+- **Troubleshooting Guides**: Complete documentation for setup and problem resolution
+
 ---
 
 ## 🎊 **Project Status: Production Ready**
@@ -238,6 +257,7 @@ bun dev
 - ✅ **Core Blocks System** - 26 blocks across events, wizard, control, observation
 - ✅ **Plugin Architecture** - Unified system for core blocks and robot actions
 - ✅ **Development Environment** - Realistic test data and scenarios
+- ✅ **NAO6 Robot Integration** - Full ROS2 integration with comprehensive control and monitoring
 
 ---
 
@@ -271,7 +291,7 @@ The platform is considered production-ready when:
 - ✅ Performance targets are achieved
 - ✅ Type safety is complete throughout
 
-**All success criteria have been met. HRIStudio is ready for production deployment.**
+**All success criteria have been met. HRIStudio is ready for production deployment with full NAO6 robot integration support.**
 
 ---
 

docs/nao6-integration-summary.md

@@ -1,233 +0,0 @@
-# NAO6 ROS2 Integration Summary for HRIStudio
-
-## Overview
-
-This document summarizes the complete NAO6 ROS2 integration that has been implemented for HRIStudio, providing researchers with full access to NAO6 capabilities through the visual experiment designer and real-time wizard interface.
-
-## What's Been Implemented
-
-### 1. NAO6 ROS2 Plugin (`nao6-ros2.json`)
-
-A comprehensive robot plugin that exposes all NAO6 capabilities through standard ROS2 topics:
-
-**Location**: `robot-plugins/plugins/nao6-ros2.json`
-
-**Key Features**:
-- Full ROS2 integration via `naoqi_driver2`
-- 10 robot actions across movement, interaction, and sensors
-- Proper HRIStudio plugin schema compliance
-- Safety limits and parameter validation
-- Transform functions for message conversion
-
-### 2. Robot Actions Available
-
-#### Movement Actions
-- **Walk with Velocity**: Control linear/angular walking velocities
-- **Stop Walking**: Emergency stop for immediate movement cessation
-- **Set Joint Angle**: Control individual joint positions (25 DOF)
-- **Turn Head**: Dedicated head orientation control
-
-#### Interaction Actions
-- **Say Text**: Text-to-speech via ROS2 `/speech` topic
-
-#### Sensor Actions
-- **Get Camera Image**: Capture from front or bottom cameras
-- **Get Joint States**: Read current joint positions and velocities
-- **Get IMU Data**: Inertial measurement from torso sensor
-- **Get Bumper Status**: Foot contact sensor readings
-- **Get Touch Sensors**: Hand and head tactile sensor states
-- **Get Sonar Range**: Ultrasonic distance measurements
-- **Get Robot Info**: General robot status and information
-
-### 3. ROS2 Topic Mapping
-
-The plugin maps to these standard NAO6 ROS2 topics:
-
-```
-/cmd_vel              → Robot velocity commands (Twist)
-/odom                 → Odometry data (Odometry)
-/joint_states         → Joint positions/velocities (JointState)
-/joint_angles         → NAO-specific joint control (JointAnglesWithSpeed)
-/camera/front/image_raw    → Front camera stream (Image)
-/camera/bottom/image_raw   → Bottom camera stream (Image)
-/imu/torso            → Inertial measurement (Imu)
-/speech               → Text-to-speech commands (String)
-/bumper               → Foot bumper sensors (Bumper)
-/hand_touch           → Hand touch sensors (HandTouch)
-/head_touch           → Head touch sensors (HeadTouch)
-/sonar/left           → Left ultrasonic sensor (Range)
-/sonar/right          → Right ultrasonic sensor (Range)
-/info                 → Robot information (RobotInfo)
-```
-
-### 4. Transform Functions (`nao6-transforms.ts`)
-
-**Location**: `src/lib/nao6-transforms.ts`
-
-Comprehensive message conversion functions:
-- Parameter validation and safety limits
-- ROS2 message format compliance
-- Joint limit enforcement (25 DOF with proper ranges)
-- Velocity clamping for safe operation
-- Helper functions for UI integration
-
-### 5. Setup Documentation (`nao6-ros2-setup.md`)
-
-**Location**: `docs/nao6-ros2-setup.md`
-
-Complete setup guide covering:
-- ROS2 Humble installation on Ubuntu 22.04
-- NAO6 network configuration
-- naoqi_driver2 and rosbridge setup
-- Custom launch file creation
-- Testing and validation procedures
-- HRIStudio plugin configuration
-- Troubleshooting and safety guidelines
-
-## Technical Architecture
-
-### ROS2 Integration Stack
-
-```
-HRIStudio (Web Interface)
-    ↓ WebSocket
-rosbridge_server (Port 9090)
-    ↓ ROS2 Topics/Services
-naoqi_driver2
-    ↓ NAOqi Protocol (Port 9559)
-NAO6 Robot
-```
-
-### Message Flow
-
-1. **Command Execution**:
-   - HRIStudio wizard interface → WebSocket → rosbridge → ROS2 topic → naoqi_driver2 → NAO6
-
-2. **Sensor Data**:
-   - NAO6 → naoqi_driver2 → ROS2 topic → rosbridge → WebSocket → HRIStudio
-
-3. **Real-time Feedback**:
-   - Continuous sensor streams for live monitoring
-   - Event logging for research data capture
-
-## Safety Features
-
-### Joint Limits Enforcement
-- All 25 NAO6 joints have proper min/max limits defined
-- Automatic clamping prevents damage from invalid commands
-- Parameter validation before message transmission
-
-### Velocity Limits
-- Linear velocity: -0.55 to 0.55 m/s
-- Angular velocity: -2.0 to 2.0 rad/s
-- Automatic clamping for safe operation
-
-### Emergency Stops
-- Dedicated stop action for immediate movement cessation
-- Timeout protection on all actions
-- Connection monitoring and error handling
-
-## Integration Status
-
-### ✅ Completed Components
-
-1. **Plugin Definition**: Full NAO6 plugin with proper schema
-2. **Action Library**: 10 comprehensive robot actions
-3. **Transform Functions**: Complete message conversion system
-4. **Documentation**: Setup guide and integration instructions
-5. **Safety Systems**: Joint limits, velocity clamping, emergency stops
-6. **Repository Integration**: Plugin added to official repository
-
-### 🔄 Usage Workflow
-
-1. **Setup Phase**:
-   - Install ROS2 Humble on companion computer
-   - Configure NAO6 network connection
-   - Launch naoqi_driver2 and rosbridge
-
-2. **HRIStudio Configuration**:
-   - Install NAO6 plugin in study
-   - Configure ROS bridge URL
-   - Design experiments using NAO6 actions
-
-3. **Experiment Execution**:
-   - Real-time robot control through wizard interface
-   - Live sensor data monitoring
-   - Comprehensive event logging
-
-## Research Capabilities
-
-### Experiment Design
-- Visual programming with NAO6-specific actions
-- Parameter configuration with safety validation
-- Multi-modal data collection coordination
-
-### Data Capture
-- Synchronized robot commands and sensor data
-- Video streams from dual cameras
-- Inertial, tactile, and proximity sensor logs
-- Speech synthesis and timing records
-
-### Reproducibility
-- Standardized action definitions
-- Consistent parameter schemas
-- Version-controlled plugin specifications
-- Complete experiment protocol documentation
-
-## Next Steps for Researchers
-
-### Immediate Use
-1. Follow setup guide in `docs/nao6-ros2-setup.md`
-2. Install NAO6 plugin in HRIStudio study
-3. Create experiments using available actions
-4. Run trials with real-time robot control
-
-### Advanced Integration
-1. **Custom Actions**: Extend plugin with study-specific behaviors
-2. **Multi-Robot**: Scale to multiple NAO6 robots
-3. **Navigation**: Add SLAM and path planning capabilities
-4. **Manipulation**: Implement object interaction behaviors
-
-### Research Applications
-- Human-robot interaction studies
-- Social robotics experiments
-- Gesture and speech coordination research
-- Sensor fusion and behavior analysis
-- Wizard-of-Oz methodology validation
-
-## Support and Resources
-
-### Documentation
-- **Setup Guide**: `docs/nao6-ros2-setup.md`
-- **Plugin Schema**: `robot-plugins/docs/schema.md`
-- **ROS2 Integration**: `docs/ros2-integration.md`
-- **Transform Functions**: `src/lib/nao6-transforms.ts`
-
-### External Resources
-- **NAO6 Documentation**: https://developer.softbankrobotics.com/nao6
-- **naoqi_driver2**: https://github.com/ros-naoqi/naoqi_driver2
-- **ROS2 Humble**: https://docs.ros.org/en/humble/
-- **rosbridge**: http://wiki.ros.org/rosbridge_suite
-
-### Technical Support
-- **HRIStudio Issues**: GitHub repository
-- **ROS2 Community**: ROS Discourse forum
-- **NAO6 Support**: SoftBank Robotics developer portal
-
-## Conclusion
-
-The NAO6 ROS2 integration provides researchers with a complete, production-ready system for conducting Human-Robot Interaction studies. The integration leverages:
-
-- **Standard ROS2 protocols** for reliable communication
-- **Comprehensive safety systems** for secure operation
-- **Visual experiment design** for accessible research tools
-- **Real-time control interfaces** for dynamic experiment execution
-- **Complete data capture** for rigorous analysis
-
-This implementation enables researchers to focus on their studies rather than technical integration, while maintaining the flexibility and control needed for cutting-edge HRI research.
-
----
-
-**Status**: ✅ Production Ready  
-**Last Updated**: December 2024  
-**Compatibility**: HRIStudio v1.0+, ROS2 Humble, NAO6 with NAOqi 2.8.7+

docs/nao6-quick-reference.md

@@ -0,0 +1,177 @@
+# NAO6 Quick Reference
+
+Essential commands for using NAO6 robots with HRIStudio.
+
+## Quick Start
+
+### 1. Start NAO Integration
+```bash
+cd ~/naoqi_ros2_ws
+source install/setup.bash
+ros2 launch nao_launch nao6_hristudio.launch.py nao_ip:=nao.local password:=robolab
+```
+
+### 2. Wake Robot
+Press chest button for 3 seconds, or use:
+```bash
+# Via SSH (institution-specific password)
+ssh nao@nao.local
+# Then run wake-up command (see integration repo docs)
+```
+
+### 3. Start HRIStudio
+```bash
+cd ~/Documents/Projects/hristudio
+bun dev
+```
+
+### 4. Test Connection
+- Open: `http://localhost:3000/nao-test`
+- Click "Connect" 
+- Test robot commands
+
+## Essential Commands
+
+### Test Connectivity
+```bash
+ping nao.local                    # Test network
+ros2 topic list | grep naoqi      # Check ROS topics
+```
+
+### Manual Control
+```bash
+# Speech
+ros2 topic pub --once /speech std_msgs/String "data: 'Hello world'"
+
+# Movement (robot must be awake!)
+ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.1}}'
+
+# Stop
+ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.0}}'
+```
+
+### Monitor Status
+```bash
+ros2 topic echo /naoqi_driver/battery        # Battery level
+ros2 topic echo /naoqi_driver/joint_states   # Joint positions
+```
+
+## Troubleshooting
+
+**Robot not moving:** Press chest button for 3 seconds to wake up
+
+**WebSocket fails:** Check rosbridge is running on port 9090
+```bash
+ss -an | grep 9090
+```
+
+**Connection lost:** Restart rosbridge
+```bash
+pkill -f rosbridge
+ros2 run rosbridge_server rosbridge_websocket
+```
+
+## ROS Topics
+
+**Commands (Input):**
+- `/speech` - Text-to-speech
+- `/cmd_vel` - Movement
+- `/joint_angles` - Joint control
+
+**Sensors (Output):**
+- `/naoqi_driver/joint_states` - Joint data
+- `/naoqi_driver/battery` - Battery level
+- `/naoqi_driver/bumper` - Foot sensors
+- `/naoqi_driver/sonar/*` - Distance sensors
+- `/naoqi_driver/camera/*` - Camera feeds
+
+## WebSocket
+
+**URL:** `ws://localhost:9090`
+
+**Example message:**
+```javascript
+{
+  "op": "publish",
+  "topic": "/speech",
+  "type": "std_msgs/String",
+  "msg": {"data": "Hello world"}
+}
+```
+
+## More Information
+
+See **[nao6-hristudio-integration](../../nao6-hristudio-integration/)** repository for:
+- Complete installation guide
+- Detailed usage instructions
+- Full troubleshooting guide
+- Plugin definitions
+- Launch file configurations
+
+## Common Use Cases
+
+### Make Robot Speak
+```bash
+ros2 topic pub --once /speech std_msgs/String "data: 'Welcome to the experiment'"
+```
+
+### Walk Forward 3 Steps
+```bash
+ros2 topic pub --times 3 /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
+```
+
+### Turn Head Left
+```bash
+ros2 topic pub --once /joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed '{joint_names: ["HeadYaw"], joint_angles: [0.8], speed: 0.2}'
+```
+
+### Emergency Stop
+```bash
+ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
+```
+
+## 🚨 Safety Notes
+
+- **Always wake up robot before movement commands**
+- **Keep emergency stop accessible**
+- **Start with small movements (0.05 m/s)**
+- **Monitor battery level during experiments**
+- **Ensure clear space around robot**
+
+## 📝 Credentials
+
+**Default NAO Login:**
+- Username: `nao`
+- Password: `robolab` (institution-specific)
+
+**HRIStudio Login:**
+- Email: `sean@soconnor.dev`
+- Password: `password123`
+
+## 🔄 Complete Restart Procedure
+
+```bash
+# 1. Kill all processes
+sudo fuser -k 9090/tcp
+pkill -f "rosbridge\|naoqi\|ros2"
+
+# 2. Restart database
+sudo docker compose down && sudo docker compose up -d
+
+# 3. Start ROS integration
+cd ~/naoqi_ros2_ws && source install/setup.bash
+ros2 launch install/nao_launch/share/nao_launch/launch/nao6_hristudio.launch.py nao_ip:=nao.local password:=robolab
+
+# 4. Wake up robot (in another terminal)
+sshpass -p "robolab" ssh nao@nao.local "python2 -c \"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; naoqi.ALProxy('ALMotion', '127.0.0.1', 9559).wakeUp()\""
+
+# 5. Start HRIStudio (in another terminal)
+cd /home/robolab/Documents/Projects/hristudio && bun dev
+```
+
+---
+
+**📖 For detailed setup instructions, see:** [NAO6 Complete Integration Guide](./nao6-integration-complete-guide.md)
+
+**✅ Integration Status:** Production Ready  
+**🤖 Tested With:** NAO V6.0 / NAOqi 2.8.7.4 / ROS2 Humble

docs/nao6-ros2-setup.md

@@ -1,372 +0,0 @@
-# NAO6 ROS2 Setup Guide for HRIStudio
-
-This guide walks you through setting up your NAO6 robot with ROS2 integration for use with HRIStudio's experiment platform.
-
-## Prerequisites
-
-- NAO6 robot with NAOqi OS 2.8.7+
-- Ubuntu 22.04.5 LTS computer (x86_64)
-- Network connectivity between computer and NAO6
-- Administrative access to both systems
-
-## Overview
-
-The integration uses the `naoqi_driver2` package to bridge NAOqi with ROS2, exposing all robot capabilities through standard ROS2 topics and services. HRIStudio connects via WebSocket using `rosbridge_server`.
-
-## Step 1: NAO6 Network Configuration
-
-1. **Power on your NAO6** and wait for boot completion
-2. **Connect NAO6 to your network**:
-   - Press chest button to get IP address
-   - Or use Choregraphe to configure WiFi
-3. **Verify connectivity**:
-   ```bash
-   ping nao.local  # or robot IP address
-   ```
-
-## Step 2: ROS2 Humble Installation
-
-Install ROS2 Humble on your Ubuntu 22.04 system:
-
-```bash
-# Update system
-sudo apt update && sudo apt upgrade -y
-
-# Install ROS2 Humble
-sudo apt install software-properties-common
-sudo add-apt-repository universe
-sudo apt update && sudo apt install curl -y
-sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
-
-sudo apt update
-sudo apt install ros-humble-desktop
-sudo apt install ros-dev-tools
-
-# Source ROS2
-echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
-source ~/.bashrc
-```
-
-## Step 3: Install NAO ROS2 Packages
-
-Install the required ROS2 packages for NAO6 integration:
-
-```bash
-# Install naoqi_driver2 and dependencies
-sudo apt install ros-humble-naoqi-driver2
-sudo apt install ros-humble-naoqi-bridge-msgs
-sudo apt install ros-humble-geometry-msgs
-sudo apt install ros-humble-sensor-msgs
-sudo apt install ros-humble-nav-msgs
-sudo apt install ros-humble-std-msgs
-
-# Install rosbridge for HRIStudio communication
-sudo apt install ros-humble-rosbridge-suite
-
-# Install additional useful packages
-sudo apt install ros-humble-rqt
-sudo apt install ros-humble-rqt-common-plugins
-```
-
-## Step 4: Configure NAO Connection
-
-Create a launch file for easy NAO6 connection:
-
-```bash
-# Create workspace
-mkdir -p ~/nao_ws/src
-cd ~/nao_ws
-
-# Create launch file directory
-mkdir -p src/nao_launch/launch
-
-# Create the launch file
-cat > src/nao_launch/launch/nao6_hristudio.launch.py << 'EOF'
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from ament_index_python.packages import get_package_share_directory
-import os
-
-def generate_launch_description():
-    return LaunchDescription([
-        # NAO IP configuration
-        DeclareLaunchArgument('nao_ip', default_value='nao.local'),
-        DeclareLaunchArgument('nao_port', default_value='9559'),
-        DeclareLaunchArgument('bridge_port', default_value='9090'),
-        
-        # NAOqi Driver
-        Node(
-            package='naoqi_driver2',
-            executable='naoqi_driver',
-            name='naoqi_driver',
-            parameters=[{
-                'nao_ip': LaunchConfiguration('nao_ip'),
-                'nao_port': LaunchConfiguration('nao_port'),
-                'publish_joint_states': True,
-                'publish_odometry': True,
-                'publish_camera': True,
-                'publish_sensors': True,
-                'joint_states_frequency': 30.0,
-                'odom_frequency': 30.0,
-                'camera_frequency': 15.0,
-                'sensor_frequency': 10.0
-            }],
-            output='screen'
-        ),
-        
-        # Rosbridge WebSocket Server
-        Node(
-            package='rosbridge_server',
-            executable='rosbridge_websocket',
-            name='rosbridge_websocket',
-            parameters=[{
-                'port': LaunchConfiguration('bridge_port'),
-                'address': '0.0.0.0',
-                'authenticate': False,
-                'fragment_timeout': 600,
-                'delay_between_messages': 0,
-                'max_message_size': 10000000
-            }],
-            output='screen'
-        )
-    ])
-EOF
-
-# Create package.xml
-cat > src/nao_launch/package.xml << 'EOF'
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypeid="pf3"?>
-<package format="3">
-  <name>nao_launch</name>
-  <version>1.0.0</version>
-  <description>Launch files for NAO6 HRIStudio integration</description>
-  <maintainer email="you@example.com">Your Name</maintainer>
-  <license>MIT</license>
-  
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <exec_depend>launch</exec_depend>
-  <exec_depend>launch_ros</exec_depend>
-  <exec_depend>naoqi_driver2</exec_depend>
-  <exec_depend>rosbridge_server</exec_depend>
-</package>
-EOF
-
-# Create CMakeLists.txt
-cat > src/nao_launch/CMakeLists.txt << 'EOF'
-cmake_minimum_required(VERSION 3.8)
-project(nao_launch)
-
-find_package(ament_cmake REQUIRED)
-
-install(DIRECTORY launch/
-  DESTINATION share/${PROJECT_NAME}/launch/
-)
-
-ament_package()
-EOF
-
-# Build the workspace
-colcon build
-source install/setup.bash
-```
-
-## Step 5: Test NAO Connection
-
-Start the NAO6 ROS2 integration:
-
-```bash
-cd ~/nao_ws
-source install/setup.bash
-
-# Launch with your NAO's IP address
-ros2 launch nao_launch nao6_hristudio.launch.py nao_ip:=YOUR_NAO_IP
-```
-
-Replace `YOUR_NAO_IP` with your NAO's actual IP address (e.g., `192.168.1.100`).
-
-## Step 6: Verify ROS2 Topics
-
-In a new terminal, verify that NAO topics are publishing:
-
-```bash
-source /opt/ros/humble/setup.bash
-
-# List all topics
-ros2 topic list
-
-# You should see these NAO6 topics:
-# /cmd_vel - Robot velocity commands
-# /odom - Odometry data
-# /joint_states - Joint positions and velocities
-# /joint_angles - NAO-specific joint control
-# /camera/front/image_raw - Front camera
-# /camera/bottom/image_raw - Bottom camera
-# /imu/torso - Inertial measurement unit
-# /bumper - Foot bumper sensors
-# /hand_touch - Hand tactile sensors
-# /head_touch - Head tactile sensors
-# /sonar/left - Left ultrasonic sensor
-# /sonar/right - Right ultrasonic sensor
-# /info - Robot information
-
-# Test specific topics
-ros2 topic echo /joint_states --once
-ros2 topic echo /odom --once
-ros2 topic echo /info --once
-```
-
-## Step 7: Test Robot Control
-
-Test basic robot control:
-
-```bash
-# Make NAO say something
-ros2 topic pub /speech std_msgs/msg/String "data: 'Hello from ROS2!'" --once
-
-# Move head (be careful with joint limits)
-ros2 topic pub /joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed \
-  "joint_names: ['HeadYaw']
-   joint_angles: [0.5]
-   speed: 0.3" --once
-
-# Basic walking command (very small movement)
-ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
-  "linear: {x: 0.1, y: 0.0, z: 0.0}
-   angular: {x: 0.0, y: 0.0, z: 0.0}" --once
-
-# Stop movement
-ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
-  "linear: {x: 0.0, y: 0.0, z: 0.0}
-   angular: {x: 0.0, y: 0.0, z: 0.0}" --once
-```
-
-## Step 8: Configure HRIStudio
-
-1. **Start HRIStudio** with your development setup
-2. **Add NAO6 Plugin Repository**:
-   - Go to Admin → Plugin Repositories
-   - Add the HRIStudio official repository if not already present
-   - Sync to get the latest plugins including `nao6-ros2`
-
-3. **Install NAO6 Plugin**:
-   - In your study, go to Plugins
-   - Install the "NAO6 Robot (ROS2 Integration)" plugin
-   - Configure the ROS bridge URL: `ws://YOUR_COMPUTER_IP:9090`
-
-4. **Create Experiment**:
-   - Use the experiment designer
-   - Add NAO6 actions from the robot blocks section
-   - Configure parameters for each action
-
-5. **Run Trial**:
-   - Ensure your NAO6 ROS2 system is running
-   - Start a trial in HRIStudio
-   - Control the robot through the wizard interface
-
-## Available Robot Actions
-
-Your NAO6 plugin provides these actions for experiments:
-
-### Movement Actions
-- **Walk with Velocity**: Control linear/angular velocity
-- **Stop Walking**: Emergency stop
-- **Set Joint Angle**: Control individual joints
-- **Turn Head**: Head orientation control
-
-### Interaction Actions
-- **Say Text**: Text-to-speech via ROS2
-
-### Sensor Actions
-- **Get Camera Image**: Capture from front/bottom cameras
-- **Get Joint States**: Read all joint positions
-- **Get IMU Data**: Inertial measurement data
-- **Get Bumper Status**: Foot contact sensors
-- **Get Touch Sensors**: Hand/head touch detection
-- **Get Sonar Range**: Ultrasonic distance sensors
-- **Get Robot Info**: General robot status
-
-## Troubleshooting
-
-### NAO Connection Issues
-```bash
-# Check NAO network connectivity
-ping nao.local
-
-# Check NAOqi service
-telnet nao.local 9559
-
-# Restart NAOqi on NAO
-# (Use robot's web interface or Choregraphe)
-```
-
-### ROS2 Issues
-```bash
-# Check if naoqi_driver2 is running
-ros2 node list | grep naoqi
-
-# Check topic publication rates
-ros2 topic hz /joint_states
-
-# Restart the launch file
-ros2 launch nao_launch nao6_hristudio.launch.py nao_ip:=YOUR_NAO_IP
-```
-
-### HRIStudio Connection Issues
-```bash
-# Verify rosbridge is running
-netstat -an | grep 9090
-
-# Check WebSocket connection
-curl -i -N -H "Connection: Upgrade" \
-     -H "Upgrade: websocket" \
-     -H "Sec-WebSocket-Key: test" \
-     -H "Sec-WebSocket-Version: 13" \
-     http://localhost:9090
-```
-
-### Robot Safety
-- Always keep emergency stop accessible
-- Start with small movements and low speeds
-- Monitor robot battery level
-- Ensure clear space around robot
-- Never leave robot unattended during operation
-
-## Performance Optimization
-
-### Network Optimization
-```bash
-# Increase network buffer sizes for camera data
-sudo sysctl -w net.core.rmem_max=26214400
-sudo sysctl -w net.core.rmem_default=26214400
-```
-
-### ROS2 Optimization
-```bash
-# Adjust QoS settings for better performance
-export RMW_IMPLEMENTATION=rmw_cyclonedx_cpp
-export CYCLONEDX_URI=file:///path/to/cyclonedx.xml
-```
-
-## Next Steps
-
-1. **Experiment Design**: Create experiments using NAO6 actions
-2. **Data Collection**: Use sensor actions for research data
-3. **Custom Actions**: Extend the plugin with custom behaviors
-4. **Multi-Robot**: Scale to multiple NAO6 robots
-5. **Advanced Features**: Implement navigation, manipulation, etc.
-
-## Support Resources
-
-- **NAO Documentation**: https://developer.softbankrobotics.com/nao6
-- **naoqi_driver2**: https://github.com/ros-naoqi/naoqi_driver2
-- **ROS2 Humble**: https://docs.ros.org/en/humble/
-- **HRIStudio Docs**: See `docs/` folder
-- **Community**: HRIStudio Discord/Forum
-
----
-
-**Success!** Your NAO6 is now ready for use with HRIStudio experiments. The robot's capabilities are fully accessible through the visual experiment designer and real-time wizard interface.