- 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.
- Implemented public access to forms with `getPublic` procedure.
- Added `submitPublic` procedure for participants to submit responses.
- Created a new participant form page to handle form display and submission.
- Enhanced form validation and error handling for required fields.
- Introduced CSV export functionality for form responses.
- Updated form listing and template creation procedures.
- Added README for homepage screenshots.
- 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
- Fixed client bundle contamination by moving child_process-dependent code
- Created standalone /api/robots/command route for SSH robot commands
- Created plugins router to replace robots.plugins for plugin management
- Added getStudyPlugins procedure to studies router
- Fixed trial.studyId references to trial.experiment.studyId
- Updated WizardInterface to use REST API for robot commands
- Create standalone WebSocket server (ws-server.ts) on port 3001 using Bun
- Add ws_connections table to track active connections in database
- Create global WebSocket manager that persists across component unmounts
- Fix useWebSocket hook to prevent infinite re-renders and use refs
- Fix TrialForm Select components with proper default values
- Add trialId to WebSocket URL for server-side tracking
- Update package.json with dev:ws script for separate WS server
- Install better-auth and @better-auth/drizzle-adapter
- Create src/lib/auth.ts with Better Auth configuration using bcrypt
- Update database schema: change auth table IDs from uuid to text
- Update route handler from /api/auth/[...nextauth] to /api/auth/[...all]
- Update tRPC context and middleware for Better Auth session handling
- Update client components to use Better Auth APIs (signIn, signOut)
- Update seed script with text-based IDs and correct account schema
- Fix type errors in wizard components (robotId, optional chaining)
- Fix API paths: api.robots.initialize -> api.robots.plugins.initialize
- Update auth router to use text IDs for Better Auth compatibility
Note: Auth tables were reset - users will need to re-register.
- 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
soconnor