- 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.
- 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
- 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.
- 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
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
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.
soconnor
