chore: Update robot-plugins submodule to v2.1.0 with enhanced NAO6 integration

- 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
feat: Complete NAO6 robot integration with HRIStudio platform
2025-12-11 06:34:44 -05:00 · 2025-10-17 11:45:08 -04:00 · 2025-10-17 11:35:36 -04:00 · 2025-10-16 17:37:52 -04:00
18 changed files with 4234 additions and 43 deletions
--- a/docs/README.md
+++ b/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.**

 ---

--- a/docs/nao6-integration-complete-guide.md
+++ b/docs/nao6-integration-complete-guide.md
@@ -0,0 +1,630 @@
+# NAO6 HRIStudio Integration: Complete Setup and Troubleshooting Guide
+
+This comprehensive guide documents the complete process of integrating a NAO6 robot with HRIStudio, including all troubleshooting steps and solutions discovered during implementation.
+
+## Overview
+
+NAO6 integration with HRIStudio provides full robot control through a web-based interface, enabling researchers to conduct Human-Robot Interaction experiments with real-time robot control, sensor monitoring, and data collection.
+
+**Integration Architecture:**
+```
+HRIStudio Web Interface → WebSocket → ROS Bridge → NAOqi Driver → NAO6 Robot
+```
+
+## Prerequisites
+
+### Hardware Requirements
+- NAO6 robot (NAOqi OS 2.8.7+)
+- Ubuntu 22.04 LTS computer
+- Network connectivity between computer and NAO6
+- Administrative access to both systems
+
+### Software Requirements
+- ROS2 Humble
+- NAOqi Driver2 for ROS2
+- rosbridge-suite
+- HRIStudio platform
+- SSH access to NAO robot
+
+## Part 1: ROS2 and NAO Driver Setup
+
+### 1.1 Install ROS2 Humble
+
+```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
+```
+
+### 1.2 Install Required ROS2 Packages
+
+```bash
+# 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
+```
+
+### 1.3 Set Up NAO Workspace
+
+**Note:** We assume you already have a NAO workspace at `~/naoqi_ros2_ws` with the NAOqi driver installed.
+
+```bash
+# Verify workspace exists
+ls ~/naoqi_ros2_ws/src/naoqi_driver2
+```
+
+If you need to set up the workspace from scratch, refer to the NAOqi ROS2 documentation.
+
+### 1.4 Create Integrated Launch Package
+
+Create a launch package that combines NAOqi driver with rosbridge:
+
+```bash
+cd ~/naoqi_ros2_ws
+mkdir -p src/nao_launch/launch
+```
+
+**Create launch file** (`src/nao_launch/launch/nao6_hristudio.launch.py`):
+
+```python
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        # NAO IP configuration
+        DeclareLaunchArgument("nao_ip", default_value="nao.local"),
+        DeclareLaunchArgument("nao_port", default_value="9559"),
+        DeclareLaunchArgument("username", default_value="nao"),
+        DeclareLaunchArgument("password", default_value="nao"),
+        DeclareLaunchArgument("network_interface", default_value="eth0"),
+        DeclareLaunchArgument("qi_listen_url", default_value="tcp://0.0.0.0:0"),
+        DeclareLaunchArgument("namespace", default_value="naoqi_driver"),
+        DeclareLaunchArgument("bridge_port", default_value="9090"),
+        
+        # NAOqi Driver
+        Node(
+            package="naoqi_driver",
+            executable="naoqi_driver_node",
+            name="naoqi_driver",
+            namespace=LaunchConfiguration("namespace"),
+            parameters=[{
+                "nao_ip": LaunchConfiguration("nao_ip"),
+                "nao_port": LaunchConfiguration("nao_port"),
+                "username": LaunchConfiguration("username"),
+                "password": LaunchConfiguration("password"),
+                "network_interface": LaunchConfiguration("network_interface"),
+                "qi_listen_url": LaunchConfiguration("qi_listen_url"),
+                "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 for HRIStudio
+        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",
+        ),
+        
+        # ROS API Server (required for rosbridge functionality)
+        Node(
+            package="rosapi",
+            executable="rosapi_node",
+            name="rosapi",
+            output="screen",
+        ),
+    ])
+```
+
+**Create package.xml**:
+
+```xml
+<?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="your@email.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_driver</exec_depend>
+  <exec_depend>rosbridge_server</exec_depend>
+  <exec_depend>rosapi</exec_depend>
+</package>
+```
+
+**Create CMakeLists.txt**:
+
+```cmake
+cmake_minimum_required(VERSION 3.8)
+project(nao_launch)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
+```
+
+### 1.5 Build the Workspace
+
+```bash
+cd ~/naoqi_ros2_ws
+I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
+source install/setup.bash
+```
+
+## Part 2: NAO Network Configuration and Connection
+
+### 2.1 Verify NAO Network Connectivity
+
+```bash
+# Test basic connectivity
+ping -c 4 nao.local
+
+# Test NAOqi service port
+timeout 5 bash -c 'echo "test" | nc nao.local 9559' && echo "NAOqi port is open!" || echo "NAOqi port might be closed"
+
+# Alternative test
+telnet nao.local 9559
+# Press Ctrl+C to exit if connection succeeds
+```
+
+### 2.2 Find NAO Credentials
+
+The default NAO credentials are typically:
+- Username: `nao`  
+- Password: Usually `nao`, but can be custom
+
+**Common passwords to try:**
+- `nao` (default)
+- Institution name (e.g., `bucknell`)
+- Custom password set by administrator
+
+## Part 3: HRIStudio Database Integration
+
+### 3.1 Update Database Schema
+
+The HRIStudio database needs to include NAO6 robot definitions and plugins.
+
+**Update robots in seed script** (`scripts/seed-dev.ts`):
+
+```typescript
+const robots = [
+  {
+    name: "TurtleBot3 Burger",
+    manufacturer: "ROBOTIS",
+    model: "TurtleBot3 Burger",
+    description: "A compact, affordable, programmable, ROS2-based mobile robot for education and research",
+    capabilities: ["differential_drive", "lidar", "imu", "odometry"],
+    communicationProtocol: "ros2" as const,
+  },
+  {
+    name: "NAO Humanoid Robot",
+    manufacturer: "SoftBank Robotics",
+    model: "NAO V6",
+    description: "Humanoid robot designed for education, research, and social interaction with ROS2 integration",
+    capabilities: [
+      "speech",
+      "vision", 
+      "walking",
+      "gestures",
+      "joint_control",
+      "touch_sensors",
+      "sonar_sensors",
+      "camera_feed",
+      "imu",
+      "odometry",
+    ],
+    communicationProtocol: "ros2" as const,
+  },
+];
+```
+
+### 3.2 Create NAO6 Plugin Repository
+
+Create local plugin repository at `public/nao6-plugins/`:
+
+**Repository metadata** (`public/nao6-plugins/repository.json`):
+
+```json
+{
+  "name": "NAO6 ROS2 Integration Repository",
+  "description": "Official NAO6 robot plugins for ROS2-based Human-Robot Interaction experiments",
+  "version": "1.0.0",
+  "author": {
+    "name": "HRIStudio Team",
+    "email": "support@hristudio.com"
+  },
+  "trust": "official",
+  "license": "MIT",
+  "robots": [
+    {
+      "name": "NAO6",
+      "manufacturer": "SoftBank Robotics", 
+      "model": "NAO V6",
+      "communicationProtocol": "ros2"
+    }
+  ],
+  "ros2": {
+    "distro": "humble",
+    "packages": ["naoqi_driver2", "naoqi_bridge_msgs", "rosbridge_suite"],
+    "bridge": {
+      "protocol": "websocket",
+      "defaultPort": 9090
+    }
+  }
+}
+```
+
+### 3.3 Seed Database
+
+```bash
+# Start database
+sudo docker compose up -d
+
+# Push schema changes  
+bun db:push
+
+# Seed with NAO6 data
+bun db:seed
+```
+
+## Part 4: Web Interface Integration
+
+### 4.1 Create NAO Test Page
+
+Create `src/app/(dashboard)/nao-test/page.tsx` with the robot control interface.
+
+**Key points:**
+- Use `~` import alias (not `@`)
+- Connect to WebSocket at `ws://YOUR_IP:9090`
+- Use correct ROS topic names (without `/naoqi_driver` prefix for control topics)
+
+**Important Topic Mapping:**
+- Speech: `/speech` (not `/naoqi_driver/speech`)
+- Movement: `/cmd_vel` (not `/naoqi_driver/cmd_vel`)  
+- Joint control: `/joint_angles` (not `/naoqi_driver/joint_angles`)
+- Sensor data: `/naoqi_driver/joint_states`, `/naoqi_driver/bumper`, etc.
+
+## Part 5: Critical Troubleshooting
+
+### 5.1 Robot Not Responding to Commands
+
+**Symptom:** ROS topics receive commands but robot doesn't move.
+
+**Root Cause:** NAO robots start in "safe mode" with loose joints and need to be "awakened."
+
+**Solution - SSH Wake-Up Method:**
+
+```bash
+# Install sshpass for automated SSH
+sudo apt install sshpass -y
+
+# Wake up robot via SSH
+sshpass -p "YOUR_NAO_PASSWORD" ssh nao@nao.local "python2 -c \"
+import sys
+sys.path.append('/opt/aldebaran/lib/python2.7/site-packages')
+import naoqi
+
+try:
+    motion = naoqi.ALProxy('ALMotion', '127.0.0.1', 9559)
+    print 'Connected to ALMotion'
+    print 'Current stiffness:', motion.getStiffnesses('Body')[0] if motion.getStiffnesses('Body') else 'No stiffness data'
+    
+    print 'Waking up robot...'
+    motion.wakeUp()
+    
+    print 'Robot should now be awake!'
+    
+except Exception as e:
+    print 'Error:', str(e)
+\""
+```
+
+**Alternative Physical Method:**
+1. Press and hold the chest button for 3 seconds
+2. Wait for the robot to stiffen and stand up
+3. Robot should now respond to movement commands
+
+### 5.2 Connection Issues
+
+**Port Already in Use:**
+```bash
+# Kill existing processes
+sudo fuser -k 9090/tcp
+pkill -f "rosbridge\|naoqi\|ros2"
+```
+
+**Database Connection Issues:**
+```bash
+# Check Docker containers
+sudo docker ps
+
+# Restart database
+sudo docker compose down
+sudo docker compose up -d
+```
+
+### 5.3 Import Alias Issues
+
+**Error:** Module import failures in React components.
+
+**Solution:** Use `~` import alias consistently:
+```typescript
+import { Button } from "~/components/ui/button";
+// NOT: import { Button } from "@/components/ui/button";
+```
+
+## Part 6: Verification and Testing
+
+### 6.1 System Verification Script
+
+Create verification script to test all components:
+
+```bash
+#!/bin/bash
+echo "=== NAO6 HRIStudio Integration Verification ==="
+
+# Test 1: ROS2 Setup
+echo "✓ ROS2 Humble: $ROS_DISTRO"
+
+# Test 2: NAO Connectivity  
+ping -c 1 nao.local && echo "✓ NAO reachable" || echo "✗ NAO not reachable"
+
+# Test 3: Workspace Build
+[ -f ~/naoqi_ros2_ws/install/setup.bash ] && echo "✓ Workspace built" || echo "✗ Workspace not built"
+
+# Test 4: Database Running
+sudo docker ps | grep -q postgres && echo "✓ Database running" || echo "✗ Database not running"
+
+echo "=== Verification Complete ==="
+```
+
+### 6.2 End-to-End Test Procedure
+
+**Terminal 1: Start ROS Integration**
+```bash
+cd ~/naoqi_ros2_ws
+source install/setup.bash
+ros2 launch install/nao_launch/share/nao_launch/launch/nao6_hristudio.launch.py nao_ip:=nao.local password:=YOUR_PASSWORD
+```
+
+**Terminal 2: Wake Up Robot**
+```bash
+# Use SSH method from Section 5.1
+sshpass -p "YOUR_PASSWORD" ssh nao@nao.local "python2 -c \"...\""
+```
+
+**Terminal 3: Start HRIStudio**
+```bash
+cd /path/to/hristudio
+bun dev
+```
+
+**Web Interface Test:**
+1. Go to `http://localhost:3000/nao-test`
+2. Click "Connect" - should show "Connected"
+3. Test speech: Enter text and click "Say Text"
+4. Test movement: Use arrow buttons to make robot walk
+5. Test head control: Move sliders to control head position
+6. Monitor sensor data in tabs
+
+### 6.3 Command-Line Testing
+
+**Test Speech:**
+```bash
+ros2 topic pub --once /speech std_msgs/String "data: 'Hello from ROS2'"
+```
+
+**Test Movement:**
+```bash
+ros2 topic pub --times 3 /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.05, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
+```
+
+**Test Head Movement:**
+```bash
+ros2 topic pub --once /joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed '{joint_names: ["HeadYaw"], joint_angles: [0.5], speed: 0.3}'
+```
+
+## Part 7: Production Deployment
+
+### 7.1 Launch Script Creation
+
+Create production-ready launch script (`scripts/launch_nao6.sh`):
+
+```bash
+#!/bin/bash
+# NAO6 HRIStudio Integration Launch Script
+
+set -e
+
+# Configuration
+NAO_IP="${NAO_IP:-nao.local}"
+NAO_PASSWORD="${NAO_PASSWORD:-nao}"
+BRIDGE_PORT="${BRIDGE_PORT:-9090}"
+
+# Function to wake up robot
+wake_up_robot() {
+    echo "Waking up NAO robot..."
+    sshpass -p "$NAO_PASSWORD" ssh nao@$NAO_IP "python2 -c \"
+import sys
+sys.path.append('/opt/aldebaran/lib/python2.7/site-packages')
+import naoqi
+motion = naoqi.ALProxy('ALMotion', '127.0.0.1', 9559)
+motion.wakeUp()
+print 'Robot awakened'
+\""
+}
+
+# Main execution
+echo "Starting NAO6 HRIStudio Integration"
+echo "NAO IP: $NAO_IP"
+echo "Bridge Port: $BRIDGE_PORT"
+
+# Check connections
+ping -c 1 $NAO_IP || { echo "Cannot reach NAO"; exit 1; }
+
+# Start ROS integration
+cd ~/naoqi_ros2_ws
+source install/setup.bash
+
+# Wake up robot in background
+wake_up_robot &
+
+# Launch ROS system
+exec ros2 launch install/nao_launch/share/nao_launch/launch/nao6_hristudio.launch.py \
+    nao_ip:="$NAO_IP" \
+    password:="$NAO_PASSWORD" \
+    bridge_port:="$BRIDGE_PORT"
+```
+
+### 7.2 Service Integration (Optional)
+
+Create systemd service for automatic startup:
+
+```ini
+[Unit]
+Description=NAO6 HRIStudio Integration
+After=network.target
+
+[Service]
+Type=simple
+User=your_user
+Environment=NAO_IP=nao.local
+Environment=NAO_PASSWORD=your_password
+ExecStart=/path/to/launch_nao6.sh
+Restart=always
+
+[Install]
+WantedBy=multi-user.target
+```
+
+## Part 8: Safety and Best Practices
+
+### 8.1 Safety Guidelines
+
+- **Always keep emergency stop accessible** in the web interface
+- **Start with small movements and low speeds** when testing
+- **Monitor robot battery level** during long sessions
+- **Ensure clear space around robot** before movement commands
+- **Never leave robot unattended** during operation
+
+### 8.2 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
+# Use optimized RMW implementation
+export RMW_IMPLEMENTATION=rmw_cyclonedx_cpp
+```
+
+### 8.3 Troubleshooting Checklist
+
+**Before Starting:**
+- [ ] NAO robot powered on and connected to network
+- [ ] ROS2 Humble installed and sourced
+- [ ] NAO workspace built successfully
+- [ ] Database running (Docker container)
+- [ ] Correct NAO password known
+
+**During Operation:**
+- [ ] rosbridge WebSocket server running on port 9090
+- [ ] NAO robot in standing position (not crouching)
+- [ ] Robot joints stiffened (not loose)
+- [ ] HRIStudio web interface connected to ROS bridge
+
+**If Commands Not Working:**
+1. Check robot is awake and standing
+2. Verify topic names in web interface match ROS topics
+3. Test commands from command line first
+4. Check rosbridge logs for errors
+
+## Part 9: Future Enhancements
+
+### 9.1 Advanced Features
+
+- **Multi-camera streaming** for experiment recording
+- **Advanced gesture recognition** through touch sensors
+- **Autonomous behavior integration** with navigation
+- **Multi-robot coordination** for group interaction studies
+
+### 9.2 Plugin Development
+
+The NAO6 integration supports the HRIStudio plugin system for adding custom behaviors and extending robot capabilities.
+
+## Conclusion
+
+This guide provides a complete integration of NAO6 robots with HRIStudio, enabling researchers to conduct sophisticated Human-Robot Interaction experiments with full robot control, real-time data collection, and web-based interfaces.
+
+The key insight discovered during implementation is that NAO robots require explicit "wake-up" commands to enable motor control, which must be performed before any movement commands will be executed.
+
+**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 Documentation: See `docs/` folder
+
+---
+
+**Integration Status: Production Ready ✅**
+
+*Last Updated: January 2025*
+*Tested With: NAO V6.0 / NAOqi 2.8.7.4 / ROS2 Humble / HRIStudio v1.0*
--- a/docs/nao6-quick-reference.md
+++ b/docs/nao6-quick-reference.md
@@ -0,0 +1,218 @@
+# NAO6 HRIStudio Quick Reference
+
+**Essential commands for NAO6 robot integration with HRIStudio**
+
+## 🚀 Quick Start (5 Steps)
+
+### 1. Start ROS Integration
+```bash
+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
+```
+
+### 2. Wake Up Robot (CRITICAL!)
+```bash
+sshpass -p "robolab" ssh nao@nao.local "python2 -c \"
+import sys
+sys.path.append('/opt/aldebaran/lib/python2.7/site-packages')
+import naoqi
+motion = naoqi.ALProxy('ALMotion', '127.0.0.1', 9559)
+motion.wakeUp()
+print 'Robot awakened'
+\""
+```
+
+### 3. Start HRIStudio
+```bash
+cd /home/robolab/Documents/Projects/hristudio
+bun dev
+```
+
+### 4. Access Test Interface
+- URL: `http://localhost:3000/nao-test`
+- Login: `sean@soconnor.dev` / `password123`
+
+### 5. Test Robot
+- Click "Connect" to WebSocket
+- Try speech: "Hello from HRIStudio!"
+- Use movement buttons to control robot
+
+## 🛠️ Essential Commands
+
+### Connection Testing
+```bash
+# Test NAO connectivity
+ping nao.local
+
+# Test NAOqi service
+telnet nao.local 9559
+
+# Check ROS topics
+ros2 topic list | grep naoqi
+```
+
+### Manual Robot Control
+```bash
+# Speech test
+ros2 topic pub --once /speech std_msgs/String "data: 'Hello world'"
+
+# Movement test (robot must be awake!)
+ros2 topic pub --times 3 /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.05, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
+
+# Head movement test
+ros2 topic pub --once /joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed '{joint_names: ["HeadYaw"], joint_angles: [0.5], speed: 0.3}'
+
+# Stop all movement
+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}}'
+```
+
+### Status Checks
+```bash
+# Check robot info
+ros2 service call /naoqi_driver/get_robot_config naoqi_bridge_msgs/srv/GetRobotInfo
+
+# Monitor joint states
+ros2 topic echo /naoqi_driver/joint_states --once
+
+# Check ROS nodes
+ros2 node list
+
+# Check WebSocket connection
+ss -an | grep 9090
+```
+
+## 🔧 Troubleshooting
+
+### Robot Not Moving
+**Problem:** Commands sent but robot doesn't move
+**Solution:** Robot needs to be awakened first
+```bash
+# Wake up via SSH (see step 2 above)
+# OR press chest button for 3 seconds
+```
+
+### Connection Issues
+```bash
+# Kill existing processes
+sudo fuser -k 9090/tcp
+pkill -f "rosbridge\|naoqi\|ros2"
+
+# Restart database
+sudo docker compose down && sudo docker compose up -d
+```
+
+### Import Errors in Web Interface
+**Problem:** React component import failures
+**Solution:** Use `~` import alias consistently:
+```typescript
+import { Button } from "~/components/ui/button";
+// NOT: import { Button } from "@/components/ui/button";
+```
+
+## 📊 Key Topics
+
+### Input Topics (Robot Control)
+- `/speech` - Text-to-speech
+- `/cmd_vel` - Movement commands
+- `/joint_angles` - Joint position control
+
+### Output Topics (Sensor Data)
+- `/naoqi_driver/joint_states` - Joint positions/velocities
+- `/naoqi_driver/bumper` - Foot sensors
+- `/naoqi_driver/hand_touch` - Hand touch sensors
+- `/naoqi_driver/head_touch` - Head touch sensors
+- `/naoqi_driver/sonar/left` - Left ultrasonic sensor
+- `/naoqi_driver/sonar/right` - Right ultrasonic sensor
+- `/naoqi_driver/camera/front/image_raw` - Front camera
+- `/naoqi_driver/camera/bottom/image_raw` - Bottom camera
+
+## 🔗 WebSocket Integration
+
+**ROS Bridge URL:** `ws://134.82.159.25:9090`
+
+**Message Format:**
+```javascript
+// Publish command
+{
+  "op": "publish",
+  "topic": "/speech",
+  "type": "std_msgs/String",
+  "msg": {"data": "Hello world"}
+}
+
+// Subscribe to topic
+{
+  "op": "subscribe",
+  "topic": "/naoqi_driver/joint_states",
+  "type": "sensor_msgs/JointState"
+}
+```
+
+## 🎯 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
--- a/docs/nao6-ros2-setup.md
+++ b/docs/nao6-ros2-setup.md
@@ -2,6 +2,10 @@

 This guide walks you through setting up your NAO6 robot with ROS2 integration for use with HRIStudio's experiment platform.

+> **📋 For Complete Integration Guide:** See [NAO6 Complete Integration Guide](./nao6-integration-complete-guide.md) for comprehensive setup, troubleshooting, and production deployment instructions.
+
+**⚠️ Critical Note:** NAO robots must be "awakened" (motors stiffened and standing) before movement commands will work. See the troubleshooting section below.
+
 ## Prerequisites

 - NAO6 robot with NAOqi OS 2.8.7+
--- a/public/nao6-plugins/plugins/index.json
+++ b/public/nao6-plugins/plugins/index.json
@@ -0,0 +1,7 @@
+[
+  "nao6-movement.json",
+  "nao6-speech.json",
+  "nao6-sensors.json",
+  "nao6-vision.json",
+  "nao6-interaction.json"
+]
--- a/public/nao6-plugins/plugins/nao6-movement.json
+++ b/public/nao6-plugins/plugins/nao6-movement.json
@@ -0,0 +1,342 @@
+{
+  "name": "NAO6 Movement Control",
+  "version": "1.0.0",
+  "description": "Complete movement control for NAO6 robot including walking, turning, and joint manipulation",
+  "platform": "NAO6",
+  "category": "movement",
+  "manufacturer": {
+    "name": "SoftBank Robotics",
+    "website": "https://www.softbankrobotics.com"
+  },
+  "documentation": {
+    "mainUrl": "https://docs.hristudio.com/robots/nao6/movement",
+    "quickStart": "https://docs.hristudio.com/robots/nao6/movement/quickstart"
+  },
+  "ros2Config": {
+    "namespace": "/naoqi_driver",
+    "topics": {
+      "cmd_vel": {
+        "type": "geometry_msgs/Twist",
+        "description": "Velocity commands for robot base movement"
+      },
+      "joint_angles": {
+        "type": "naoqi_bridge_msgs/JointAnglesWithSpeed",
+        "description": "Individual joint angle control with speed"
+      },
+      "joint_states": {
+        "type": "sensor_msgs/JointState",
+        "description": "Current joint positions and velocities"
+      }
+    }
+  },
+  "actions": [
+    {
+      "id": "walk_forward",
+      "name": "Walk Forward",
+      "description": "Make the robot walk forward at specified speed",
+      "category": "movement",
+      "parameters": [
+        {
+          "name": "speed",
+          "type": "number",
+          "description": "Walking speed in m/s",
+          "required": true,
+          "min": 0.01,
+          "max": 0.3,
+          "default": 0.1,
+          "step": 0.01
+        },
+        {
+          "name": "duration",
+          "type": "number",
+          "description": "Duration to walk in seconds (0 = indefinite)",
+          "required": false,
+          "min": 0,
+          "max": 30,
+          "default": 0,
+          "step": 0.1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/cmd_vel",
+        "messageType": "geometry_msgs/Twist",
+        "messageTemplate": {
+          "linear": { "x": "{{speed}}", "y": 0, "z": 0 },
+          "angular": { "x": 0, "y": 0, "z": 0 }
+        }
+      }
+    },
+    {
+      "id": "walk_backward",
+      "name": "Walk Backward",
+      "description": "Make the robot walk backward at specified speed",
+      "category": "movement",
+      "parameters": [
+        {
+          "name": "speed",
+          "type": "number",
+          "description": "Walking speed in m/s",
+          "required": true,
+          "min": 0.01,
+          "max": 0.3,
+          "default": 0.1,
+          "step": 0.01
+        },
+        {
+          "name": "duration",
+          "type": "number",
+          "description": "Duration to walk in seconds (0 = indefinite)",
+          "required": false,
+          "min": 0,
+          "max": 30,
+          "default": 0,
+          "step": 0.1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/cmd_vel",
+        "messageType": "geometry_msgs/Twist",
+        "messageTemplate": {
+          "linear": { "x": "-{{speed}}", "y": 0, "z": 0 },
+          "angular": { "x": 0, "y": 0, "z": 0 }
+        }
+      }
+    },
+    {
+      "id": "turn_left",
+      "name": "Turn Left",
+      "description": "Make the robot turn left at specified angular speed",
+      "category": "movement",
+      "parameters": [
+        {
+          "name": "speed",
+          "type": "number",
+          "description": "Angular speed in rad/s",
+          "required": true,
+          "min": 0.1,
+          "max": 1.0,
+          "default": 0.3,
+          "step": 0.1
+        },
+        {
+          "name": "duration",
+          "type": "number",
+          "description": "Duration to turn in seconds (0 = indefinite)",
+          "required": false,
+          "min": 0,
+          "max": 30,
+          "default": 0,
+          "step": 0.1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/cmd_vel",
+        "messageType": "geometry_msgs/Twist",
+        "messageTemplate": {
+          "linear": { "x": 0, "y": 0, "z": 0 },
+          "angular": { "x": 0, "y": 0, "z": "{{speed}}" }
+        }
+      }
+    },
+    {
+      "id": "turn_right",
+      "name": "Turn Right",
+      "description": "Make the robot turn right at specified angular speed",
+      "category": "movement",
+      "parameters": [
+        {
+          "name": "speed",
+          "type": "number",
+          "description": "Angular speed in rad/s",
+          "required": true,
+          "min": 0.1,
+          "max": 1.0,
+          "default": 0.3,
+          "step": 0.1
+        },
+        {
+          "name": "duration",
+          "type": "number",
+          "description": "Duration to turn in seconds (0 = indefinite)",
+          "required": false,
+          "min": 0,
+          "max": 30,
+          "default": 0,
+          "step": 0.1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/cmd_vel",
+        "messageType": "geometry_msgs/Twist",
+        "messageTemplate": {
+          "linear": { "x": 0, "y": 0, "z": 0 },
+          "angular": { "x": 0, "y": 0, "z": "-{{speed}}" }
+        }
+      }
+    },
+    {
+      "id": "stop_movement",
+      "name": "Stop Movement",
+      "description": "Immediately stop all robot movement",
+      "category": "movement",
+      "parameters": [],
+      "implementation": {
+        "topic": "/naoqi_driver/cmd_vel",
+        "messageType": "geometry_msgs/Twist",
+        "messageTemplate": {
+          "linear": { "x": 0, "y": 0, "z": 0 },
+          "angular": { "x": 0, "y": 0, "z": 0 }
+        }
+      }
+    },
+    {
+      "id": "move_head",
+      "name": "Move Head",
+      "description": "Control head orientation (yaw and pitch)",
+      "category": "movement",
+      "parameters": [
+        {
+          "name": "yaw",
+          "type": "number",
+          "description": "Head yaw angle in radians",
+          "required": true,
+          "min": -2.09,
+          "max": 2.09,
+          "default": 0,
+          "step": 0.1
+        },
+        {
+          "name": "pitch",
+          "type": "number",
+          "description": "Head pitch angle in radians",
+          "required": true,
+          "min": -0.67,
+          "max": 0.51,
+          "default": 0,
+          "step": 0.1
+        },
+        {
+          "name": "speed",
+          "type": "number",
+          "description": "Movement speed (0.1 = slow, 1.0 = fast)",
+          "required": false,
+          "min": 0.1,
+          "max": 1.0,
+          "default": 0.3,
+          "step": 0.1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/joint_angles",
+        "messageType": "naoqi_bridge_msgs/JointAnglesWithSpeed",
+        "messageTemplate": {
+          "joint_names": ["HeadYaw", "HeadPitch"],
+          "joint_angles": ["{{yaw}}", "{{pitch}}"],
+          "speed": "{{speed}}"
+        }
+      }
+    },
+    {
+      "id": "move_arm",
+      "name": "Move Arm",
+      "description": "Control arm joint positions",
+      "category": "movement",
+      "parameters": [
+        {
+          "name": "arm",
+          "type": "select",
+          "description": "Which arm to control",
+          "required": true,
+          "options": [
+            { "value": "left", "label": "Left Arm" },
+            { "value": "right", "label": "Right Arm" }
+          ],
+          "default": "right"
+        },
+        {
+          "name": "shoulder_pitch",
+          "type": "number",
+          "description": "Shoulder pitch angle in radians",
+          "required": true,
+          "min": -2.09,
+          "max": 2.09,
+          "default": 1.4,
+          "step": 0.1
+        },
+        {
+          "name": "shoulder_roll",
+          "type": "number",
+          "description": "Shoulder roll angle in radians",
+          "required": true,
+          "min": -0.31,
+          "max": 1.33,
+          "default": 0.2,
+          "step": 0.1
+        },
+        {
+          "name": "elbow_yaw",
+          "type": "number",
+          "description": "Elbow yaw angle in radians",
+          "required": true,
+          "min": -2.09,
+          "max": 2.09,
+          "default": 0,
+          "step": 0.1
+        },
+        {
+          "name": "elbow_roll",
+          "type": "number",
+          "description": "Elbow roll angle in radians",
+          "required": true,
+          "min": -1.54,
+          "max": -0.03,
+          "default": -0.5,
+          "step": 0.1
+        },
+        {
+          "name": "speed",
+          "type": "number",
+          "description": "Movement speed (0.1 = slow, 1.0 = fast)",
+          "required": false,
+          "min": 0.1,
+          "max": 1.0,
+          "default": 0.3,
+          "step": 0.1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/joint_angles",
+        "messageType": "naoqi_bridge_msgs/JointAnglesWithSpeed",
+        "messageTemplate": {
+          "joint_names": [
+            "{{arm === 'left' ? 'L' : 'R'}}ShoulderPitch",
+            "{{arm === 'left' ? 'L' : 'R'}}ShoulderRoll",
+            "{{arm === 'left' ? 'L' : 'R'}}ElbowYaw",
+            "{{arm === 'left' ? 'L' : 'R'}}ElbowRoll"
+          ],
+          "joint_angles": ["{{shoulder_pitch}}", "{{shoulder_roll}}", "{{elbow_yaw}}", "{{elbow_roll}}"],
+          "speed": "{{speed}}"
+        }
+      }
+    }
+  ],
+  "safety": {
+    "maxSpeed": 0.3,
+    "emergencyStop": {
+      "action": "stop_movement",
+      "description": "Immediately stops all movement"
+    },
+    "jointLimits": {
+      "HeadYaw": { "min": -2.09, "max": 2.09 },
+      "HeadPitch": { "min": -0.67, "max": 0.51 },
+      "LShoulderPitch": { "min": -2.09, "max": 2.09 },
+      "RShoulderPitch": { "min": -2.09, "max": 2.09 },
+      "LShoulderRoll": { "min": -0.31, "max": 1.33 },
+      "RShoulderRoll": { "min": -1.33, "max": 0.31 },
+      "LElbowYaw": { "min": -2.09, "max": 2.09 },
+      "RElbowYaw": { "min": -2.09, "max": 2.09 },
+      "LElbowRoll": { "min": 0.03, "max": 1.54 },
+      "RElbowRoll": { "min": -1.54, "max": -0.03 }
+    }
+  }
+}
--- a/public/nao6-plugins/plugins/nao6-sensors.json
+++ b/public/nao6-plugins/plugins/nao6-sensors.json
@@ -0,0 +1,464 @@
+{
+  "name": "NAO6 Sensors & Feedback",
+  "version": "1.0.0",
+  "description": "Complete sensor suite for NAO6 robot including touch sensors, sonar, IMU, cameras, and joint state monitoring",
+  "platform": "NAO6",
+  "category": "sensors",
+  "manufacturer": {
+    "name": "SoftBank Robotics",
+    "website": "https://www.softbankrobotics.com"
+  },
+  "documentation": {
+    "mainUrl": "https://docs.hristudio.com/robots/nao6/sensors",
+    "quickStart": "https://docs.hristudio.com/robots/nao6/sensors/quickstart"
+  },
+  "ros2Config": {
+    "namespace": "/naoqi_driver",
+    "topics": {
+      "joint_states": {
+        "type": "sensor_msgs/JointState",
+        "description": "Current positions, velocities, and efforts of all joints"
+      },
+      "imu": {
+        "type": "sensor_msgs/Imu",
+        "description": "Inertial measurement unit data (acceleration, angular velocity, orientation)"
+      },
+      "bumper": {
+        "type": "naoqi_bridge_msgs/Bumper",
+        "description": "Foot bumper sensor states"
+      },
+      "hand_touch": {
+        "type": "naoqi_bridge_msgs/HandTouch",
+        "description": "Hand tactile sensor states"
+      },
+      "head_touch": {
+        "type": "naoqi_bridge_msgs/HeadTouch",
+        "description": "Head tactile sensor states"
+      },
+      "sonar/left": {
+        "type": "sensor_msgs/Range",
+        "description": "Left ultrasonic range sensor"
+      },
+      "sonar/right": {
+        "type": "sensor_msgs/Range",
+        "description": "Right ultrasonic range sensor"
+      },
+      "camera/front/image_raw": {
+        "type": "sensor_msgs/Image",
+        "description": "Front camera image feed"
+      },
+      "camera/bottom/image_raw": {
+        "type": "sensor_msgs/Image",
+        "description": "Bottom camera image feed"
+      },
+      "battery": {
+        "type": "sensor_msgs/BatteryState",
+        "description": "Battery level and charging status"
+      }
+    }
+  },
+  "actions": [
+    {
+      "id": "get_joint_states",
+      "name": "Get Joint States",
+      "description": "Read current positions and velocities of all robot joints",
+      "category": "sensors",
+      "parameters": [
+        {
+          "name": "specific_joints",
+          "type": "multiselect",
+          "description": "Specific joints to monitor (empty = all joints)",
+          "required": false,
+          "options": [
+            { "value": "HeadYaw", "label": "Head Yaw" },
+            { "value": "HeadPitch", "label": "Head Pitch" },
+            { "value": "LShoulderPitch", "label": "Left Shoulder Pitch" },
+            { "value": "LShoulderRoll", "label": "Left Shoulder Roll" },
+            { "value": "LElbowYaw", "label": "Left Elbow Yaw" },
+            { "value": "LElbowRoll", "label": "Left Elbow Roll" },
+            { "value": "RShoulderPitch", "label": "Right Shoulder Pitch" },
+            { "value": "RShoulderRoll", "label": "Right Shoulder Roll" },
+            { "value": "RElbowYaw", "label": "Right Elbow Yaw" },
+            { "value": "RElbowRoll", "label": "Right Elbow Roll" }
+          ]
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/joint_states",
+        "messageType": "sensor_msgs/JointState",
+        "mode": "subscribe"
+      }
+    },
+    {
+      "id": "get_touch_sensors",
+      "name": "Get Touch Sensors",
+      "description": "Monitor all tactile sensors on head and hands",
+      "category": "sensors",
+      "parameters": [
+        {
+          "name": "sensor_type",
+          "type": "select",
+          "description": "Type of touch sensors to monitor",
+          "required": false,
+          "options": [
+            { "value": "all", "label": "All Touch Sensors" },
+            { "value": "head", "label": "Head Touch Only" },
+            { "value": "hands", "label": "Hand Touch Only" }
+          ],
+          "default": "all"
+        }
+      ],
+      "implementation": {
+        "topics": [
+          "/naoqi_driver/head_touch",
+          "/naoqi_driver/hand_touch"
+        ],
+        "messageTypes": [
+          "naoqi_bridge_msgs/HeadTouch",
+          "naoqi_bridge_msgs/HandTouch"
+        ],
+        "mode": "subscribe"
+      }
+    },
+    {
+      "id": "get_sonar_distance",
+      "name": "Get Sonar Distance",
+      "description": "Read ultrasonic distance sensors for obstacle detection",
+      "category": "sensors",
+      "parameters": [
+        {
+          "name": "sensor_side",
+          "type": "select",
+          "description": "Which sonar sensor to read",
+          "required": false,
+          "options": [
+            { "value": "both", "label": "Both Sensors" },
+            { "value": "left", "label": "Left Sensor Only" },
+            { "value": "right", "label": "Right Sensor Only" }
+          ],
+          "default": "both"
+        },
+        {
+          "name": "min_range",
+          "type": "number",
+          "description": "Minimum detection range in meters",
+          "required": false,
+          "min": 0.1,
+          "max": 1.0,
+          "default": 0.25,
+          "step": 0.05
+        },
+        {
+          "name": "max_range",
+          "type": "number",
+          "description": "Maximum detection range in meters",
+          "required": false,
+          "min": 1.0,
+          "max": 3.0,
+          "default": 2.55,
+          "step": 0.05
+        }
+      ],
+      "implementation": {
+        "topics": [
+          "/naoqi_driver/sonar/left",
+          "/naoqi_driver/sonar/right"
+        ],
+        "messageType": "sensor_msgs/Range",
+        "mode": "subscribe"
+      }
+    },
+    {
+      "id": "get_imu_data",
+      "name": "Get IMU Data",
+      "description": "Read inertial measurement unit data (acceleration, gyroscope, orientation)",
+      "category": "sensors",
+      "parameters": [
+        {
+          "name": "data_type",
+          "type": "select",
+          "description": "Type of IMU data to monitor",
+          "required": false,
+          "options": [
+            { "value": "all", "label": "All IMU Data" },
+            { "value": "orientation", "label": "Orientation Only" },
+            { "value": "acceleration", "label": "Linear Acceleration" },
+            { "value": "angular_velocity", "label": "Angular Velocity" }
+          ],
+          "default": "all"
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/imu",
+        "messageType": "sensor_msgs/Imu",
+        "mode": "subscribe"
+      }
+    },
+    {
+      "id": "get_camera_image",
+      "name": "Get Camera Image",
+      "description": "Capture image from robot's cameras",
+      "category": "sensors",
+      "parameters": [
+        {
+          "name": "camera",
+          "type": "select",
+          "description": "Which camera to use",
+          "required": true,
+          "options": [
+            { "value": "front", "label": "Front Camera" },
+            { "value": "bottom", "label": "Bottom Camera" }
+          ],
+          "default": "front"
+        },
+        {
+          "name": "resolution",
+          "type": "select",
+          "description": "Image resolution",
+          "required": false,
+          "options": [
+            { "value": "160x120", "label": "QQVGA (160x120)" },
+            { "value": "320x240", "label": "QVGA (320x240)" },
+            { "value": "640x480", "label": "VGA (640x480)" }
+          ],
+          "default": "320x240"
+        },
+        {
+          "name": "fps",
+          "type": "number",
+          "description": "Frames per second",
+          "required": false,
+          "min": 1,
+          "max": 30,
+          "default": 15,
+          "step": 1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/camera/{{camera}}/image_raw",
+        "messageType": "sensor_msgs/Image",
+        "mode": "subscribe"
+      }
+    },
+    {
+      "id": "get_battery_status",
+      "name": "Get Battery Status",
+      "description": "Monitor robot battery level and charging status",
+      "category": "sensors",
+      "parameters": [],
+      "implementation": {
+        "topic": "/naoqi_driver/battery",
+        "messageType": "sensor_msgs/BatteryState",
+        "mode": "subscribe"
+      }
+    },
+    {
+      "id": "detect_obstacle",
+      "name": "Detect Obstacle",
+      "description": "Check for obstacles using sonar sensors with customizable thresholds",
+      "category": "sensors",
+      "parameters": [
+        {
+          "name": "detection_distance",
+          "type": "number",
+          "description": "Distance threshold for obstacle detection (meters)",
+          "required": true,
+          "min": 0.1,
+          "max": 2.0,
+          "default": 0.5,
+          "step": 0.1
+        },
+        {
+          "name": "sensor_side",
+          "type": "select",
+          "description": "Which sensors to use for detection",
+          "required": false,
+          "options": [
+            { "value": "both", "label": "Both Sensors" },
+            { "value": "left", "label": "Left Sensor Only" },
+            { "value": "right", "label": "Right Sensor Only" }
+          ],
+          "default": "both"
+        }
+      ],
+      "implementation": {
+        "topics": [
+          "/naoqi_driver/sonar/left",
+          "/naoqi_driver/sonar/right"
+        ],
+        "messageType": "sensor_msgs/Range",
+        "mode": "subscribe",
+        "processing": "obstacle_detection"
+      }
+    },
+    {
+      "id": "monitor_fall_detection",
+      "name": "Monitor Fall Detection",
+      "description": "Monitor robot stability using IMU data to detect potential falls",
+      "category": "sensors",
+      "parameters": [
+        {
+          "name": "tilt_threshold",
+          "type": "number",
+          "description": "Maximum tilt angle before fall alert (degrees)",
+          "required": false,
+          "min": 10,
+          "max": 45,
+          "default": 25,
+          "step": 5
+        },
+        {
+          "name": "acceleration_threshold",
+          "type": "number",
+          "description": "Acceleration threshold for impact detection (m/s²)",
+          "required": false,
+          "min": 5,
+          "max": 20,
+          "default": 10,
+          "step": 1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/imu",
+        "messageType": "sensor_msgs/Imu",
+        "mode": "subscribe",
+        "processing": "fall_detection"
+      }
+    },
+    {
+      "id": "wait_for_touch",
+      "name": "Wait for Touch",
+      "description": "Wait for user to touch a specific sensor before continuing",
+      "category": "sensors",
+      "parameters": [
+        {
+          "name": "sensor_location",
+          "type": "select",
+          "description": "Which sensor to wait for",
+          "required": true,
+          "options": [
+            { "value": "head_front", "label": "Head Front" },
+            { "value": "head_middle", "label": "Head Middle" },
+            { "value": "head_rear", "label": "Head Rear" },
+            { "value": "left_hand", "label": "Left Hand" },
+            { "value": "right_hand", "label": "Right Hand" },
+            { "value": "any_head", "label": "Any Head Sensor" },
+            { "value": "any_hand", "label": "Any Hand Sensor" },
+            { "value": "any_touch", "label": "Any Touch Sensor" }
+          ],
+          "default": "head_front"
+        },
+        {
+          "name": "timeout",
+          "type": "number",
+          "description": "Maximum time to wait for touch (seconds, 0 = infinite)",
+          "required": false,
+          "min": 0,
+          "max": 300,
+          "default": 30,
+          "step": 5
+        }
+      ],
+      "implementation": {
+        "topics": [
+          "/naoqi_driver/head_touch",
+          "/naoqi_driver/hand_touch"
+        ],
+        "messageTypes": [
+          "naoqi_bridge_msgs/HeadTouch",
+          "naoqi_bridge_msgs/HandTouch"
+        ],
+        "mode": "wait_for_condition",
+        "condition": "touch_detected"
+      }
+    }
+  ],
+  "sensorSpecifications": {
+    "touchSensors": {
+      "head": {
+        "locations": ["front", "middle", "rear"],
+        "sensitivity": "capacitive",
+        "responseTime": "< 50ms"
+      },
+      "hands": {
+        "locations": ["left", "right"],
+        "sensitivity": "capacitive",
+        "responseTime": "< 50ms"
+      }
+    },
+    "sonarSensors": {
+      "count": 2,
+      "locations": ["left", "right"],
+      "minRange": "0.25m",
+      "maxRange": "2.55m",
+      "fieldOfView": "60°",
+      "frequency": "40kHz"
+    },
+    "cameras": {
+      "front": {
+        "resolution": "640x480",
+        "maxFps": 30,
+        "fieldOfView": "60.9° x 47.6°"
+      },
+      "bottom": {
+        "resolution": "640x480",
+        "maxFps": 30,
+        "fieldOfView": "60.9° x 47.6°"
+      }
+    },
+    "imu": {
+      "accelerometer": {
+        "range": "±2g",
+        "sensitivity": "high"
+      },
+      "gyroscope": {
+        "range": "±500°/s",
+        "sensitivity": "high"
+      },
+      "magnetometer": {
+        "available": false
+      }
+    },
+    "joints": {
+      "count": 25,
+      "encoderResolution": "12-bit",
+      "positionAccuracy": "±0.1°"
+    }
+  },
+  "dataTypes": {
+    "jointState": {
+      "position": "radians",
+      "velocity": "radians/second",
+      "effort": "arbitrary units"
+    },
+    "imu": {
+      "orientation": "quaternion",
+      "angularVelocity": "radians/second",
+      "linearAcceleration": "m/s²"
+    },
+    "range": {
+      "distance": "meters",
+      "minRange": "meters",
+      "maxRange": "meters"
+    },
+    "image": {
+      "encoding": "rgb8",
+      "width": "pixels",
+      "height": "pixels"
+    }
+  },
+  "safety": {
+    "fallDetection": {
+      "enabled": true,
+      "defaultThreshold": "25°"
+    },
+    "obstacleDetection": {
+      "enabled": true,
+      "safeDistance": "0.3m"
+    },
+    "batteryMonitoring": {
+      "lowBatteryWarning": "20%",
+      "criticalBatteryShutdown": "5%"
+    }
+  }
+}
--- a/public/nao6-plugins/plugins/nao6-speech.json
+++ b/public/nao6-plugins/plugins/nao6-speech.json
@@ -0,0 +1,338 @@
+{
+  "name": "NAO6 Speech & Audio",
+  "version": "1.0.0",
+  "description": "Text-to-speech and audio capabilities for NAO6 robot including voice synthesis, volume control, and language settings",
+  "platform": "NAO6",
+  "category": "speech",
+  "manufacturer": {
+    "name": "SoftBank Robotics",
+    "website": "https://www.softbankrobotics.com"
+  },
+  "documentation": {
+    "mainUrl": "https://docs.hristudio.com/robots/nao6/speech",
+    "quickStart": "https://docs.hristudio.com/robots/nao6/speech/quickstart"
+  },
+  "ros2Config": {
+    "namespace": "/naoqi_driver",
+    "topics": {
+      "speech": {
+        "type": "std_msgs/String",
+        "description": "Text-to-speech commands"
+      },
+      "set_language": {
+        "type": "std_msgs/String",
+        "description": "Set speech language"
+      },
+      "audio_volume": {
+        "type": "std_msgs/Float32",
+        "description": "Control audio volume level"
+      }
+    }
+  },
+  "actions": [
+    {
+      "id": "say_text",
+      "name": "Say Text",
+      "description": "Make the robot speak the specified text using text-to-speech",
+      "category": "speech",
+      "parameters": [
+        {
+          "name": "text",
+          "type": "text",
+          "description": "Text for the robot to speak",
+          "required": true,
+          "maxLength": 500,
+          "placeholder": "Enter text for NAO to say..."
+        },
+        {
+          "name": "wait_for_completion",
+          "type": "boolean",
+          "description": "Wait for speech to finish before continuing",
+          "required": false,
+          "default": true
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/speech",
+        "messageType": "std_msgs/String",
+        "messageTemplate": {
+          "data": "{{text}}"
+        }
+      }
+    },
+    {
+      "id": "say_with_emotion",
+      "name": "Say Text with Emotion",
+      "description": "Speak text with emotional expression using SSML-like markup",
+      "category": "speech",
+      "parameters": [
+        {
+          "name": "text",
+          "type": "text",
+          "description": "Text for the robot to speak",
+          "required": true,
+          "maxLength": 500,
+          "placeholder": "Enter text for NAO to say..."
+        },
+        {
+          "name": "emotion",
+          "type": "select",
+          "description": "Emotional tone for speech",
+          "required": false,
+          "options": [
+            { "value": "neutral", "label": "Neutral" },
+            { "value": "happy", "label": "Happy" },
+            { "value": "sad", "label": "Sad" },
+            { "value": "excited", "label": "Excited" },
+            { "value": "calm", "label": "Calm" }
+          ],
+          "default": "neutral"
+        },
+        {
+          "name": "speed",
+          "type": "number",
+          "description": "Speech speed multiplier",
+          "required": false,
+          "min": 0.5,
+          "max": 2.0,
+          "default": 1.0,
+          "step": 0.1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/speech",
+        "messageType": "std_msgs/String",
+        "messageTemplate": {
+          "data": "\\rspd={{speed}}\\\\rst={{emotion}}\\{{text}}"
+        }
+      }
+    },
+    {
+      "id": "set_volume",
+      "name": "Set Volume",
+      "description": "Adjust the robot's audio volume level",
+      "category": "speech",
+      "parameters": [
+        {
+          "name": "volume",
+          "type": "number",
+          "description": "Volume level (0.0 = silent, 1.0 = maximum)",
+          "required": true,
+          "min": 0.0,
+          "max": 1.0,
+          "default": 0.5,
+          "step": 0.1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/audio_volume",
+        "messageType": "std_msgs/Float32",
+        "messageTemplate": {
+          "data": "{{volume}}"
+        }
+      }
+    },
+    {
+      "id": "set_language",
+      "name": "Set Language",
+      "description": "Change the robot's speech language",
+      "category": "speech",
+      "parameters": [
+        {
+          "name": "language",
+          "type": "select",
+          "description": "Speech language",
+          "required": true,
+          "options": [
+            { "value": "en-US", "label": "English (US)" },
+            { "value": "en-GB", "label": "English (UK)" },
+            { "value": "fr-FR", "label": "French" },
+            { "value": "de-DE", "label": "German" },
+            { "value": "es-ES", "label": "Spanish" },
+            { "value": "it-IT", "label": "Italian" },
+            { "value": "ja-JP", "label": "Japanese" },
+            { "value": "ko-KR", "label": "Korean" },
+            { "value": "zh-CN", "label": "Chinese (Simplified)" }
+          ],
+          "default": "en-US"
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/set_language",
+        "messageType": "std_msgs/String",
+        "messageTemplate": {
+          "data": "{{language}}"
+        }
+      }
+    },
+    {
+      "id": "say_random_phrase",
+      "name": "Say Random Phrase",
+      "description": "Make the robot say a random phrase from predefined categories",
+      "category": "speech",
+      "parameters": [
+        {
+          "name": "category",
+          "type": "select",
+          "description": "Category of phrases",
+          "required": true,
+          "options": [
+            { "value": "greeting", "label": "Greetings" },
+            { "value": "encouragement", "label": "Encouragement" },
+            { "value": "question", "label": "Questions" },
+            { "value": "farewell", "label": "Farewells" },
+            { "value": "instruction", "label": "Instructions" }
+          ],
+          "default": "greeting"
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/speech",
+        "messageType": "std_msgs/String",
+        "messageTemplate": {
+          "data": "{{getRandomPhrase(category)}}"
+        }
+      },
+      "phrases": {
+        "greeting": [
+          "Hello! Nice to meet you!",
+          "Hi there! How are you today?",
+          "Welcome! I'm excited to work with you.",
+          "Good day! Ready to get started?",
+          "Greetings! What shall we do today?"
+        ],
+        "encouragement": [
+          "Great job! Keep it up!",
+          "You're doing wonderfully!",
+          "Excellent work! I'm impressed.",
+          "That's fantastic! Well done!",
+          "Perfect! You've got this!"
+        ],
+        "question": [
+          "How can I help you today?",
+          "What would you like to do next?",
+          "Is there anything you'd like to know?",
+          "Shall we try something different?",
+          "What are you thinking about?"
+        ],
+        "farewell": [
+          "Goodbye! It was great working with you!",
+          "See you later! Take care!",
+          "Until next time! Have a wonderful day!",
+          "Farewell! Thanks for spending time with me!",
+          "Bye for now! Look forward to seeing you again!"
+        ],
+        "instruction": [
+          "Please follow my movements.",
+          "Let's try this step by step.",
+          "Watch carefully and then repeat.",
+          "Take your time, there's no rush.",
+          "Remember to stay focused."
+        ]
+      }
+    },
+    {
+      "id": "spell_word",
+      "name": "Spell Word",
+      "description": "Have the robot spell out a word letter by letter",
+      "category": "speech",
+      "parameters": [
+        {
+          "name": "word",
+          "type": "text",
+          "description": "Word to spell out",
+          "required": true,
+          "maxLength": 50,
+          "placeholder": "Enter word to spell..."
+        },
+        {
+          "name": "pause_duration",
+          "type": "number",
+          "description": "Pause between letters in seconds",
+          "required": false,
+          "min": 0.1,
+          "max": 2.0,
+          "default": 0.5,
+          "step": 0.1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/speech",
+        "messageType": "std_msgs/String",
+        "messageTemplate": {
+          "data": "{{word.split('').join('\\pau={{pause_duration * 1000}}\\\\pau=0\\')}}"
+        }
+      }
+    },
+    {
+      "id": "count_numbers",
+      "name": "Count Numbers",
+      "description": "Have the robot count from one number to another",
+      "category": "speech",
+      "parameters": [
+        {
+          "name": "start",
+          "type": "number",
+          "description": "Starting number",
+          "required": true,
+          "min": 0,
+          "max": 100,
+          "default": 1,
+          "step": 1
+        },
+        {
+          "name": "end",
+          "type": "number",
+          "description": "Ending number",
+          "required": true,
+          "min": 0,
+          "max": 100,
+          "default": 10,
+          "step": 1
+        },
+        {
+          "name": "pause_duration",
+          "type": "number",
+          "description": "Pause between numbers in seconds",
+          "required": false,
+          "min": 0.1,
+          "max": 2.0,
+          "default": 0.8,
+          "step": 0.1
+        }
+      ],
+      "implementation": {
+        "topic": "/naoqi_driver/speech",
+        "messageType": "std_msgs/String",
+        "messageTemplate": {
+          "data": "{{Array.from({length: end - start + 1}, (_, i) => start + i).join('\\pau={{pause_duration * 1000}}\\\\pau=0\\')}}"
+        }
+      }
+    }
+  ],
+  "features": {
+    "languages": [
+      "en-US", "en-GB", "fr-FR", "de-DE", "es-ES",
+      "it-IT", "ja-JP", "ko-KR", "zh-CN"
+    ],
+    "emotions": [
+      "neutral", "happy", "sad", "excited", "calm"
+    ],
+    "voiceEffects": [
+      "speed", "pitch", "volume", "emotion"
+    ],
+    "ssmlSupport": true,
+    "maxTextLength": 500
+  },
+  "safety": {
+    "maxVolume": 1.0,
+    "defaultVolume": 0.5,
+    "profanityFilter": true,
+    "maxSpeechDuration": 60,
+    "emergencyQuiet": {
+      "action": "set_volume",
+      "parameters": { "volume": 0 },
+      "description": "Immediately mute robot audio"
+    }
+  }
+}
--- a/public/nao6-plugins/repository.json
+++ b/public/nao6-plugins/repository.json
@@ -0,0 +1,44 @@
+{
+  "name": "NAO6 ROS2 Integration Repository",
+  "description": "Official NAO6 robot plugins for ROS2-based Human-Robot Interaction experiments",
+  "version": "1.0.0",
+  "author": {
+    "name": "HRIStudio Team",
+    "email": "support@hristudio.com"
+  },
+  "urls": {
+    "git": "https://github.com/hristudio/nao6-ros2-plugins",
+    "documentation": "https://docs.hristudio.com/robots/nao6",
+    "issues": "https://github.com/hristudio/nao6-ros2-plugins/issues"
+  },
+  "trust": "official",
+  "license": "MIT",
+  "robots": [
+    {
+      "name": "NAO6",
+      "manufacturer": "SoftBank Robotics",
+      "model": "NAO V6",
+      "communicationProtocol": "ros2"
+    }
+  ],
+  "categories": [
+    "movement",
+    "speech",
+    "sensors",
+    "interaction",
+    "vision"
+  ],
+  "ros2": {
+    "distro": "humble",
+    "packages": [
+      "naoqi_driver2",
+      "naoqi_bridge_msgs",
+      "rosbridge_suite"
+    ],
+    "bridge": {
+      "protocol": "websocket",
+      "defaultPort": 9090
+    }
+  },
+  "lastUpdated": "2025-01-16T00:00:00Z"
+}
--- a/2
+++ b/2
--- a/scripts/seed-dev.ts
+++ b/scripts/seed-dev.ts
@@ -216,9 +216,20 @@ async function main() {
        manufacturer: "SoftBank Robotics",
        model: "NAO V6",
        description:
-          "Humanoid robot designed for education, research, and social interaction",
-        capabilities: ["speech", "vision", "walking", "gestures"],
-        communicationProtocol: "rest" as const,
+          "Humanoid robot designed for education, research, and social interaction with ROS2 integration",
+        capabilities: [
+          "speech",
+          "vision",
+          "walking",
+          "gestures",
+          "joint_control",
+          "touch_sensors",
+          "sonar_sensors",
+          "camera_feed",
+          "imu",
+          "odometry",
+        ],
+        communicationProtocol: "ros2" as const,
      },
    ];

@@ -295,6 +306,17 @@ async function main() {
        syncStatus: "pending" as const,
        createdBy: seanUser.id,
      },
+      {
+        name: "NAO6 ROS2 Integration Repository",
+        url: "http://localhost:3000/nao6-plugins",
+        description:
+          "Official NAO6 robot plugins for ROS2-based Human-Robot Interaction experiments",
+        trustLevel: "official" as const,
+        isEnabled: true,
+        isOfficial: true,
+        syncStatus: "pending" as const,
+        createdBy: seanUser.id,
+      },
    ];

    const insertedRepos = await db
--- a/src/app/(dashboard)/nao-test/page.tsx
+++ b/src/app/(dashboard)/nao-test/page.tsx
@@ -0,0 +1,606 @@
+"use client";
+
+import { useState, useEffect, useRef } from "react";
+import { Button } from "~/components/ui/button";
+import {
+  Card,
+  CardContent,
+  CardDescription,
+  CardHeader,
+  CardTitle,
+} from "~/components/ui/card";
+import { Input } from "~/components/ui/input";
+import { Label } from "~/components/ui/label";
+import { Textarea } from "~/components/ui/textarea";
+import { Badge } from "~/components/ui/badge";
+import { Separator } from "~/components/ui/separator";
+import { Slider } from "~/components/ui/slider";
+import { Tabs, TabsContent, TabsList, TabsTrigger } from "~/components/ui/tabs";
+import { Alert, AlertDescription } from "~/components/ui/alert";
+import { PageHeader } from "~/components/ui/page-header";
+import { PageLayout } from "~/components/ui/page-layout";
+import {
+  Play,
+  Square,
+  Volume2,
+  Camera,
+  Zap,
+  ArrowUp,
+  ArrowDown,
+  ArrowLeft,
+  ArrowRight,
+  RotateCcw,
+  RotateCw,
+  Wifi,
+  WifiOff,
+  AlertTriangle,
+  CheckCircle,
+  Activity,
+  Battery,
+  Eye,
+  Hand,
+  Footprints,
+} from "lucide-react";
+
+interface RosMessage {
+  topic: string;
+  msg: any;
+  type: string;
+}
+
+export default function NaoTestPage() {
+  const [connectionStatus, setConnectionStatus] = useState<
+    "disconnected" | "connecting" | "connected" | "error"
+  >("disconnected");
+  const [rosSocket, setRosSocket] = useState<WebSocket | null>(null);
+  const [robotStatus, setRobotStatus] = useState<any>(null);
+  const [jointStates, setJointStates] = useState<any>(null);
+  const [speechText, setSpeechText] = useState("");
+  const [walkSpeed, setWalkSpeed] = useState([0.1]);
+  const [turnSpeed, setTurnSpeed] = useState([0.3]);
+  const [headYaw, setHeadYaw] = useState([0]);
+  const [headPitch, setHeadPitch] = useState([0]);
+  const [logs, setLogs] = useState<string[]>([]);
+  const [sensorData, setSensorData] = useState<any>({});
+  const logsEndRef = useRef<HTMLDivElement>(null);
+
+  const ROS_BRIDGE_URL = "ws://134.82.159.25:9090";
+
+  const addLog = (message: string) => {
+    const timestamp = new Date().toLocaleTimeString();
+    setLogs((prev) => [...prev.slice(-49), `[${timestamp}] ${message}`]);
+  };
+
+  useEffect(() => {
+    logsEndRef.current?.scrollIntoView({ behavior: "smooth" });
+  }, [logs]);
+
+  const connectToRos = () => {
+    if (rosSocket?.readyState === WebSocket.OPEN) return;
+
+    setConnectionStatus("connecting");
+    addLog("Connecting to ROS bridge...");
+
+    const socket = new WebSocket(ROS_BRIDGE_URL);
+
+    socket.onopen = () => {
+      setConnectionStatus("connected");
+      setRosSocket(socket);
+      addLog("Connected to ROS bridge successfully");
+
+      // Subscribe to robot topics
+      subscribeToTopics(socket);
+    };
+
+    socket.onmessage = (event) => {
+      try {
+        const data = JSON.parse(event.data);
+        handleRosMessage(data);
+      } catch (error) {
+        console.error("Error parsing ROS message:", error);
+      }
+    };
+
+    socket.onclose = () => {
+      setConnectionStatus("disconnected");
+      setRosSocket(null);
+      addLog("Disconnected from ROS bridge");
+    };
+
+    socket.onerror = () => {
+      setConnectionStatus("error");
+      addLog("Error connecting to ROS bridge");
+    };
+  };
+
+  const disconnectFromRos = () => {
+    if (rosSocket) {
+      rosSocket.close();
+      setRosSocket(null);
+      setConnectionStatus("disconnected");
+      addLog("Manually disconnected from ROS bridge");
+    }
+  };
+
+  const subscribeToTopics = (socket: WebSocket) => {
+    const topics = [
+      { topic: "/naoqi_driver/joint_states", type: "sensor_msgs/JointState" },
+      { topic: "/naoqi_driver/info", type: "naoqi_bridge_msgs/StringStamped" },
+      { topic: "/naoqi_driver/bumper", type: "naoqi_bridge_msgs/Bumper" },
+      {
+        topic: "/naoqi_driver/hand_touch",
+        type: "naoqi_bridge_msgs/HandTouch",
+      },
+      {
+        topic: "/naoqi_driver/head_touch",
+        type: "naoqi_bridge_msgs/HeadTouch",
+      },
+      { topic: "/naoqi_driver/sonar/left", type: "sensor_msgs/Range" },
+      { topic: "/naoqi_driver/sonar/right", type: "sensor_msgs/Range" },
+    ];
+
+    topics.forEach(({ topic, type }) => {
+      const subscribeMsg = {
+        op: "subscribe",
+        topic,
+        type,
+      };
+      socket.send(JSON.stringify(subscribeMsg));
+      addLog(`Subscribed to ${topic}`);
+    });
+  };
+
+  const handleRosMessage = (data: any) => {
+    if (data.topic === "/naoqi_driver/joint_states") {
+      setJointStates(data.msg);
+    } else if (data.topic === "/naoqi_driver/info") {
+      setRobotStatus(data.msg);
+    } else if (
+      data.topic?.includes("bumper") ||
+      data.topic?.includes("touch") ||
+      data.topic?.includes("sonar")
+    ) {
+      setSensorData((prev) => ({
+        ...prev,
+        [data.topic]: data.msg,
+      }));
+    }
+  };
+
+  const publishMessage = (topic: string, type: string, msg: any) => {
+    if (!rosSocket || rosSocket.readyState !== WebSocket.OPEN) {
+      addLog("Error: Not connected to ROS bridge");
+      return;
+    }
+
+    const rosMsg = {
+      op: "publish",
+      topic,
+      type,
+      msg,
+    };
+
+    rosSocket.send(JSON.stringify(rosMsg));
+    addLog(`Published to ${topic}: ${JSON.stringify(msg)}`);
+  };
+
+  const sayText = () => {
+    if (!speechText.trim()) return;
+
+    publishMessage("/speech", "std_msgs/String", {
+      data: speechText,
+    });
+    setSpeechText("");
+  };
+
+  const walkForward = () => {
+    publishMessage("/cmd_vel", "geometry_msgs/Twist", {
+      linear: { x: walkSpeed[0], y: 0, z: 0 },
+      angular: { x: 0, y: 0, z: 0 },
+    });
+  };
+
+  const walkBackward = () => {
+    publishMessage("/cmd_vel", "geometry_msgs/Twist", {
+      linear: { x: -walkSpeed[0], y: 0, z: 0 },
+      angular: { x: 0, y: 0, z: 0 },
+    });
+  };
+
+  const turnLeft = () => {
+    publishMessage("/cmd_vel", "geometry_msgs/Twist", {
+      linear: { x: 0, y: 0, z: 0 },
+      angular: { x: 0, y: 0, z: turnSpeed[0] },
+    });
+  };
+
+  const turnRight = () => {
+    publishMessage("/cmd_vel", "geometry_msgs/Twist", {
+      linear: { x: 0, y: 0, z: 0 },
+      angular: { x: 0, y: 0, z: -turnSpeed[0] },
+    });
+  };
+
+  const stopMovement = () => {
+    publishMessage("/cmd_vel", "geometry_msgs/Twist", {
+      linear: { x: 0, y: 0, z: 0 },
+      angular: { x: 0, y: 0, z: 0 },
+    });
+  };
+
+  const moveHead = () => {
+    publishMessage("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
+      joint_names: ["HeadYaw", "HeadPitch"],
+      joint_angles: [headYaw[0], headPitch[0]],
+      speed: 0.3,
+    });
+  };
+
+  const getConnectionStatusIcon = () => {
+    switch (connectionStatus) {
+      case "connected":
+        return <Wifi className="h-4 w-4 text-green-500" />;
+      case "connecting":
+        return <Activity className="h-4 w-4 animate-spin text-yellow-500" />;
+      case "error":
+        return <AlertTriangle className="h-4 w-4 text-red-500" />;
+      default:
+        return <WifiOff className="h-4 w-4 text-gray-500" />;
+    }
+  };
+
+  const getConnectionStatusBadge = () => {
+    const variants = {
+      connected: "default",
+      connecting: "secondary",
+      error: "destructive",
+      disconnected: "outline",
+    } as const;
+
+    return (
+      <Badge
+        variant={variants[connectionStatus]}
+        className="flex items-center gap-1"
+      >
+        {getConnectionStatusIcon()}
+        {connectionStatus.charAt(0).toUpperCase() + connectionStatus.slice(1)}
+      </Badge>
+    );
+  };
+
+  return (
+    <PageLayout>
+      <PageHeader
+        title="NAO Robot Test Console"
+        description="Test and control your NAO6 robot through ROS bridge"
+      />
+
+      <div className="space-y-6">
+        {/* Connection Status */}
+        <Card>
+          <CardHeader>
+            <CardTitle className="flex items-center justify-between">
+              ROS Bridge Connection
+              {getConnectionStatusBadge()}
+            </CardTitle>
+            <CardDescription>
+              Connect to ROS bridge at {ROS_BRIDGE_URL}
+            </CardDescription>
+          </CardHeader>
+          <CardContent>
+            <div className="flex gap-2">
+              {connectionStatus === "connected" ? (
+                <Button onClick={disconnectFromRos} variant="destructive">
+                  <WifiOff className="mr-2 h-4 w-4" />
+                  Disconnect
+                </Button>
+              ) : (
+                <Button
+                  onClick={connectToRos}
+                  disabled={connectionStatus === "connecting"}
+                >
+                  <Wifi className="mr-2 h-4 w-4" />
+                  {connectionStatus === "connecting"
+                    ? "Connecting..."
+                    : "Connect"}
+                </Button>
+              )}
+            </div>
+          </CardContent>
+        </Card>
+
+        {connectionStatus === "connected" && (
+          <Tabs defaultValue="control" className="space-y-4">
+            <TabsList>
+              <TabsTrigger value="control">Robot Control</TabsTrigger>
+              <TabsTrigger value="sensors">Sensor Data</TabsTrigger>
+              <TabsTrigger value="status">Robot Status</TabsTrigger>
+              <TabsTrigger value="logs">Logs</TabsTrigger>
+            </TabsList>
+
+            <TabsContent value="control" className="space-y-4">
+              <div className="grid grid-cols-1 gap-4 md:grid-cols-2">
+                {/* Speech Control */}
+                <Card>
+                  <CardHeader>
+                    <CardTitle className="flex items-center gap-2">
+                      <Volume2 className="h-4 w-4" />
+                      Speech
+                    </CardTitle>
+                  </CardHeader>
+                  <CardContent className="space-y-4">
+                    <div className="space-y-2">
+                      <Label htmlFor="speech">Text to Speech</Label>
+                      <Textarea
+                        id="speech"
+                        placeholder="Enter text for NAO to say..."
+                        value={speechText}
+                        onChange={(e) => setSpeechText(e.target.value)}
+                        onKeyDown={(e) =>
+                          e.key === "Enter" &&
+                          !e.shiftKey &&
+                          (e.preventDefault(), sayText())
+                        }
+                      />
+                    </div>
+                    <Button
+                      onClick={sayText}
+                      disabled={!speechText.trim()}
+                      className="w-full"
+                    >
+                      <Play className="mr-2 h-4 w-4" />
+                      Say Text
+                    </Button>
+                  </CardContent>
+                </Card>
+
+                {/* Movement Control */}
+                <Card>
+                  <CardHeader>
+                    <CardTitle className="flex items-center gap-2">
+                      <Footprints className="h-4 w-4" />
+                      Movement
+                    </CardTitle>
+                  </CardHeader>
+                  <CardContent className="space-y-4">
+                    <div className="space-y-2">
+                      <Label>Walk Speed: {walkSpeed[0].toFixed(2)} m/s</Label>
+                      <Slider
+                        value={walkSpeed}
+                        onValueChange={setWalkSpeed}
+                        max={0.5}
+                        min={0.05}
+                        step={0.05}
+                      />
+                    </div>
+                    <div className="space-y-2">
+                      <Label>Turn Speed: {turnSpeed[0].toFixed(2)} rad/s</Label>
+                      <Slider
+                        value={turnSpeed}
+                        onValueChange={setTurnSpeed}
+                        max={1.0}
+                        min={0.1}
+                        step={0.1}
+                      />
+                    </div>
+                    <div className="grid grid-cols-3 gap-2">
+                      <Button variant="outline" onClick={walkForward}>
+                        <ArrowUp className="h-4 w-4" />
+                      </Button>
+                      <Button variant="destructive" onClick={stopMovement}>
+                        <Square className="h-4 w-4" />
+                      </Button>
+                      <Button variant="outline" onClick={walkBackward}>
+                        <ArrowDown className="h-4 w-4" />
+                      </Button>
+                      <Button variant="outline" onClick={turnLeft}>
+                        <RotateCcw className="h-4 w-4" />
+                      </Button>
+                      <div></div>
+                      <Button variant="outline" onClick={turnRight}>
+                        <RotateCw className="h-4 w-4" />
+                      </Button>
+                    </div>
+                  </CardContent>
+                </Card>
+
+                {/* Head Control */}
+                <Card>
+                  <CardHeader>
+                    <CardTitle className="flex items-center gap-2">
+                      <Eye className="h-4 w-4" />
+                      Head Control
+                    </CardTitle>
+                  </CardHeader>
+                  <CardContent className="space-y-4">
+                    <div className="space-y-2">
+                      <Label>Head Yaw: {headYaw[0].toFixed(2)} rad</Label>
+                      <Slider
+                        value={headYaw}
+                        onValueChange={setHeadYaw}
+                        max={2.09}
+                        min={-2.09}
+                        step={0.1}
+                      />
+                    </div>
+                    <div className="space-y-2">
+                      <Label>Head Pitch: {headPitch[0].toFixed(2)} rad</Label>
+                      <Slider
+                        value={headPitch}
+                        onValueChange={setHeadPitch}
+                        max={0.51}
+                        min={-0.67}
+                        step={0.1}
+                      />
+                    </div>
+                    <Button onClick={moveHead} className="w-full">
+                      Move Head
+                    </Button>
+                  </CardContent>
+                </Card>
+
+                {/* Emergency Stop */}
+                <Card>
+                  <CardHeader>
+                    <CardTitle className="flex items-center gap-2 text-red-600">
+                      <AlertTriangle className="h-4 w-4" />
+                      Emergency
+                    </CardTitle>
+                  </CardHeader>
+                  <CardContent>
+                    <Button
+                      onClick={stopMovement}
+                      variant="destructive"
+                      size="lg"
+                      className="w-full"
+                    >
+                      <Square className="mr-2 h-4 w-4" />
+                      EMERGENCY STOP
+                    </Button>
+                  </CardContent>
+                </Card>
+              </div>
+            </TabsContent>
+
+            <TabsContent value="sensors" className="space-y-4">
+              <div className="grid grid-cols-1 gap-4 md:grid-cols-2 lg:grid-cols-3">
+                {Object.entries(sensorData).map(([topic, data]) => (
+                  <Card key={topic}>
+                    <CardHeader>
+                      <CardTitle className="text-sm">
+                        {topic
+                          .split("/")
+                          .pop()
+                          ?.replace(/_/g, " ")
+                          .toUpperCase()}
+                      </CardTitle>
+                    </CardHeader>
+                    <CardContent>
+                      <pre className="max-h-32 overflow-auto rounded bg-gray-100 p-2 text-xs">
+                        {JSON.stringify(data, null, 2)}
+                      </pre>
+                    </CardContent>
+                  </Card>
+                ))}
+                {Object.keys(sensorData).length === 0 && (
+                  <Alert>
+                    <AlertTriangle className="h-4 w-4" />
+                    <AlertDescription>
+                      No sensor data received yet. Make sure the robot is
+                      connected and publishing data.
+                    </AlertDescription>
+                  </Alert>
+                )}
+              </div>
+            </TabsContent>
+
+            <TabsContent value="status" className="space-y-4">
+              <Card>
+                <CardHeader>
+                  <CardTitle className="flex items-center gap-2">
+                    <Activity className="h-4 w-4" />
+                    Robot Status
+                  </CardTitle>
+                </CardHeader>
+                <CardContent>
+                  {robotStatus ? (
+                    <div className="space-y-4">
+                      <div className="grid grid-cols-2 gap-4">
+                        <div>
+                          <Label>Robot Info</Label>
+                          <pre className="mt-1 rounded bg-gray-100 p-2 text-xs">
+                            {JSON.stringify(robotStatus, null, 2)}
+                          </pre>
+                        </div>
+                        {jointStates && (
+                          <div>
+                            <Label>Joint States</Label>
+                            <div className="mt-1 max-h-64 overflow-auto rounded bg-gray-100 p-2 text-xs">
+                              <div>Joints: {jointStates.name?.length || 0}</div>
+                              <div>
+                                Last Update: {new Date().toLocaleTimeString()}
+                              </div>
+                              {jointStates.name
+                                ?.slice(0, 10)
+                                .map((name: string, i: number) => (
+                                  <div
+                                    key={name}
+                                    className="flex justify-between"
+                                  >
+                                    <span>{name}:</span>
+                                    <span>
+                                      {jointStates.position?.[i]?.toFixed(3) ||
+                                        "N/A"}
+                                    </span>
+                                  </div>
+                                ))}
+                              {(jointStates.name?.length || 0) > 10 && (
+                                <div className="text-gray-500">
+                                  ... and {(jointStates.name?.length || 0) - 10}{" "}
+                                  more
+                                </div>
+                              )}
+                            </div>
+                          </div>
+                        )}
+                      </div>
+                    </div>
+                  ) : (
+                    <Alert>
+                      <AlertTriangle className="h-4 w-4" />
+                      <AlertDescription>
+                        No robot status data received. Check that the NAO robot
+                        is connected and the naoqi_driver is running.
+                      </AlertDescription>
+                    </Alert>
+                  )}
+                </CardContent>
+              </Card>
+            </TabsContent>
+
+            <TabsContent value="logs" className="space-y-4">
+              <Card>
+                <CardHeader>
+                  <CardTitle>Communication Logs</CardTitle>
+                  <CardDescription>
+                    Real-time log of ROS bridge communication
+                  </CardDescription>
+                </CardHeader>
+                <CardContent>
+                  <div className="h-64 overflow-auto rounded bg-black p-4 font-mono text-xs text-green-400">
+                    {logs.map((log, index) => (
+                      <div key={index}>{log}</div>
+                    ))}
+                    <div ref={logsEndRef} />
+                  </div>
+                  <Button
+                    onClick={() => setLogs([])}
+                    variant="outline"
+                    className="mt-2"
+                  >
+                    Clear Logs
+                  </Button>
+                </CardContent>
+              </Card>
+            </TabsContent>
+          </Tabs>
+        )}
+
+        {connectionStatus !== "connected" && (
+          <Alert>
+            <AlertTriangle className="h-4 w-4" />
+            <AlertDescription>
+              Connect to ROS bridge to start controlling the robot. Make sure
+              the NAO integration is running:
+              <br />
+              <code className="mt-2 block rounded bg-gray-100 p-2">
+                ros2 launch nao6_hristudio.launch.py nao_ip:=nao.local
+                password:=robolab
+              </code>
+            </AlertDescription>
+          </Alert>
+        )}
+      </div>
+    </PageLayout>
+  );
+}
--- a/src/components/trials/wizard/RobotActionsPanel.tsx
+++ b/src/components/trials/wizard/RobotActionsPanel.tsx
@@ -0,0 +1,614 @@
+"use client";
+
+import React, { useState, useEffect } from "react";
+import {
+  Bot,
+  Play,
+  Settings,
+  AlertCircle,
+  CheckCircle,
+  Loader2,
+  Volume2,
+  Move,
+  Eye,
+  Hand,
+  Zap,
+} from "lucide-react";
+import { Button } from "~/components/ui/button";
+import { Badge } from "~/components/ui/badge";
+import { Input } from "~/components/ui/input";
+import { Label } from "~/components/ui/label";
+import { Textarea } from "~/components/ui/textarea";
+import { Slider } from "~/components/ui/slider";
+import { Switch } from "~/components/ui/switch";
+import {
+  Select,
+  SelectContent,
+  SelectItem,
+  SelectTrigger,
+  SelectValue,
+} from "~/components/ui/select";
+import { ScrollArea } from "~/components/ui/scroll-area";
+import { Separator } from "~/components/ui/separator";
+import { Alert, AlertDescription } from "~/components/ui/alert";
+import {
+  Card,
+  CardContent,
+  CardDescription,
+  CardHeader,
+  CardTitle,
+} from "~/components/ui/card";
+import {
+  Collapsible,
+  CollapsibleContent,
+  CollapsibleTrigger,
+} from "~/components/ui/collapsible";
+import { api } from "~/trpc/react";
+import { toast } from "sonner";
+
+interface RobotAction {
+  id: string;
+  name: string;
+  description: string;
+  category: string;
+  parameters?: Array<{
+    name: string;
+    type: "text" | "number" | "boolean" | "select";
+    description: string;
+    required: boolean;
+    min?: number;
+    max?: number;
+    step?: number;
+    default?: unknown;
+    options?: Array<{ value: string; label: string }>;
+    placeholder?: string;
+    maxLength?: number;
+  }>;
+}
+
+interface Plugin {
+  plugin: {
+    id: string;
+    name: string;
+    version: string;
+    description: string;
+    trustLevel: string;
+    actionDefinitions: RobotAction[];
+  };
+  installation: {
+    id: string;
+    configuration: Record<string, unknown>;
+    installedAt: Date;
+  };
+}
+
+interface RobotActionsPanelProps {
+  studyId: string;
+  trialId: string;
+  onExecuteAction: (
+    pluginName: string,
+    actionId: string,
+    parameters: Record<string, unknown>,
+  ) => Promise<void>;
+}
+
+export function RobotActionsPanel({
+  studyId,
+  trialId,
+  onExecuteAction,
+}: RobotActionsPanelProps) {
+  const [selectedPlugin, setSelectedPlugin] = useState<string>("");
+  const [selectedAction, setSelectedAction] = useState<RobotAction | null>(
+    null,
+  );
+  const [actionParameters, setActionParameters] = useState<
+    Record<string, unknown>
+  >({});
+  const [executingActions, setExecutingActions] = useState<Set<string>>(
+    new Set(),
+  );
+  const [expandedCategories, setExpandedCategories] = useState<Set<string>>(
+    new Set(["movement", "speech"]),
+  );
+
+  // Get installed plugins for the study
+  const { data: plugins = [], isLoading } =
+    api.robots.plugins.getStudyPlugins.useQuery({
+      studyId,
+    });
+
+  // Get actions for selected plugin
+  const selectedPluginData = plugins.find(
+    (p) => p.plugin.id === selectedPlugin,
+  );
+
+  // Initialize parameters when action changes
+  useEffect(() => {
+    if (selectedAction) {
+      const defaultParams: Record<string, unknown> = {};
+
+      selectedAction.parameters?.forEach((param) => {
+        if (param.default !== undefined) {
+          defaultParams[param.name] = param.default;
+        } else if (param.required) {
+          // Set reasonable defaults for required params
+          switch (param.type) {
+            case "text":
+              defaultParams[param.name] = "";
+              break;
+            case "number":
+              defaultParams[param.name] = param.min ?? 0;
+              break;
+            case "boolean":
+              defaultParams[param.name] = false;
+              break;
+            case "select":
+              defaultParams[param.name] = param.options?.[0]?.value ?? "";
+              break;
+          }
+        }
+      });
+
+      setActionParameters(defaultParams);
+    } else {
+      setActionParameters({});
+    }
+  }, [selectedAction]);
+
+  const handleExecuteAction = async () => {
+    if (!selectedAction || !selectedPluginData) return;
+
+    const actionKey = `${selectedPluginData.plugin.name}.${selectedAction.id}`;
+    setExecutingActions((prev) => new Set([...prev, actionKey]));
+
+    try {
+      await onExecuteAction(
+        selectedPluginData.plugin.name,
+        selectedAction.id,
+        actionParameters,
+      );
+
+      toast.success(`Executed: ${selectedAction.name}`, {
+        description: `Robot action completed successfully`,
+      });
+    } catch (error) {
+      toast.error(`Failed to execute: ${selectedAction.name}`, {
+        description: error instanceof Error ? error.message : "Unknown error",
+      });
+    } finally {
+      setExecutingActions((prev) => {
+        const next = new Set(prev);
+        next.delete(actionKey);
+        return next;
+      });
+    }
+  };
+
+  const handleParameterChange = (paramName: string, value: unknown) => {
+    setActionParameters((prev) => ({
+      ...prev,
+      [paramName]: value,
+    }));
+  };
+
+  const renderParameterInput = (
+    param: NonNullable<RobotAction["parameters"]>[0],
+    paramIndex: number,
+  ) => {
+    if (!param) return null;
+
+    const value = actionParameters[param.name];
+
+    switch (param.type) {
+      case "text":
+        return (
+          <div key={param.name} className="space-y-2">
+            <Label htmlFor={param.name}>
+              {param.name} {param.required && "*"}
+            </Label>
+            {param.maxLength && param.maxLength > 100 ? (
+              <Textarea
+                id={param.name}
+                value={(value as string) || ""}
+                onChange={(e) =>
+                  handleParameterChange(param.name, e.target.value)
+                }
+                placeholder={param.placeholder}
+                maxLength={param.maxLength}
+              />
+            ) : (
+              <Input
+                id={param.name}
+                value={(value as string) || ""}
+                onChange={(e) =>
+                  handleParameterChange(param.name, e.target.value)
+                }
+                placeholder={param.placeholder}
+                maxLength={param.maxLength}
+              />
+            )}
+            <p className="text-muted-foreground text-xs">{param.description}</p>
+          </div>
+        );
+
+      case "number":
+        return (
+          <div key={param.name} className="space-y-2">
+            <Label htmlFor={param.name}>
+              {param.name} {param.required && "*"}
+            </Label>
+            {param.min !== undefined && param.max !== undefined ? (
+              <div className="space-y-2">
+                <Slider
+                  value={[Number(value) || param.min]}
+                  onValueChange={(newValue) =>
+                    handleParameterChange(param.name, newValue[0])
+                  }
+                  min={param.min}
+                  max={param.max}
+                  step={param.step || 0.1}
+                  className="w-full"
+                />
+                <div className="text-muted-foreground text-center text-sm">
+                  {Number(value) || param.min}
+                </div>
+              </div>
+            ) : (
+              <Input
+                id={param.name}
+                type="number"
+                value={Number(value) || ""}
+                onChange={(e) =>
+                  handleParameterChange(param.name, Number(e.target.value))
+                }
+                min={param.min}
+                max={param.max}
+                step={param.step}
+              />
+            )}
+            <p className="text-muted-foreground text-xs">{param.description}</p>
+          </div>
+        );
+
+      case "boolean":
+        return (
+          <div key={param.name} className="flex items-center space-x-2">
+            <Switch
+              id={param.name}
+              checked={Boolean(value)}
+              onCheckedChange={(checked) =>
+                handleParameterChange(param.name, checked)
+              }
+            />
+            <Label htmlFor={param.name}>
+              {param.name} {param.required && "*"}
+            </Label>
+            <p className="text-muted-foreground ml-auto text-xs">
+              {param.description}
+            </p>
+          </div>
+        );
+
+      case "select":
+        return (
+          <div key={param.name} className="space-y-2">
+            <Label htmlFor={param.name}>
+              {param.name} {param.required && "*"}
+            </Label>
+            <Select
+              value={String(value) || ""}
+              onValueChange={(newValue) =>
+                handleParameterChange(param.name, newValue)
+              }
+            >
+              <SelectTrigger>
+                <SelectValue placeholder={`Select ${param.name}`} />
+              </SelectTrigger>
+              <SelectContent>
+                {param.options?.map(
+                  (option: { value: string; label: string }) => (
+                    <SelectItem key={option.value} value={option.value}>
+                      {option.label}
+                    </SelectItem>
+                  ),
+                )}
+              </SelectContent>
+            </Select>
+            <p className="text-muted-foreground text-xs">{param.description}</p>
+          </div>
+        );
+
+      default:
+        return null;
+    }
+  };
+
+  const getCategoryIcon = (category: string) => {
+    switch (category.toLowerCase()) {
+      case "movement":
+        return Move;
+      case "speech":
+        return Volume2;
+      case "sensors":
+        return Eye;
+      case "interaction":
+        return Hand;
+      default:
+        return Zap;
+    }
+  };
+
+  const groupActionsByCategory = (actions: RobotAction[]) => {
+    const grouped: Record<string, RobotAction[]> = {};
+
+    actions.forEach((action) => {
+      const category = action.category || "other";
+      if (!grouped[category]) {
+        grouped[category] = [];
+      }
+      grouped[category].push(action);
+    });
+
+    return grouped;
+  };
+
+  const toggleCategory = (category: string) => {
+    setExpandedCategories((prev) => {
+      const next = new Set(prev);
+      if (next.has(category)) {
+        next.delete(category);
+      } else {
+        next.add(category);
+      }
+      return next;
+    });
+  };
+
+  if (isLoading) {
+    return (
+      <div className="flex items-center justify-center p-8">
+        <Loader2 className="h-6 w-6 animate-spin" />
+        <span className="ml-2">Loading robot plugins...</span>
+      </div>
+    );
+  }
+
+  if (plugins.length === 0) {
+    return (
+      <Alert>
+        <AlertCircle className="h-4 w-4" />
+        <AlertDescription>
+          No robot plugins installed for this study. Install plugins from the
+          study settings to enable robot control.
+        </AlertDescription>
+      </Alert>
+    );
+  }
+
+  return (
+    <div className="space-y-4">
+      {/* Plugin Selection */}
+      <div className="space-y-2">
+        <Label>Select Robot Plugin</Label>
+        <Select value={selectedPlugin} onValueChange={setSelectedPlugin}>
+          <SelectTrigger>
+            <SelectValue placeholder="Choose a robot plugin" />
+          </SelectTrigger>
+          <SelectContent>
+            {plugins.map((plugin) => (
+              <SelectItem key={plugin.plugin.id} value={plugin.plugin.id}>
+                <div className="flex items-center space-x-2">
+                  <Bot className="h-4 w-4" />
+                  <span>
+                    {plugin.plugin.name} v{plugin.plugin.version}
+                  </span>
+                  <Badge variant="outline" className="ml-auto">
+                    {plugin.plugin.trustLevel}
+                  </Badge>
+                </div>
+              </SelectItem>
+            ))}
+          </SelectContent>
+        </Select>
+      </div>
+
+      {/* Action Selection */}
+      {selectedPluginData && (
+        <div className="space-y-2">
+          <Label>Available Actions</Label>
+          <ScrollArea className="h-64 rounded-md border">
+            <div className="space-y-2 p-2">
+              {Object.entries(
+                groupActionsByCategory(
+                  (selectedPluginData.plugin
+                    .actionDefinitions as RobotAction[]) || [],
+                ),
+              ).map(([category, actions]) => {
+                const CategoryIcon = getCategoryIcon(category);
+                const isExpanded = expandedCategories.has(category);
+
+                return (
+                  <Collapsible
+                    key={category}
+                    open={isExpanded}
+                    onOpenChange={() => toggleCategory(category)}
+                  >
+                    <CollapsibleTrigger asChild>
+                      <Button
+                        variant="ghost"
+                        className="w-full justify-start p-2"
+                      >
+                        <CategoryIcon className="mr-2 h-4 w-4" />
+                        {category.charAt(0).toUpperCase() + category.slice(1)}
+                        <Badge variant="secondary" className="ml-auto">
+                          {actions.length}
+                        </Badge>
+                      </Button>
+                    </CollapsibleTrigger>
+                    <CollapsibleContent className="ml-6 space-y-1">
+                      {actions.map((action) => (
+                        <Button
+                          key={action.id}
+                          variant={
+                            selectedAction?.id === action.id
+                              ? "default"
+                              : "ghost"
+                          }
+                          className="w-full justify-start text-sm"
+                          onClick={() => setSelectedAction(action)}
+                        >
+                          {action.name}
+                        </Button>
+                      ))}
+                    </CollapsibleContent>
+                  </Collapsible>
+                );
+              })}
+            </div>
+          </ScrollArea>
+        </div>
+      )}
+
+      {/* Action Configuration */}
+      {selectedAction && (
+        <Card>
+          <CardHeader>
+            <CardTitle className="flex items-center space-x-2">
+              <Bot className="h-4 w-4" />
+              <span>{selectedAction.name}</span>
+            </CardTitle>
+            <CardDescription>{selectedAction.description}</CardDescription>
+          </CardHeader>
+          <CardContent className="space-y-4">
+            {/* Parameters */}
+            {selectedAction.parameters &&
+            selectedAction.parameters.length > 0 ? (
+              <div className="space-y-4">
+                <Label className="text-base">Parameters</Label>
+                {selectedAction.parameters.map((param, index) =>
+                  renderParameterInput(param, index),
+                )}
+              </div>
+            ) : (
+              <p className="text-muted-foreground text-sm">
+                This action requires no parameters.
+              </p>
+            )}
+
+            <Separator />
+
+            {/* Execute Button */}
+            <Button
+              onClick={handleExecuteAction}
+              disabled={
+                !selectedPluginData ||
+                executingActions.has(
+                  `${selectedPluginData.plugin.name}.${selectedAction.id}`,
+                )
+              }
+              className="w-full"
+            >
+              {selectedPluginData &&
+              executingActions.has(
+                `${selectedPluginData.plugin.name}.${selectedAction.id}`,
+              ) ? (
+                <>
+                  <Loader2 className="mr-2 h-4 w-4 animate-spin" />
+                  Executing...
+                </>
+              ) : (
+                <>
+                  <Play className="mr-2 h-4 w-4" />
+                  Execute Action
+                </>
+              )}
+            </Button>
+
+            {/* Quick Actions for Common Robot Commands */}
+            {selectedAction.category === "movement" && selectedPluginData && (
+              <div className="grid grid-cols-2 gap-2 pt-2">
+                <Button
+                  variant="outline"
+                  size="sm"
+                  onClick={() => {
+                    if (!selectedPluginData) return;
+                    const stopAction = (
+                      selectedPluginData.plugin
+                        .actionDefinitions as RobotAction[]
+                    )?.find((a: RobotAction) => a.id === "stop_movement");
+                    if (stopAction) {
+                      onExecuteAction(
+                        selectedPluginData.plugin.name,
+                        stopAction.id,
+                        {},
+                      );
+                    }
+                  }}
+                  disabled={
+                    !selectedPluginData ||
+                    !(
+                      selectedPluginData.plugin
+                        .actionDefinitions as RobotAction[]
+                    )?.some((a: RobotAction) => a.id === "stop_movement")
+                  }
+                >
+                  Emergency Stop
+                </Button>
+                <Button
+                  variant="outline"
+                  size="sm"
+                  onClick={() => {
+                    if (!selectedPluginData) return;
+                    const wakeAction = (
+                      selectedPluginData.plugin
+                        .actionDefinitions as RobotAction[]
+                    )?.find((a: RobotAction) => a.id === "wake_up");
+                    if (wakeAction) {
+                      onExecuteAction(
+                        selectedPluginData.plugin.name,
+                        wakeAction.id,
+                        {},
+                      );
+                    }
+                  }}
+                  disabled={
+                    !selectedPluginData ||
+                    !(
+                      selectedPluginData.plugin
+                        .actionDefinitions as RobotAction[]
+                    )?.some((a: RobotAction) => a.id === "wake_up")
+                  }
+                >
+                  Wake Up
+                </Button>
+              </div>
+            )}
+          </CardContent>
+        </Card>
+      )}
+
+      {/* Plugin Info */}
+      {selectedPluginData && (
+        <Alert>
+          <CheckCircle className="h-4 w-4" />
+          <AlertDescription>
+            <strong>{selectedPluginData.plugin.name}</strong> -{" "}
+            {selectedPluginData.plugin.description}
+            <br />
+            <span className="text-xs">
+              Installed:{" "}
+              {selectedPluginData.installation.installedAt.toLocaleDateString()}{" "}
+              | Trust Level: {selectedPluginData.plugin.trustLevel} | Actions:{" "}
+              {
+                (
+                  (selectedPluginData.plugin
+                    .actionDefinitions as RobotAction[]) || []
+                ).length
+              }
+            </span>
+          </AlertDescription>
+        </Alert>
+      )}
+    </div>
+  );
+}
--- a/src/components/trials/wizard/WizardInterface.tsx
+++ b/src/components/trials/wizard/WizardInterface.tsx
@@ -68,7 +68,7 @@ export function WizardInterface({

  // Persistent tab states to prevent resets from parent re-renders
  const [controlPanelTab, setControlPanelTab] = useState<
-    "control" | "step" | "actions"
+    "control" | "step" | "actions" | "robot"
  >("control");
  const [executionPanelTab, setExecutionPanelTab] = useState<
    "current" | "timeline" | "events"
@@ -86,6 +86,20 @@ export function WizardInterface({
    },
  );

+  // Robot action execution mutation
+  const executeRobotActionMutation = api.trials.executeRobotAction.useMutation({
+    onSuccess: (result) => {
+      toast.success("Robot action executed successfully", {
+        description: `Completed in ${result.duration}ms`,
+      });
+    },
+    onError: (error) => {
+      toast.error("Failed to execute robot action", {
+        description: error.message,
+      });
+    },
+  });
+
  // Map database step types to component step types
  const mapStepType = (dbType: string) => {
    switch (dbType) {
@@ -304,6 +318,23 @@ export function WizardInterface({
    }
  };

+  const handleExecuteRobotAction = async (
+    pluginName: string,
+    actionId: string,
+    parameters: Record<string, unknown>,
+  ) => {
+    try {
+      await executeRobotActionMutation.mutateAsync({
+        trialId: trial.id,
+        pluginName,
+        actionId,
+        parameters,
+      });
+    } catch (error) {
+      console.error("Failed to execute robot action:", error);
+    }
+  };
+
  return (
    <div className="flex h-full flex-col">
      {/* Compact Status Bar */}
@@ -370,6 +401,8 @@ export function WizardInterface({
              onCompleteTrial={handleCompleteTrial}
              onAbortTrial={handleAbortTrial}
              onExecuteAction={handleExecuteAction}
+              onExecuteRobotAction={handleExecuteRobotAction}
+              studyId={trial.experiment.studyId}
              _isConnected={true}
              activeTab={controlPanelTab}
              onTabChange={setControlPanelTab}
--- a/src/components/trials/wizard/panels/WizardControlPanel.tsx
+++ b/src/components/trials/wizard/panels/WizardControlPanel.tsx
@@ -12,6 +12,7 @@ import {
  Settings,
  Zap,
  User,
+  Bot,
 } from "lucide-react";
 import { Button } from "~/components/ui/button";
 import { Badge } from "~/components/ui/badge";
@@ -20,6 +21,7 @@ import { Separator } from "~/components/ui/separator";
 import { Alert, AlertDescription } from "~/components/ui/alert";
 import { Tabs, TabsList, TabsTrigger, TabsContent } from "~/components/ui/tabs";
 import { ScrollArea } from "~/components/ui/scroll-area";
+import { RobotActionsPanel } from "../RobotActionsPanel";

 interface StepData {
  id: string;
@@ -73,9 +75,15 @@ interface WizardControlPanelProps {
    actionId: string,
    parameters?: Record<string, unknown>,
  ) => void;
+  onExecuteRobotAction?: (
+    pluginName: string,
+    actionId: string,
+    parameters: Record<string, unknown>,
+  ) => Promise<void>;
+  studyId?: string;
  _isConnected: boolean;
-  activeTab: "control" | "step" | "actions";
-  onTabChange: (tab: "control" | "step" | "actions") => void;
+  activeTab: "control" | "step" | "actions" | "robot";
+  onTabChange: (tab: "control" | "step" | "actions" | "robot") => void;
  isStarting?: boolean;
 }

@@ -90,6 +98,8 @@ export function WizardControlPanel({
  onCompleteTrial,
  onAbortTrial,
  onExecuteAction,
+  onExecuteRobotAction,
+  studyId,
  _isConnected,
  activeTab,
  onTabChange,
@@ -157,14 +167,19 @@ export function WizardControlPanel({
      <Tabs
        value={activeTab}
        onValueChange={(value: string) => {
-          if (value === "control" || value === "step" || value === "actions") {
-            onTabChange(value);
+          if (
+            value === "control" ||
+            value === "step" ||
+            value === "actions" ||
+            value === "robot"
+          ) {
+            onTabChange(value as "control" | "step" | "actions" | "robot");
          }
        }}
        className="flex min-h-0 flex-1 flex-col"
      >
        <div className="border-b px-2 py-1">
-          <TabsList className="grid w-full grid-cols-3">
+          <TabsList className="grid w-full grid-cols-4">
            <TabsTrigger value="control" className="text-xs">
              <Settings className="mr-1 h-3 w-3" />
              Control
@@ -177,6 +192,10 @@ export function WizardControlPanel({
              <Zap className="mr-1 h-3 w-3" />
              Actions
            </TabsTrigger>
+            <TabsTrigger value="robot" className="text-xs">
+              <Bot className="mr-1 h-3 w-3" />
+              Robot
+            </TabsTrigger>
          </TabsList>
        </div>

@@ -422,6 +441,32 @@ export function WizardControlPanel({
              </div>
            </ScrollArea>
          </TabsContent>
+
+          {/* Robot Actions Tab */}
+          <TabsContent
+            value="robot"
+            className="m-0 h-full data-[state=active]:flex data-[state=active]:flex-col"
+          >
+            <ScrollArea className="h-full">
+              <div className="p-3">
+                {studyId && onExecuteRobotAction ? (
+                  <RobotActionsPanel
+                    studyId={studyId}
+                    trialId={trial.id}
+                    onExecuteAction={onExecuteRobotAction}
+                  />
+                ) : (
+                  <Alert>
+                    <AlertCircle className="h-4 w-4" />
+                    <AlertDescription>
+                      Robot actions are not available. Study ID or action
+                      handler is missing.
+                    </AlertDescription>
+                  </Alert>
+                )}
+              </div>
+            </ScrollArea>
+          </TabsContent>
        </div>
      </Tabs>
    </div>
--- a/src/server/api/routers/trials.ts
+++ b/src/server/api/routers/trials.ts
@@ -25,7 +25,10 @@ import {
  mediaCaptures,
  users,
 } from "~/server/db/schema";
-import { TrialExecutionEngine } from "~/server/services/trial-execution";
+import {
+  TrialExecutionEngine,
+  type ActionDefinition,
+} from "~/server/services/trial-execution";

 // Helper function to check if user has access to trial
 async function checkTrialAccess(
@@ -894,4 +897,74 @@ export const trialsRouter = createTRPCRouter({

      return { success: true };
    }),
+
+  executeRobotAction: protectedProcedure
+    .input(
+      z.object({
+        trialId: z.string(),
+        pluginName: z.string(),
+        actionId: z.string(),
+        parameters: z.record(z.string(), z.unknown()).optional().default({}),
+      }),
+    )
+    .mutation(async ({ ctx, input }) => {
+      const { db } = ctx;
+      const userId = ctx.session.user.id;
+
+      await checkTrialAccess(db, userId, input.trialId, [
+        "owner",
+        "researcher",
+        "wizard",
+      ]);
+
+      // Use execution engine to execute robot action
+      const executionEngine = getExecutionEngine();
+
+      // Create action definition for execution
+      const actionDefinition: ActionDefinition = {
+        id: `${input.pluginName}.${input.actionId}`,
+        stepId: "manual", // Manual execution
+        name: input.actionId,
+        type: `${input.pluginName}.${input.actionId}`,
+        orderIndex: 0,
+        parameters: input.parameters,
+        timeout: 30000,
+        required: false,
+      };
+
+      const result = await executionEngine.executeAction(
+        input.trialId,
+        actionDefinition,
+      );
+
+      if (!result.success) {
+        throw new TRPCError({
+          code: "INTERNAL_SERVER_ERROR",
+          message: result.error ?? "Robot action execution failed",
+        });
+      }
+
+      // Log the manual robot action execution
+      await db.insert(trialEvents).values({
+        trialId: input.trialId,
+        eventType: "manual_robot_action",
+        actionId: actionDefinition.id,
+        data: {
+          userId,
+          pluginName: input.pluginName,
+          actionId: input.actionId,
+          parameters: input.parameters,
+          result: result.data,
+          duration: result.duration,
+        },
+        timestamp: new Date(),
+        createdBy: userId,
+      });
+
+      return {
+        success: true,
+        data: result.data,
+        duration: result.duration,
+      };
+    }),
 });
--- a/src/server/services/robot-communication.ts
+++ b/src/server/services/robot-communication.ts
@@ -0,0 +1,472 @@
+/* eslint-disable @typescript-eslint/no-explicit-any */
+/* eslint-disable @typescript-eslint/no-unsafe-assignment */
+/* eslint-disable @typescript-eslint/no-unsafe-member-access */
+/* eslint-disable @typescript-eslint/no-unsafe-call */
+/* eslint-disable @typescript-eslint/no-unsafe-return */
+
+import WebSocket from "ws";
+import { EventEmitter } from "events";
+
+export interface RobotCommunicationConfig {
+  rosBridgeUrl: string;
+  connectionTimeout: number;
+  reconnectInterval: number;
+  maxReconnectAttempts: number;
+}
+
+export interface RobotAction {
+  pluginName: string;
+  actionId: string;
+  parameters: Record<string, unknown>;
+  implementation: {
+    topic: string;
+    messageType: string;
+    messageTemplate: Record<string, unknown>;
+  };
+}
+
+export interface RobotActionResult {
+  success: boolean;
+  duration: number;
+  data?: Record<string, unknown>;
+  error?: string;
+}
+
+/**
+ * Server-side robot communication service for ROS integration
+ *
+ * This service manages WebSocket connections to rosbridge_server and provides
+ * a high-level interface for executing robot actions during trial execution.
+ */
+export class RobotCommunicationService extends EventEmitter {
+  private ws: WebSocket | null = null;
+  private config: RobotCommunicationConfig;
+  private messageId = 0;
+  private pendingActions = new Map<
+    string,
+    {
+      resolve: (result: RobotActionResult) => void;
+      reject: (error: Error) => void;
+      timeout: NodeJS.Timeout;
+      startTime: number;
+    }
+  >();
+  private reconnectAttempts = 0;
+  private reconnectTimer: NodeJS.Timeout | null = null;
+  private isConnected = false;
+
+  constructor(config: Partial<RobotCommunicationConfig> = {}) {
+    super();
+
+    this.config = {
+      rosBridgeUrl: process.env.ROS_BRIDGE_URL || "ws://localhost:9090",
+      connectionTimeout: 10000,
+      reconnectInterval: 5000,
+      maxReconnectAttempts: 10,
+      ...config,
+    };
+  }
+
+  /**
+   * Initialize connection to ROS bridge
+   */
+  async connect(): Promise<void> {
+    if (this.isConnected) {
+      return;
+    }
+
+    return new Promise((resolve, reject) => {
+      console.log(
+        `[RobotComm] Connecting to ROS bridge: ${this.config.rosBridgeUrl}`,
+      );
+
+      try {
+        this.ws = new WebSocket(this.config.rosBridgeUrl);
+
+        const connectionTimeout = setTimeout(() => {
+          reject(new Error("Connection timeout"));
+          this.cleanup();
+        }, this.config.connectionTimeout);
+
+        this.ws.on("open", () => {
+          clearTimeout(connectionTimeout);
+          this.isConnected = true;
+          this.reconnectAttempts = 0;
+
+          console.log("[RobotComm] Connected to ROS bridge");
+          this.emit("connected");
+          resolve();
+        });
+
+        this.ws.on("message", (data: WebSocket.Data) => {
+          try {
+            const message = JSON.parse(data.toString());
+            this.handleMessage(message);
+          } catch (error) {
+            console.error("[RobotComm] Failed to parse message:", error);
+          }
+        });
+
+        this.ws.on("close", (code: number, reason: string) => {
+          this.isConnected = false;
+          console.log(`[RobotComm] Connection closed: ${code} - ${reason}`);
+
+          this.emit("disconnected");
+
+          // Reject all pending actions
+          this.rejectAllPendingActions(new Error("Connection lost"));
+
+          // Schedule reconnection if not intentionally closed
+          if (
+            code !== 1000 &&
+            this.reconnectAttempts < this.config.maxReconnectAttempts
+          ) {
+            this.scheduleReconnect();
+          }
+        });
+
+        this.ws.on("error", (error: Error) => {
+          console.error("[RobotComm] WebSocket error:", error);
+          clearTimeout(connectionTimeout);
+          this.emit("error", error);
+          reject(error);
+        });
+      } catch (error) {
+        reject(error);
+      }
+    });
+  }
+
+  /**
+   * Disconnect from ROS bridge
+   */
+  disconnect(): void {
+    if (this.reconnectTimer) {
+      clearTimeout(this.reconnectTimer);
+      this.reconnectTimer = null;
+    }
+
+    this.rejectAllPendingActions(new Error("Service disconnected"));
+
+    if (this.ws) {
+      this.ws.close(1000, "Normal closure");
+      this.ws = null;
+    }
+
+    this.isConnected = false;
+    this.emit("disconnected");
+  }
+
+  /**
+   * Execute a robot action
+   */
+  async executeAction(action: RobotAction): Promise<RobotActionResult> {
+    if (!this.isConnected) {
+      throw new Error("Not connected to ROS bridge");
+    }
+
+    const startTime = Date.now();
+    const actionId = `action_${this.messageId++}`;
+
+    return new Promise((resolve, reject) => {
+      // Set up timeout
+      const timeout = setTimeout(() => {
+        this.pendingActions.delete(actionId);
+        reject(new Error(`Action timeout: ${action.actionId}`));
+      }, 30000); // 30 second timeout
+
+      // Store pending action
+      this.pendingActions.set(actionId, {
+        resolve,
+        reject,
+        timeout,
+        startTime,
+      });
+
+      try {
+        // Execute action based on type and platform
+        this.executeRobotActionInternal(action, actionId);
+      } catch (error) {
+        clearTimeout(timeout);
+        this.pendingActions.delete(actionId);
+        reject(error);
+      }
+    });
+  }
+
+  /**
+   * Check if service is connected
+   */
+  getConnectionStatus(): boolean {
+    return this.isConnected;
+  }
+
+  // Private methods
+
+  private executeRobotActionInternal(
+    action: RobotAction,
+    actionId: string,
+  ): void {
+    const { implementation, parameters } = action;
+
+    // Build ROS message from template
+    const message = this.buildRosMessage(
+      implementation.messageTemplate,
+      parameters,
+    );
+
+    // Publish to ROS topic
+    this.publishToTopic(
+      implementation.topic,
+      implementation.messageType,
+      message,
+    );
+
+    // For actions that complete immediately (like movement commands),
+    // we simulate completion after a short delay
+    setTimeout(() => {
+      this.completeAction(actionId, {
+        success: true,
+        duration:
+          Date.now() -
+          (this.pendingActions.get(actionId)?.startTime || Date.now()),
+        data: {
+          topic: implementation.topic,
+          messageType: implementation.messageType,
+          message,
+        },
+      });
+    }, 100);
+  }
+
+  private buildRosMessage(
+    template: Record<string, unknown>,
+    parameters: Record<string, unknown>,
+  ): Record<string, unknown> {
+    const message: Record<string, unknown> = {};
+
+    for (const [key, value] of Object.entries(template)) {
+      if (typeof value === "string" && value.includes("{{")) {
+        // Template substitution
+        let substituted = value;
+
+        // Replace template variables
+        for (const [paramKey, paramValue] of Object.entries(parameters)) {
+          const placeholder = `{{${paramKey}}}`;
+          if (substituted.includes(placeholder)) {
+            substituted = substituted.replace(
+              new RegExp(
+                placeholder.replace(/[.*+?^${}()|[\]\\]/g, "\\$&"),
+                "g",
+              ),
+              String(paramValue ?? ""),
+            );
+          }
+        }
+
+        // Handle conditional templates
+        if (
+          substituted.includes("{{") &&
+          substituted.includes("?") &&
+          substituted.includes(":")
+        ) {
+          // Simple conditional: {{condition ? valueTrue : valueFalse}}
+          const match = substituted.match(
+            /\{\{(.+?)\s*\?\s*(.+?)\s*:\s*(.+?)\}\}/,
+          );
+          if (match && match.length >= 4) {
+            const condition = match[1];
+            const trueValue = match[2];
+            const falseValue = match[3];
+            // Evaluate simple conditions
+            let conditionResult = false;
+
+            if (condition?.includes("===")) {
+              const parts = condition
+                .split("===")
+                .map((s) => s.trim().replace(/['"]/g, ""));
+              if (parts.length >= 2) {
+                const left = parts[0];
+                const right = parts[1];
+                conditionResult = parameters[left || ""] === right;
+              }
+            }
+
+            substituted = substituted.replace(
+              match[0],
+              conditionResult ? (trueValue ?? "") : (falseValue ?? ""),
+            );
+          }
+        }
+
+        // Try to parse as number if it looks like one
+        if (!isNaN(Number(substituted))) {
+          message[key] = Number(substituted);
+        } else {
+          message[key] = substituted;
+        }
+      } else if (Array.isArray(value)) {
+        // Handle array templates
+        message[key] = value.map((item) =>
+          typeof item === "string" && item.includes("{{")
+            ? this.substituteTemplateString(item, parameters)
+            : item,
+        );
+      } else if (typeof value === "object" && value !== null) {
+        // Recursively handle nested objects
+        message[key] = this.buildRosMessage(
+          value as Record<string, unknown>,
+          parameters,
+        );
+      } else {
+        message[key] = value;
+      }
+    }
+
+    return message;
+  }
+
+  private substituteTemplateString(
+    template: string,
+    parameters: Record<string, unknown>,
+  ): unknown {
+    let result = template;
+
+    for (const [key, value] of Object.entries(parameters)) {
+      const placeholder = `{{${key}}}`;
+      if (result.includes(placeholder)) {
+        result = result.replace(
+          new RegExp(placeholder.replace(/[.*+?^${}()|[\]\\]/g, "\\$&"), "g"),
+          String(value ?? ""),
+        );
+      }
+    }
+
+    // Try to parse as number if it looks like one
+    if (!isNaN(Number(result))) {
+      return Number(result);
+    }
+
+    return result;
+  }
+
+  private publishToTopic(
+    topic: string,
+    messageType: string,
+    message: Record<string, unknown>,
+  ): void {
+    if (!this.ws) return;
+
+    const rosMessage = {
+      op: "publish",
+      topic,
+      type: messageType,
+      msg: message,
+    };
+
+    console.log(`[RobotComm] Publishing to ${topic}:`, message);
+    this.ws.send(JSON.stringify(rosMessage));
+  }
+
+  private handleMessage(message: any): void {
+    // Handle different types of ROS bridge messages
+    switch (message.op) {
+      case "publish":
+        this.emit("topic_message", message.topic, message.msg);
+        break;
+
+      case "service_response":
+        this.handleServiceResponse(message);
+        break;
+
+      case "status":
+        console.log("[RobotComm] Status:", message);
+        break;
+
+      default:
+        console.log("[RobotComm] Unhandled message:", message);
+    }
+  }
+
+  private handleServiceResponse(message: any): void {
+    // Handle service call responses if needed
+    console.log("[RobotComm] Service response:", message);
+  }
+
+  private completeAction(actionId: string, result: RobotActionResult): void {
+    const pending = this.pendingActions.get(actionId);
+    if (pending) {
+      clearTimeout(pending.timeout);
+      this.pendingActions.delete(actionId);
+      pending.resolve(result);
+    }
+  }
+
+  private rejectAllPendingActions(error: Error): void {
+    for (const [actionId, pending] of this.pendingActions.entries()) {
+      clearTimeout(pending.timeout);
+      pending.reject(error);
+    }
+    this.pendingActions.clear();
+  }
+
+  private scheduleReconnect(): void {
+    if (this.reconnectTimer) return;
+
+    this.reconnectAttempts++;
+    console.log(
+      `[RobotComm] Scheduling reconnect attempt ${this.reconnectAttempts}/${this.config.maxReconnectAttempts} in ${this.config.reconnectInterval}ms`,
+    );
+
+    this.reconnectTimer = setTimeout(async () => {
+      this.reconnectTimer = null;
+
+      try {
+        await this.connect();
+      } catch (error) {
+        console.error("[RobotComm] Reconnect failed:", error);
+
+        if (this.reconnectAttempts < this.config.maxReconnectAttempts) {
+          this.scheduleReconnect();
+        } else {
+          console.error("[RobotComm] Max reconnect attempts reached");
+          this.emit("max_reconnects_reached");
+        }
+      }
+    }, this.config.reconnectInterval);
+  }
+
+  private cleanup(): void {
+    if (this.ws) {
+      this.ws.removeAllListeners();
+      this.ws = null;
+    }
+    this.isConnected = false;
+  }
+}
+
+// Global service instance
+let robotCommService: RobotCommunicationService | null = null;
+
+/**
+ * Get or create the global robot communication service
+ */
+export function getRobotCommunicationService(): RobotCommunicationService {
+  if (!robotCommService) {
+    robotCommService = new RobotCommunicationService();
+  }
+  return robotCommService;
+}
+
+/**
+ * Initialize robot communication service with connection
+ */
+export async function initRobotCommunicationService(): Promise<RobotCommunicationService> {
+  const service = getRobotCommunicationService();
+
+  if (!service.getConnectionStatus()) {
+    await service.connect();
+  }
+
+  return service;
+}
--- a/src/server/services/trial-execution.ts
+++ b/src/server/services/trial-execution.ts
@@ -9,8 +9,19 @@
 /* eslint-disable @typescript-eslint/no-base-to-string */

 import { type db } from "~/server/db";
-import { trials, steps, actions, trialEvents } from "~/server/db/schema";
+import {
+  trials,
+  steps,
+  actions,
+  trialEvents,
+  plugins,
+} from "~/server/db/schema";
 import { eq, asc } from "drizzle-orm";
+import {
+  getRobotCommunicationService,
+  type RobotAction,
+  type RobotActionResult,
+} from "./robot-communication";

 export type TrialStatus =
  | "scheduled"
@@ -72,6 +83,8 @@ export class TrialExecutionEngine {
  private db: typeof db;
  private activeTrials = new Map<string, ExecutionContext>();
  private stepDefinitions = new Map<string, StepDefinition[]>();
+  private pluginCache = new Map<string, any>();
+  private robotComm = getRobotCommunicationService();

  constructor(database: typeof db) {
    this.db = database;
@@ -377,7 +390,7 @@ export class TrialExecutionEngine {
  /**
   * Execute a single action
   */
-  private async executeAction(
+  async executeAction(
    trialId: string,
    action: ActionDefinition,
  ): Promise<ActionExecutionResult> {
@@ -488,41 +501,69 @@ export class TrialExecutionEngine {
    trialId: string,
    action: ActionDefinition,
  ): Promise<ActionExecutionResult> {
+    const startTime = Date.now();
+
    try {
      // Parse plugin.action format
-      const [pluginId, actionType] = action.type.split(".");
+      const [pluginName, actionId] = action.type.split(".");

-      // TODO: Integrate with actual robot plugin system
-      // For now, simulate robot action execution
+      if (!pluginName || !actionId) {
+        throw new Error(
+          `Invalid robot action format: ${action.type}. Expected format: plugin.action`,
+        );
+      }

-      const simulationDelay = Math.random() * 2000 + 500; // 500ms - 2.5s
+      // Get plugin configuration from database
+      const plugin = await this.getPluginDefinition(pluginName);
+      if (!plugin) {
+        throw new Error(`Plugin not found: ${pluginName}`);
+      }

-      return new Promise((resolve) => {
-        setTimeout(() => {
-          // Simulate success/failure
-          const success = Math.random() > 0.1; // 90% success rate
+      // Find action definition in plugin
+      const actionDefinition = plugin.actions?.find(
+        (a: any) => a.id === actionId,
+      );
+      if (!actionDefinition) {
+        throw new Error(
+          `Action '${actionId}' not found in plugin '${pluginName}'`,
+        );
+      }

-          resolve({
-            success,
-            completed: true,
-            duration: simulationDelay,
-            data: {
-              pluginId,
-              actionType,
-              parameters: action.parameters,
-              robotResponse: success
-                ? "Action completed successfully"
-                : "Robot action failed",
-            },
-            error: success ? undefined : "Simulated robot failure",
-          });
-        }, simulationDelay);
-      });
+      // Validate parameters
+      const validatedParams = this.validateActionParameters(
+        actionDefinition,
+        action.parameters,
+      );
+
+      // Execute action through robot communication service
+      const result = await this.executeRobotActionWithComm(
+        plugin,
+        actionDefinition,
+        validatedParams,
+        trialId,
+      );
+
+      const duration = Date.now() - startTime;
+
+      return {
+        success: true,
+        completed: true,
+        duration,
+        data: {
+          pluginName,
+          actionId,
+          parameters: validatedParams,
+          robotResponse: result,
+          platform: plugin.platform,
+        },
+      };
    } catch (error) {
+      const duration = Date.now() - startTime;
+
      return {
        success: false,
        completed: false,
-        duration: 0,
+        duration,
        error:
          error instanceof Error
            ? error.message
@@ -531,6 +572,224 @@ export class TrialExecutionEngine {
    }
  }

+  /**
+   * Get plugin definition from database with caching
+   */
+  private async getPluginDefinition(pluginName: string): Promise<any> {
+    // Check cache first
+    if (this.pluginCache.has(pluginName)) {
+      return this.pluginCache.get(pluginName);
+    }
+
+    try {
+      const [plugin] = await this.db
+        .select()
+        .from(plugins)
+        .where(eq(plugins.name, pluginName))
+        .limit(1);
+
+      if (plugin) {
+        // Cache the plugin definition
+        const pluginData = {
+          ...plugin,
+          actions: plugin.actionDefinitions,
+          platform: (plugin.metadata as any)?.platform,
+          ros2Config: (plugin.metadata as any)?.ros2Config,
+        };
+
+        this.pluginCache.set(pluginName, pluginData);
+        return pluginData;
+      }
+
+      return null;
+    } catch (error) {
+      console.error(`Failed to load plugin ${pluginName}:`, error);
+      return null;
+    }
+  }
+
+  /**
+   * Validate action parameters against plugin schema
+   */
+  private validateActionParameters(
+    actionDefinition: any,
+    parameters: Record<string, unknown>,
+  ): Record<string, unknown> {
+    const validated: Record<string, unknown> = {};
+
+    if (!actionDefinition.parameters) {
+      return parameters;
+    }
+
+    for (const paramDef of actionDefinition.parameters) {
+      const paramName = paramDef.name;
+      const paramValue = parameters[paramName];
+
+      // Required parameter check
+      if (
+        paramDef.required &&
+        (paramValue === undefined || paramValue === null)
+      ) {
+        throw new Error(`Required parameter '${paramName}' is missing`);
+      }
+
+      // Use default value if parameter not provided
+      if (paramValue === undefined && paramDef.default !== undefined) {
+        validated[paramName] = paramDef.default;
+        continue;
+      }
+
+      if (paramValue !== undefined) {
+        // Type validation
+        switch (paramDef.type) {
+          case "number":
+            const numValue = Number(paramValue);
+            if (isNaN(numValue)) {
+              throw new Error(`Parameter '${paramName}' must be a number`);
+            }
+            if (paramDef.min !== undefined && numValue < paramDef.min) {
+              throw new Error(
+                `Parameter '${paramName}' must be >= ${paramDef.min}`,
+              );
+            }
+            if (paramDef.max !== undefined && numValue > paramDef.max) {
+              throw new Error(
+                `Parameter '${paramName}' must be <= ${paramDef.max}`,
+              );
+            }
+            validated[paramName] = numValue;
+            break;
+
+          case "boolean":
+            validated[paramName] = Boolean(paramValue);
+            break;
+
+          case "select":
+            if (paramDef.options) {
+              const validOptions = paramDef.options.map(
+                (opt: any) => opt.value,
+              );
+              if (!validOptions.includes(paramValue)) {
+                throw new Error(
+                  `Parameter '${paramName}' must be one of: ${validOptions.join(", ")}`,
+                );
+              }
+            }
+            validated[paramName] = paramValue;
+            break;
+
+          default:
+            validated[paramName] = paramValue;
+        }
+      }
+    }
+
+    return validated;
+  }
+
+  /**
+   * Execute robot action through robot communication service
+   */
+  private async executeRobotActionWithComm(
+    plugin: any,
+    actionDefinition: any,
+    parameters: Record<string, unknown>,
+    trialId: string,
+  ): Promise<string> {
+    // Ensure robot communication service is available
+    if (!this.robotComm.getConnectionStatus()) {
+      try {
+        await this.robotComm.connect();
+      } catch (error) {
+        throw new Error(
+          `Failed to connect to robot: ${error instanceof Error ? error.message : "Unknown error"}`,
+        );
+      }
+    }
+
+    // Prepare robot action
+    const robotAction: RobotAction = {
+      pluginName: plugin.name,
+      actionId: actionDefinition.id,
+      parameters,
+      implementation: actionDefinition.implementation,
+    };
+
+    // Execute action through robot communication service
+    const result: RobotActionResult =
+      await this.robotComm.executeAction(robotAction);
+
+    if (!result.success) {
+      throw new Error(result.error || "Robot action failed");
+    }
+
+    // Log the successful action execution
+    await this.logTrialEvent(trialId, "robot_action_executed", {
+      actionId: actionDefinition.id,
+      parameters,
+      platform: plugin.platform,
+      topic: actionDefinition.implementation?.topic,
+      messageType: actionDefinition.implementation?.messageType,
+      duration: result.duration,
+      robotResponse: result.data,
+    });
+
+    // Return human-readable result
+    return this.formatRobotActionResult(
+      plugin,
+      actionDefinition,
+      parameters,
+      result,
+    );
+  }
+
+  /**
+   * Format robot action result for human readability
+   */
+  private formatRobotActionResult(
+    plugin: any,
+    actionDefinition: any,
+    parameters: Record<string, unknown>,
+    result: RobotActionResult,
+  ): string {
+    const actionType = actionDefinition.id;
+    const platform = plugin.platform || "Robot";
+
+    switch (actionType) {
+      case "say_text":
+        return `${platform} said: "${parameters.text}"`;
+
+      case "walk_forward":
+        return `${platform} walked forward at speed ${parameters.speed} for ${parameters.duration || "indefinite"} seconds`;
+
+      case "walk_backward":
+        return `${platform} walked backward at speed ${parameters.speed} for ${parameters.duration || "indefinite"} seconds`;
+
+      case "turn_left":
+      case "turn_right":
+        const direction = actionType.split("_")[1];
+        return `${platform} turned ${direction} at speed ${parameters.speed}`;
+
+      case "move_head":
+        return `${platform} moved head to yaw=${parameters.yaw}, pitch=${parameters.pitch}`;
+
+      case "move_arm":
+        return `${platform} moved ${parameters.arm} arm to specified position`;
+
+      case "stop_movement":
+        return `${platform} stopped all movement`;
+
+      case "set_volume":
+        return `${platform} set volume to ${parameters.volume}`;
+
+      case "set_language":
+        return `${platform} set language to ${parameters.language}`;
+
+      default:
+        return `${platform} executed action: ${actionType} (${result.duration}ms)`;
+    }
+  }
+
  /**
   * Advance to the next step
   */