ENHANCED ACTIONS:
- Movement: walk_forward, walk_backward, turn_left, turn_right with duration control
- Head Control: move_head with precise yaw/pitch positioning and speed control
- Arm Control: move_arm with full shoulder/elbow joint manipulation
- Advanced Speech: say_with_emotion supporting 5 emotional expressions
- Audio Control: set_volume and set_language with 9 language support
IMPROVEMENTS:
- Parameter validation with min/max ranges and step controls
- Duration-based movement commands for precise control
- Template-based payload mapping for dynamic parameters
- Enhanced descriptions and user-friendly parameter names
- Safety limits matching NAO6 hardware constraints
Version bump: 2.0.0 → 2.1.0
Ready for HRIStudio wizard interface integration and real-time robot control during trials.
