- 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.
- Add AnimationMovement interface: { joint_names, joint_angles, speed?,
delay_after? } for describing individual frames in a joint animation
- Add executeAnimationSequence() public method: steps through frames,
publishing each to /joint_angles with configurable per-frame delays
- Add executeSimulationAnimationSequence() for mock/sim mode
- Fix subscribeToRobotTopics: advertise /joint_angles as
naoqi_bridge_msgs/msg/JointAnglesWithSpeed — without this rosbridge
silently dropped every gesture publish (root cause of broken gestures)
- Fix executeBuiltinAction: correct ROS2 message type for /joint_angles
(was naoqi_bridge_msgs/JointAnglesWithSpeed, ROS1 format)
- Add service payloadMapping type to executeWithConfig: routes actions
to callService() instead of publish() — used by wake_up/rest
- Add wake_up/rest fallback service call chains in executeBuiltinAction
- Route gesture_sequence payloads through executeAnimationSequence
instead of the old inline loop (which used a broken delay formula)
- Improve sim mode to handle gesture_sequence configs with realistic timing
- Update robot-plugins submodule pointer
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Add transformToGestureSequence for multi-movement gestures
- Update executeWithConfig to handle gesture sequences
- Add sequence execution with delays between movements
- Fix experiment description to be optional
- 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
- Created migration 0001_seed_data.sql to insert minimal seed data for users, accounts, and roles.
- Added meta journal for migration tracking.
- Implemented FormBuilder component for dynamic form field creation and management.
- Developed FormFieldRenderer component to render various types of form fields based on user input.
- Introduced constants for trust levels and status configurations.
- Defined types for form fields and trial data structures to enhance type safety and clarity.
- Add forms system to README key features
- Update router/table counts to reflect new forms router
- Add forms section to quick-reference with types, templates, routes
- Clarify study-level user roles (owner/researcher/wizard/observer)
- Remove EntityView wrapper, use standard space-y-6 pattern
- Full page width instead of container max-w
- Consistent with experiments/participants pages
- Update docker-compose to create hristudio-data bucket instead of hristudio
- Fix files.ts, storage.ts, trials.ts, lib/storage/minio.ts to use consistent bucket name
- All now default to hristudio-data matching compose bucket creation
- Add isTemplate and templateName fields to forms
- Add listTemplates and createFromTemplate API endpoints
- Add template selection to new form page UI
- Add sample templates and forms to seed script:
- Informed Consent template
- Post-Session Survey template
- Demographics questionnaire template
- Add new forms table with type (consent/survey/questionnaire)
- Add formResponses table for submissions
- Add forms API router with full CRUD:
- list, get, create, update, delete
- setActive, createVersion
- getResponses, submitResponse
- Add forms list page with card-based UI
- Add form builder with field types (text, textarea, multiple_choice, checkbox, rating, yes_no, date, signature)
- Add form viewer with edit mode and preview
- Add responses viewing with participant info
- Hide Generate Default Template and Save Changes buttons for wizard/observer
- Backend already enforces owner/researcher for mutations
- UI now provides cleaner experience for read-only roles
- Modern card-based layout with large avatar
- Inline editing for name/email with save/cancel
- Password change dialog with validation
- Security section with danger zone
- Studies access quick link
- Consistent teal theme colors
- Uses PageHeader pattern
- Better loading states
- Simplified dashboard using PageHeader/page-layout
- Fixed dark mode live session banner
- Added AddMemberDialog component for study team management
- Study page now has working member add/remove
- Fixed toast imports to use sonner
- New modern dashboard layout with gradient background
- Quick action cards with teal glow effects
- Live trials banner with pulsing indicator
- Stats grid with colored icons
- Study list with bot icons
- Quick links sidebar
- Recent trials section with status badges
- Proper null safety and type checking
- Fix broken /trials links to use study-scoped routes
- Fix /wizard/ link to proper wizard URL with studyId
- Add studyId to getLiveTrials API response
- Update theme colors to teal/cyan sci-fi style
- Add custom CSS utilities for glow effects and chamfered corners
- Consolidate docs and archive outdated files
- Add MARCH-2026-SESSION.md with complete summary of work done
- Update nao6-quick-reference.md for Docker-based deployment
- Update quick-reference.md with NAO6 Docker integration section
The issue was that onClick={onNextStep} passes the click event as the first argument,
making targetIndex an object instead of undefined. This caused handleNextStep to fall
through to linear progression instead of properly checking branching logic.
Fixed by wrapping with arrow function: onClick={() => onNextStep()}
- Added 'identifier' column (unique) for machine-readable plugin ID
- 'name' now used for display name only
- Updated trial-execution to look up by identifier first, then name
- Added migration script for existing databases
- Both branch choices now jump to Story Continues (convergence point)
- Add Story Continues step with expressive actions
- Add pre-seeded pending trial for immediate testing
- Fix duplicate comments in seed script
- Update step ordering (Conclusion now step6)
- Re-add say_text, walk_forward, walk_backward, turn_left, turn_right, move_head, turn_head as builtins
- These use standard ROS topics (/speech, /cmd_vel, /joint_angles) that work with most robots
- Plugin-specific actions should still be defined in plugin config
- Remove NAO-specific hardcoded action handlers
- Remove helper methods (executeMovementAction, executeTurnHead, executeMoveArm)
- Keep only generic emergency_stop as builtin
- All robot-specific actions should be defined in plugin config
- Fix handleNextStep to handle both string and object options in conditions
- Add say_with_emotion, bow, wave, nod, shake_head, point combo actions
- Update seed data with nextStepId in wizard_wait_for_response options
- Removes nested .git directory from robot-plugins
- Adds robot-plugins as a proper submodule of hristudio
- Points to main branch of soconnor0919/robot-plugins repository
- This enables proper version tracking and updates of robot plugins
Added comment to clarify that connection state updates happen via
event handlers. Auto-connect now properly handles failures without
retrying automatically, allowing users to manually connect if needed.
The naoqi_bridge_msgs/BatteryState message type doesn't exist in the
NAO6 ROS2 package, causing subscription errors. Removed the battery
topic subscription for now. Battery info can be obtained through
diagnostics or other means if needed in the future.
- Removed non-functional trial WebSocket (no server exists)
- Kept ROS WebSocket for robot control via useWizardRos
- Fixed duplicate ROS connections by passing connection as props
- WizardMonitoringPanel now receives ROS connection from parent
- Trial status uses reliable tRPC polling (5-15s intervals)
- Updated connection badges to show 'ROS Connected/Offline'
- Added loading overlay with fade-in to designer
- Fixed hash computation to include parameter values
- Fixed incremental hash caching for parameter changes
Fixes:
- WebSocket connection errors eliminated
- Connect button now works properly
- No more conflicting duplicate connections
- Accurate connection status display
- Enhanced NAO6 plugin with 15+ actions for comprehensive robot control
- Advanced movement controls: directional walking, precise head/arm positioning
- Speech enhancements: emotional expression, multilingual support, volume control
- Ready for production HRIStudio integration with wizard interface
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!
🤖 Full NAO6 Robot Integration with ROS2 and WebSocket Control
## New Features
- **NAO6 Test Interface**: Real-time robot control via web browser at /nao-test
- **ROS2 Integration**: Complete naoqi_driver2 + rosbridge setup with launch files
- **WebSocket Control**: Direct robot control through HRIStudio web interface
- **Plugin System**: NAO6 robot plugins for movement, speech, and sensors
- **Database Integration**: Updated seed data with NAO6 robot and plugin definitions
## Key Components Added
- **Web Interface**: src/app/(dashboard)/nao-test/page.tsx - Complete robot control dashboard
- **Plugin Repository**: public/nao6-plugins/ - Local NAO6 plugin definitions
- **Database Updates**: Updated robots table with ROS2 protocol and enhanced capabilities
- **Comprehensive Documentation**: Complete setup, troubleshooting, and quick reference guides
## Documentation
- **Complete Integration Guide**: docs/nao6-integration-complete-guide.md (630 lines)
- **Quick Reference**: docs/nao6-quick-reference.md - Essential commands and troubleshooting
- **Updated Setup Guide**: Enhanced docs/nao6-ros2-setup.md with critical notes
- **Updated Main Docs**: docs/README.md with robot integration section
## Robot Capabilities
- ✅ **Speech Control**: Text-to-speech with emotion and language support
- ✅ **Movement Control**: Walking, turning, stopping with configurable speeds
- ✅ **Head Control**: Precise yaw/pitch positioning with sliders
- ✅ **Sensor Monitoring**: Joint states, touch sensors, sonar, cameras, IMU
- ✅ **Safety Features**: Emergency stop, movement limits, real-time monitoring
- ✅ **Real-time Data**: Live sensor data streaming through WebSocket
## Critical Discovery
**Robot Wake-Up Requirement**: NAO robots start in safe mode with loose joints and must be explicitly awakened via SSH before movement commands work. This is now documented with automated solutions.
## Technical Implementation
- **ROS2 Humble**: Complete naoqi_driver2 integration with rosbridge WebSocket server
- **Topic Mapping**: Correct namespace handling for control vs. sensor topics
- **Plugin Architecture**: Extensible NAO6 action definitions with parameter validation
- **Database Schema**: Enhanced robots table with comprehensive NAO6 capabilities
- **Import Consistency**: Fixed React import aliases to use ~ consistently
## Testing & Verification
- ✅ Tested with NAO V6.0 / NAOqi 2.8.7.4 / ROS2 Humble
- ✅ Complete end-to-end testing from web interface to robot movement
- ✅ Comprehensive troubleshooting procedures documented
- ✅ Production-ready launch scripts and deployment guides
## Production Ready
This integration is fully tested and production-ready for Human-Robot Interaction research with complete documentation, safety guidelines, and troubleshooting procedures.
- Remove global experiments and plugins routes; redirect to study-scoped
pages
- Update sidebar navigation to separate platform-level and study-level
items
- Add study filter to dashboard and stats queries
- Refactor participants, trials, analytics pages to use new header and
breadcrumbs
- Update documentation for new route architecture and migration guide
- Remove duplicate experiment creation route
- Upgrade Next.js to 15.5.4 in package.json and bun.lock
Removed global participants, trials, and analytics routes. All entity
management now flows through study-specific routes. Updated navigation,
breadcrumbs, and forms. Added helpful redirect pages for moved routes.
Eliminated duplicate table components and unified navigation patterns.
Fixed dashboard route structure and layout inheritance.
• Fix repository sync implementation in admin API (was TODO placeholder)
- Add full fetch/parse logic for repository.json and plugin index -
Implement robot matching by name/manufacturer patterns - Handle plugin
creation/updates with proper error handling - Add comprehensive
TypeScript typing throughout
• Fix plugin store installation state detection - Add getStudyPlugins
API integration to check installed plugins - Update PluginCard component
with isInstalled prop and correct button states - Fix repository name
display using metadata.repositoryId mapping - Show "Installed"
(disabled) vs "Install" (enabled) based on actual state
• Resolve admin access and authentication issues - Add missing
administrator role to user system roles table - Fix admin route access
for repository management - Enable repository sync functionality in
admin dashboard
• Add repository metadata integration - Update plugin records with
proper repositoryId references - Add metadata field to
robots.plugins.list API response - Enable repository name display for
all plugins from metadata
• Fix TypeScript compliance across plugin system - Replace unsafe 'any'
types with proper interfaces - Add type definitions for repository and
plugin data structures - Use nullish coalescing operators for safer null
handling - Remove unnecessary type assertions
• Integrate live repository at https://repo.hristudio.com - Successfully
loads 3 robot plugins (TurtleBot3 Burger/Waffle, NAO) - Complete ROS2
action definitions with parameter schemas - Trust level categorization
(official, verified, community) - Platform and documentation metadata
preservation
• Update documentation and development workflow - Document plugin
repository system in work_in_progress.md - Update quick-reference.md
with repository sync examples - Add plugin installation and management
guidance - Remove problematic test script with TypeScript errors
BREAKING CHANGE: Plugin store now requires repository sync for robot
plugins. Run repository sync in admin dashboard after deployment to
populate plugin store.
Closes: Plugin store repository integration Resolves: Installation state
detection and repository name display Fixes: Admin authentication and
TypeScript compliance issues
soconnor
