hristudio/docs/_archive/MARCH-2026-SESSION.md

HRIStudio - March 2026 Development Summary

What We Did This Session

1. Docker Integration for NAO6 Robot

Files: nao6-hristudio-integration/

• Created Dockerfile with ROS2 Humble + naoqi packages
• Created docker-compose.yaml with 3 services: nao_driver, ros_bridge, ros_api
• Created scripts/init_robot.sh - Bash script to wake up robot via SSH when Docker starts
• Fixed autonomous life disable issue (previously used Python naoqi package which isn't on PyPI)

Key insight: Robot init via SSH + qicli calls instead of Python SDK

2. Plugin System Fixes

Files: robot-plugins/plugins/nao6-ros2.json, src/lib/ros/wizard-ros-service.ts

• Topic fixes: Removed /naoqi_driver/ prefix from topics (driver already provides unprefixed topics)
• say_with_emotion: Fixed with proper NAOqi markup (\rspd=120\^start(animations/...))
• wave_goodbye: Added animated speech with waving gesture
• play_animation: Added for predefined NAO animations
• Sensor topics: Fixed camera, IMU, bumper, sonar, touch topics (removed prefix)

3. Database Schema - Plugin Identifier

Files: src/server/db/schema.ts, src/server/services/trial-execution.ts

• Added identifier column to plugins table (unique, machine-readable ID like nao6-ros2)
• name now for display only ("NAO6 Robot (ROS2 Integration)")
• Updated trial-execution to look up by identifier first, then name (backwards compat)
• Created migration script: scripts/migrate-add-identifier.ts

4. Seed Script Improvements

Files: scripts/seed-dev.ts

• Fixed to use local plugin file (not remote repo.hristudio.com)
• Added identifier field for all plugins (nao6, hristudio-core, hristudio-woz)
• Experiment structure:
  • Step 1: The Hook
  • Step 2: The Narrative
  • Step 3: Comprehension Check (conditional with wizard choices)
  • Step 4a/4b: Branch A/B (with nextStepId conditions to converge)
  • Step 5: Story Continues (convergence point)
  • Step 6: Conclusion

5. Robot Action Timing Fix

Files: src/lib/ros/wizard-ros-service.ts

• Speech actions now estimate duration: 1500ms emotion overhead + word_count * 300ms
• Added say_with_emotion and wave_goodbye as explicit built-in actions
• Fixed 100ms timeout that was completing actions before robot finished

6. Branching Logic Fixes (Critical!)

Files: src/components/trials/wizard/

Bug 1: onClick={onNextStep} passed event object instead of calling function

• Fixed: onClick={() => onNextStep()}

Bug 2: onCompleted() called after branch choice incremented action count

• Fixed: Removed onCompleted() call after branch selection

Bug 3: Branch A/B had no nextStepId condition, fell through to linear progression

• Fixed: Added conditions.nextStepId: step5.id to Branch A and B

Bug 4: Robot actions from previous step executed on new step (branching jumped but actions from prior step still triggered)

• Root cause: completedActionsCount not being reset properly
• Fixed: handleNextStep() now resets completedActionsCount(0) on explicit jump

7. Auth.js to Better Auth Migration (Attempted, Reverted)

Status: Incomplete - 41+ type errors remain

The migration requires significant changes to how session.user.roles is accessed since Better Auth doesn't include roles in session by default. Would need to fetch roles from database on each request.

Recommendation: Defer until more development time available.

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Current Architecture

Plugin Identifier System

plugins table:
  - id: UUID (primary key)
  - identifier: varchar (unique, e.g. "nao6-ros2")
  - name: varchar (display, e.g. "NAO6 Robot (ROS2 Integration)")
  - robotId: UUID (optional FK to robots)
  - actionDefinitions: JSONB

actions table:
  - type: "plugin.action" (e.g., "nao6-ros2.say_with_emotion")
  - pluginId: varchar (references plugins.identifier)

Branching Flow

Step 3 (Comprehension Check)
  └── wizard_wait_for_response action
      ├── Click "Correct" → setLastResponse("Correct") → nextStepId=step4a.id
      └── Click "Incorrect" → setLastResponse("Incorrect") → nextStepId=step4b.id

Step 4a/4b (Branches)
  └── conditions.nextStepId: step5.id → jump to Story Continues

Step 5 (Story Continues)
  └── Linear progression to Step 6

Step 6 (Conclusion)
  └── Trial complete

ROS Topics (NAO6)

/speech          - Text-to-speech
/cmd_vel         - Velocity commands
/joint_angles    - Joint position commands
/camera/front/image_raw
/camera/bottom/image_raw
/imu/torso
/bumper
/{hand,head}_touch
/sonar/{left,right}
/info

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Known Issues / Remaining Work

1. Auth.js to Better Auth Migration - Deferred, requires significant refactoring
2. robots.executeSystemAction - Procedure not found error (fallback works but should investigate)
3. say_with_emotion via WebSocket - May need proper plugin config to avoid fallback

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Docker Deployment

cd nao6-hristudio-integration
docker compose up -d

Robot init runs automatically on startup (via init_robot.sh).

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Testing Checklist

• Docker builds and starts
• Robot wakes up (autonomous life disabled)
• Seed script runs successfully
• Trial executes with proper branching
• Branch A → Story Continues (not Branch B)
• Robot speaks with emotion (say_with_emotion)
• Wave gesture works
• Robot movement (walk, turn) tested
• All NAO6 actions verified

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Last Updated: March 21, 2026