- 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>
- Add startTime parameter to executeRobotActionInternal for proper duration tracking
- SSH actions (animations, posture commands) now work without ROS bridge connection
- Refactor executeAction to handle SSH and ROS paths separately
- Add play_animation actions to robots/command API using qicli SSH
- Add SSH-based animation execution to robot-communication service
- Animations: bow, hey, show_floor, show_sole, enthusiastic, think, yes, no, idontknow
This bypasses ROS2 cross-container issues by using direct SSH connection.
MAJOR INTEGRATION COMPLETE:
🤖 Robot Communication System:
- RobotCommunicationService for WebSocket ROS bridge integration
- Template-based message generation from plugin definitions
- Real-time action execution with error handling and reconnection
🔧 Trial Execution Engine:
- Updated TrialExecutionEngine to execute real robot actions
- Plugin-based action discovery and parameter validation
- Complete event logging for robot actions during trials
🎮 Wizard Interface Integration:
- RobotActionsPanel component for live robot control
- Plugin-based action discovery with categorized interface
- Real-time parameter forms auto-generated from schemas
- Emergency controls and safety features
📊 Database Integration:
- Enhanced plugin system with NAO6 definitions
- Robot action logging to trial events
- Study-scoped plugin installations
🔌 API Enhancement:
- executeRobotAction endpoint in trials router
- Parameter validation against plugin schemas
- Complete error handling and success tracking
✅ Production Ready Features:
- Parameter validation prevents invalid commands
- Emergency stop controls in wizard interface
- Connection management with auto-reconnect
- Complete audit trail of robot actions
TESTING READY:
- Seed script creates NAO6 experiment with robot actions
- Complete wizard interface for manual robot control
- Works with or without physical robot hardware
Ready for HRI research with live NAO6 robots!
soconnor