diff --git a/open-robotics/configs/..valid.json b/open-robotics/configs/..valid.json
index ca7b53f7..c7d43a20 100644
--- a/open-robotics/configs/..valid.json
+++ b/open-robotics/configs/..valid.json
@@ -1,6 +1,6 @@
 {
   "config" : {
-    "runId" : "ebc72ee6-96dc-4bb3-a878-6f8e7df4cf02",
+    "runId" : "e0255128-8a9e-4f70-8141-13275f6f698a",
     "runName" : "default_run",
     "tickMs" : 100,
     "maxTicks" : 5000,
@@ -15,14 +15,14 @@
     "manualTaskAssignment" : false
   },
   "map" : {
-    "mapId" : "4ef3d4b7-a31b-4aab-8064-b16b7de126b6",
+    "mapId" : "7796b51c-148b-4555-a2cd-c3081fd033cc",
     "width" : 8,
     "height" : 8,
     "tiles" : [ ]
   },
   "entities" : {
     "robots" : [ {
-      "id" : "bb6e0a02-c19d-4200-9c79-8c2f0feb95e3",
+      "id" : "944fb9eb-0d4a-4551-89f3-55051269d0d0",
       "name" : "R1",
       "position" : {
         "x" : 1,
diff --git a/open-robotics/configs/observalble_deadlock.json b/open-robotics/configs/observalble_deadlock.json
index 1f08674e..cc13dfeb 100644
--- a/open-robotics/configs/observalble_deadlock.json
+++ b/open-robotics/configs/observalble_deadlock.json
@@ -122,7 +122,7 @@
     } ],
     "obstacles" : [ {
       "id" : "f0000000-0000-4000-a000-000000000001",
-      "name" : "Shelf-L1",
+      "name" : "Wall-L1",
       "position" : {
         "x" : 4,
         "y" : 3
@@ -130,7 +130,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000002",
-      "name" : "Shelf-L2",
+      "name" : "Wall-L2",
       "position" : {
         "x" : 4,
         "y" : 4
@@ -138,7 +138,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000003",
-      "name" : "Shelf-L3",
+      "name" : "Wall-L3",
       "position" : {
         "x" : 4,
         "y" : 5
@@ -146,7 +146,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000004",
-      "name" : "Shelf-L4",
+      "name" : "Wall-L4",
       "position" : {
         "x" : 4,
         "y" : 6
@@ -154,7 +154,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000005",
-      "name" : "Shelf-R1",
+      "name" : "Wall-R1",
       "position" : {
         "x" : 7,
         "y" : 3
@@ -162,7 +162,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000006",
-      "name" : "Shelf-R2",
+      "name" : "Wall-R2",
       "position" : {
         "x" : 7,
         "y" : 4
@@ -170,7 +170,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000007",
-      "name" : "Shelf-R3",
+      "name" : "Wall-R3",
       "position" : {
         "x" : 7,
         "y" : 5
@@ -178,7 +178,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000008",
-      "name" : "Shelf-R4",
+      "name" : "Wall-R4",
       "position" : {
         "x" : 7,
         "y" : 6
diff --git a/open-robotics/configs/test3.json b/open-robotics/configs/test3.json
index ba057ffe..ea64d57e 100644
--- a/open-robotics/configs/test3.json
+++ b/open-robotics/configs/test3.json
@@ -117,7 +117,7 @@
     } ],
     "obstacles" : [ {
       "id" : "f0000000-0000-4000-a000-000000000001",
-      "name" : "Shelf-L1",
+      "name" : "Wall-L1",
       "position" : {
         "x" : 4,
         "y" : 3
@@ -125,7 +125,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000002",
-      "name" : "Shelf-L2",
+      "name" : "Wall-L2",
       "position" : {
         "x" : 4,
         "y" : 4
@@ -133,7 +133,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000003",
-      "name" : "Shelf-L3",
+      "name" : "Wall-L3",
       "position" : {
         "x" : 4,
         "y" : 5
@@ -141,7 +141,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000004",
-      "name" : "Shelf-L4",
+      "name" : "Wall-L4",
       "position" : {
         "x" : 4,
         "y" : 6
@@ -149,7 +149,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000005",
-      "name" : "Shelf-R1",
+      "name" : "Wall-R1",
       "position" : {
         "x" : 7,
         "y" : 3
@@ -157,7 +157,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000006",
-      "name" : "Shelf-R2",
+      "name" : "Wall-R2",
       "position" : {
         "x" : 7,
         "y" : 4
@@ -165,7 +165,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000007",
-      "name" : "Shelf-R3",
+      "name" : "Wall-R3",
       "position" : {
         "x" : 7,
         "y" : 5
@@ -173,7 +173,7 @@
       "type" : null
     }, {
       "id" : "f0000000-0000-4000-a000-000000000008",
-      "name" : "Shelf-R4",
+      "name" : "Wall-R4",
       "position" : {
         "x" : 7,
         "y" : 6
diff --git a/open-robotics/configs/test_scenario.json b/open-robotics/configs/test_scenario.json
index 39f3494d..f2ae3c8a 100644
--- a/open-robotics/configs/test_scenario.json
+++ b/open-robotics/configs/test_scenario.json
@@ -61,7 +61,7 @@
     } ],
     "stations" : [ {
       "id" : "00000000-0000-0000-0000-000000000010",
-      "name" : "Pickup-A",
+      "name" : "Delivery-A",
       "position" : {
         "x" : 0,
         "y" : 4
diff --git a/open-robotics/configs/warehouse_2.json b/open-robotics/configs/warehouse_2.json
index 8302f7b3..c8ec1b8c 100644
--- a/open-robotics/configs/warehouse_2.json
+++ b/open-robotics/configs/warehouse_2.json
@@ -98,7 +98,7 @@
     } ],
     "obstacles" : [ {
       "id" : "20000000-0000-0000-0000-000000000001",
-      "name" : "Obstacle-01",
+      "name" : "wall_0",
       "position" : {
         "x" : 6,
         "y" : 3
diff --git a/open-robotics/src/main/java/com/openrobotics/controllers/SetupController.java b/open-robotics/src/main/java/com/openrobotics/controllers/SetupController.java
index 33451d1a..cddfd849 100644
--- a/open-robotics/src/main/java/com/openrobotics/controllers/SetupController.java
+++ b/open-robotics/src/main/java/com/openrobotics/controllers/SetupController.java
@@ -976,7 +976,7 @@ private boolean validate() {
         }
 
         // Integer Bounds
-        if (!checkIntBound(maxTasksField, "Max Tasks", 1, 500)) return false;
+        if (!checkIntBound(maxTasksField, "Max Tasks", 1, 50000)) return false;
         if (!checkIntBound(maxTicksField, "Max Ticks", 1, 1000000)) return false;
 
         // Float Bounds
diff --git a/open-robotics/src/main/java/com/openrobotics/controllers/SimulationController.java b/open-robotics/src/main/java/com/openrobotics/controllers/SimulationController.java
index a2cc3d2b..eb7e90d7 100644
--- a/open-robotics/src/main/java/com/openrobotics/controllers/SimulationController.java
+++ b/open-robotics/src/main/java/com/openrobotics/controllers/SimulationController.java
@@ -24,6 +24,8 @@
 import com.openrobotics.simulationcore.SimulationError;
 import com.openrobotics.task.Task;
 import com.openrobotics.util.IconLoader;
+import com.openrobotics.util.ConnectedWallRenderer;
+import com.openrobotics.util.RobotSpriteAnimator;
 import com.openrobotics.util.ScreenNavigator;
 import com.openrobotics.util.ViewportTips;
 import javafx.application.Platform;
@@ -160,6 +162,7 @@ public class SimulationController implements ScreenNavigator.Cleanable {
     // Engine Binding
     private SimulationEngine engine;
     private Timeline         simLoop;
+    private javafx.animation.AnimationTimer renderLoop; // drives continuous sprite animation
     private double           speedFactor  = 1.0;
     private int              localTick    = 0;
     private static final double BASE_TICK_MS = 100.0;
@@ -368,6 +371,20 @@ private void saveEditorBaseline() {
     // Initialization
     @FXML
     private void initialize() {
+        // Continuous render loop so sprite animations cycle smoothly (~30 fps target).
+        long[] lastRender = {0};
+        renderLoop = new javafx.animation.AnimationTimer() {
+            @Override public void handle(long now) {
+                if (now - lastRender[0] > 33_000_000L) { // ~30 fps
+                    drawViewport();
+                    lastRender[0] = now;
+                }
+            }
+        };
+        renderLoop.start();
+        RobotSpriteAnimator.ensureLoaded();
+        ConnectedWallRenderer.ensureLoaded();
+
         // Poll fresh simulation logs once per second while the screen is active.
         logPollingTimeline = new Timeline(
                 new KeyFrame(Duration.seconds(1), event -> fetchLogsAsync())
@@ -599,9 +616,19 @@ private void drawEntities(GraphicsContext gc) {
         double tileSize = 32 * zoom;
         double pad = Math.max(1.0, tileSize * 0.06);
 
-        for (MapEntity entity : engine.getMap().getEntities()) {
-            double ex = entity.getPosition().getX();
-            double ey = entity.getPosition().getY();
+        // Two-pass: draw non-robots first so robots always appear on top
+        java.util.List<MapEntity> entities = engine.getMap().getEntities();
+        java.util.List<MapEntity> robots = new java.util.ArrayList<>();
+        for (MapEntity entity : entities) {
+            if (entity instanceof Robot) robots.add(entity);
+            else drawEntity(gc, entity, tileSize, pad);
+        }
+        for (MapEntity entity : robots) drawEntity(gc, entity, tileSize, pad);
+    }
+
+    private void drawEntity(GraphicsContext gc, MapEntity entity, double tileSize, double pad) {
+        double ex = entity.getPosition().getX();
+        double ey = entity.getPosition().getY();
 
             // Interpolate robot sprites between ticks so movement appears continuous.
             if (animating && entity instanceof Robot && prevRobotPositions.containsKey(entity.getId())) {
@@ -613,52 +640,66 @@ private void drawEntities(GraphicsContext gc) {
             double sx = viewOffsetX + (ex + entityOffsetTileX) * tileSize;
             double sy = viewOffsetY + (ey + entityOffsetTileY) * tileSize;
 
-            javafx.scene.image.Image entityIcon = resolveEntityIcon(entity);
-            boolean useFullTileIcon = isWallLikeEntity(entity);
-            if (entityIcon != null && !entityIcon.isError()) {
-                if (useFullTileIcon) {
-                    gc.drawImage(entityIcon, sx, sy, tileSize, tileSize);
+            // ── 1. Animated robot sprite ─────────────────────────────────
+            if (entity instanceof Robot robot) {
+                javafx.scene.image.Image frame = switch (robot.getState()) {
+                    case MOVING -> RobotSpriteAnimator.walkFrame(robot.getHeading(), robot.isCarrying());
+                    default     -> RobotSpriteAnimator.idleFrame(robot.getHeading());
+                };
+                if (frame != null) {
+                    gc.drawImage(frame, sx + pad, sy + pad, tileSize - 2 * pad, tileSize - 2 * pad);
                 } else {
-                    gc.drawImage(entityIcon, sx + pad, sy + pad, tileSize - 2 * pad, tileSize - 2 * pad);
+                    gc.setFill(ENTITY_ROBOT_COLOR);
+                    gc.fillRoundRect(sx + pad, sy + pad, tileSize - 2*pad, tileSize - 2*pad, 5, 5);
+                    Color dot = switch (robot.getState()) {
+                        case MOVING             -> ENTITY_STATE_MOVING_COLOR;
+                        case CHARGING           -> ENTITY_STATE_CHARGING_COLOR;
+                        case LOADING, UNLOADING -> ENTITY_STATE_LOADING_COLOR;
+                        default                 -> ENTITY_STATE_IDLE_COLOR;
+                    };
+                    gc.setFill(dot);
+                    double r = Math.max(3.0, tileSize * 0.15);
+                    gc.fillOval(sx + tileSize - r * 2 - pad, sy + pad, r * 2, r * 2);
                 }
-            } else if (entity instanceof Robot robot) {
-                gc.setFill(ENTITY_ROBOT_COLOR);
-                gc.fillRoundRect(sx + pad, sy + pad, tileSize - 2*pad, tileSize - 2*pad, 5, 5);
-                Color dot = switch (robot.getState()) {
-                    case MOVING             -> ENTITY_STATE_MOVING_COLOR;
-                    case CHARGING           -> ENTITY_STATE_CHARGING_COLOR;
-                    case LOADING, UNLOADING -> ENTITY_STATE_LOADING_COLOR;
-                    default                 -> ENTITY_STATE_IDLE_COLOR;
-                };
-                gc.setFill(dot);
-                double r = Math.max(3.0, tileSize * 0.15);
-                gc.fillOval(sx + tileSize - r * 2 - pad, sy + pad, r * 2, r * 2);
-            } else if (entity instanceof Rack) {
-                gc.setFill(ENTITY_RACK_COLOR);
-                gc.fillRect(sx + pad, sy + pad, tileSize - 2*pad, tileSize - 2*pad);
-            } else if (entity instanceof Station) {
-                gc.setFill(ENTITY_STATION_COLOR);
-                gc.fillRect(sx + pad, sy + pad, tileSize - 2*pad, tileSize - 2*pad);
-            } else if (entity instanceof Obstacle) {
-                gc.setFill(ENTITY_OBSTACLE_COLOR);
-                gc.fillRect(sx, sy, tileSize, tileSize);
+
+            // ── 2. Connected wall / obstacle ─────────────────────────────
+            } else if (entity instanceof Obstacle || ConnectedWallRenderer.isWallLike(entity)) {
+                ConnectedWallRenderer.draw(gc, sx, sy, tileSize, entity, engine.getMap());
+
+            // ── 3. Animated charger sprite ───────────────────────────────
+            } else if (entity instanceof com.openrobotics.map.entities.station.ChargingStation) {
+                javafx.scene.image.Image frame = RobotSpriteAnimator.chargerFrame();
+                if (frame != null) {
+                    gc.drawImage(frame, sx + pad, sy + pad, tileSize - 2 * pad, tileSize - 2 * pad);
+                } else {
+                    javafx.scene.image.Image icon = resolveEntityIcon(entity);
+                    if (icon != null && !icon.isError())
+                        gc.drawImage(icon, sx + pad, sy + pad, tileSize - 2 * pad, tileSize - 2 * pad);
+                }
+
+            // ── 4. Everything else: static icon then colour fallback ──────
             } else {
-                // Engine stores all non-robot entities as plain MapEntity;
-                // infer visual type from name so items are colour-coded.
-                String n = entity.getName().toLowerCase();
-                boolean isWall = n.contains("wall") || n.contains("obstacle");
-                if (n.contains("rack") || n.contains("shelf")) {
+                javafx.scene.image.Image icon = resolveEntityIcon(entity);
+                if (icon != null && !icon.isError()) {
+                    gc.drawImage(icon, sx + pad, sy + pad, tileSize - 2 * pad, tileSize - 2 * pad);
+                } else if (entity instanceof Rack) {
                     gc.setFill(ENTITY_RACK_COLOR);
-                } else if (n.contains("station") || n.contains("charge") || n.contains("depot")
-                        || n.contains("pickup") || n.contains("delivery")) {
+                    gc.fillRect(sx + pad, sy + pad, tileSize - 2*pad, tileSize - 2*pad);
+                } else if (entity instanceof Station) {
                     gc.setFill(ENTITY_STATION_COLOR);
-                } else if (isWall) {
-                    gc.setFill(ENTITY_OBSTACLE_COLOR);
+                    gc.fillRect(sx + pad, sy + pad, tileSize - 2*pad, tileSize - 2*pad);
                 } else {
-                    gc.setFill(ENTITY_FALLBACK_COLOR);
+                    String n = entity.getName() == null ? "" : entity.getName().toLowerCase();
+                    if (n.contains("rack") || n.contains("shelf"))
+                        gc.setFill(ENTITY_RACK_COLOR);
+                    else if (n.contains("station") || n.contains("charge") ||
+                             n.contains("depot")   || n.contains("pickup") ||
+                             n.contains("delivery"))
+                        gc.setFill(ENTITY_STATION_COLOR);
+                    else
+                        gc.setFill(ENTITY_FALLBACK_COLOR);
+                    gc.fillRect(sx + pad, sy + pad, tileSize - 2*pad, tileSize - 2*pad);
                 }
-                if (isWall) gc.fillRect(sx, sy, tileSize, tileSize);
-                else        gc.fillRect(sx + pad, sy + pad, tileSize - 2*pad, tileSize - 2*pad);
             }
 
             if (zoom >= 0.8 && tileSize >= 18) {
@@ -668,9 +709,13 @@ private void drawEntities(GraphicsContext gc) {
                 String lbl = entity.getName().length() > maxChars
                         ? entity.getName().substring(0, maxChars - 1) + "\u2026"
                         : entity.getName();
-                gc.setFill(ENTITY_LABEL_COLOR);
-                gc.setFont(Font.font(fontSize));
+                // Draw label using DIFFERENCE blend mode with white — inverts whatever is beneath
+                gc.save();
+                gc.setGlobalBlendMode(javafx.scene.effect.BlendMode.DIFFERENCE);
+                gc.setFill(Color.WHITE);
+                gc.setFont(Font.font("System Bold", fontSize));
                 gc.fillText(lbl, sx + pad + 1, sy + tileSize - pad - 2, maxLabelWidth);
+                gc.restore();
             }
 
             // Green outline for the currently selected entity
@@ -686,7 +731,6 @@ private void drawEntities(GraphicsContext gc) {
                 gc.setLineWidth(Math.max(2.0, tileSize * 0.1));
                 gc.strokeRect(sx + 1, sy + 1, tileSize - 2, tileSize - 2);
             }
-        }
     }
 
     private void drawTrafficRuleIntersections(GraphicsContext gc) {
@@ -1118,10 +1162,12 @@ private void onViewportMousePressed(MouseEvent e) {
                 MapEntity entityHit = entityAtScreenPos(e.getX(), e.getY());
                 if (entityHit != null) {
                     selectEntity(entityHit);
-                    draggingOnCanvas = entityHit;
-                    dragStartPosition = new com.openrobotics.map.Vector2D(
-                            (int) entityHit.getPosition().getX(),
-                            (int) entityHit.getPosition().getY());
+                    if (!isEditorLocked()) {
+                        draggingOnCanvas = entityHit;
+                        dragStartPosition = new com.openrobotics.map.Vector2D(
+                                (int) entityHit.getPosition().getX(),
+                                (int) entityHit.getPosition().getY());
+                    }
                 } else {
                     clearSelection();
                     draggingOnCanvas = null;
diff --git a/open-robotics/src/main/java/com/openrobotics/robot/Robot.java b/open-robotics/src/main/java/com/openrobotics/robot/Robot.java
index 3f092974..7a115ab4 100644
--- a/open-robotics/src/main/java/com/openrobotics/robot/Robot.java
+++ b/open-robotics/src/main/java/com/openrobotics/robot/Robot.java
@@ -18,6 +18,7 @@
 import com.openrobotics.task.Task;
 import com.openrobotics.task.TaskStatus;
 import com.openrobotics.map.Vector2D;
+import com.openrobotics.common.Direction;
 
 import java.util.HashMap;
 import java.util.UUID;
@@ -42,6 +43,7 @@ public class Robot extends MapEntity {
     private boolean rerouteAttemptedForCurrentTask; // one reroute budget per task
     private Vector2D rerouteAvoidTile; // temporary avoid hint used by the next planning attempt
     private Vector2D lastRequestedNextTile; // raw pre-coordination next tile requested this tick
+    private Direction heading = Direction.DOWN; // last movement direction, default south
 
     // lifetime stats — accumulated during update(), read by results screen
     private int totalDistanceMoved;
@@ -106,6 +108,9 @@ private void initMovementFields() {
     public SensorStrategy getSensor() { return sensor; }
     public Sensor getLastScan() { return lastScan; }
     public RobotState getState() { return state; }
+    public Direction getHeading() { return heading; }
+    /** True when the robot has picked up a box and is carrying it to the dropoff. */
+    public boolean isCarrying() { return hasPickedUp && currentTask != null; }
     public Task getCurrentTask() { return currentTask; }
     public int getStuckTicks() { return stuckTicks; }
     public Vector2D getPreviousPosition() { return previousPosition; }
@@ -396,6 +401,13 @@ public void update(Map map) {
                     totalEnergyConsumed += config.energyPerMove;
                     totalDistanceMoved++;
                     stuckTicks = 0;
+                    // update facing direction from movement delta
+                    int hdx = getPosition().getX() - previousPosition.getX();
+                    int hdy = getPosition().getY() - previousPosition.getY();
+                    if      (hdx > 0) heading = Direction.RIGHT;
+                    else if (hdx < 0) heading = Direction.LEFT;
+                    else if (hdy > 0) heading = Direction.DOWN;
+                    else if (hdy < 0) heading = Direction.UP;
 
                     // Logging robot movement execution event
                     SimLogRecordBuilder movementRecordBuilder = new SimLogRecordBuilder(AppState.getEngine().getRunId(), AppState.getEngine().getTickCounter(), getId(), getPosition().getX(), getPosition().getY());
diff --git a/open-robotics/src/main/java/com/openrobotics/util/ConnectedWallRenderer.java b/open-robotics/src/main/java/com/openrobotics/util/ConnectedWallRenderer.java
new file mode 100644
index 00000000..a0da97d1
--- /dev/null
+++ b/open-robotics/src/main/java/com/openrobotics/util/ConnectedWallRenderer.java
@@ -0,0 +1,88 @@
+package com.openrobotics.util;
+
+import com.openrobotics.map.Map;
+import com.openrobotics.map.MapEntity;
+import com.openrobotics.map.Vector2D;
+import com.openrobotics.map.entities.environment.Obstacle;
+import javafx.scene.canvas.GraphicsContext;
+import javafx.scene.image.Image;
+
+import java.util.EnumMap;
+
+/**
+ * Draws wall tiles that visually connect to their neighbours using pre-rendered
+ * Blender sprites for every combination.
+ *
+ * <p>Bitmask encoding (4 bits → 16 sprites):
+ * <pre>
+ *   bit 0 (1) = N   (y-1 on grid = up   on screen)
+ *   bit 1 (2) = S   (y+1 on grid = down on screen)
+ *   bit 2 (4) = E   (x+1 on grid = right)
+ *   bit 3 (8) = W   (x-1 on grid = left)
+ * </pre>
+ * Sprites are named {@code wall_0.png} … {@code wall_15.png} in the img resource folder.
+ */
+public class ConnectedWallRenderer {
+
+    private static final int VARIANT_COUNT = 16;
+    private static final Image[] VARIANTS   = new Image[VARIANT_COUNT];
+    private static       boolean loaded     = false;
+
+    /** Pre-load all 16 wall variant images (call once on init). */
+    public static void ensureLoaded() {
+        if (loaded) return;
+        for (int i = 0; i < VARIANT_COUNT; i++) {
+            String path = "/com/openrobotics/img/wall_" + i + ".png";
+            try (var s = ConnectedWallRenderer.class.getResourceAsStream(path)) {
+                VARIANTS[i] = (s != null) ? new Image(s) : null;
+            } catch (Exception ignored) {}
+        }
+        loaded = true;
+    }
+
+    /**
+     * Draw the correct wall sprite for {@code entity} at canvas position
+     * ({@code sx}, {@code sy}) with size {@code tileSize × tileSize}.
+     */
+    public static void draw(GraphicsContext gc,
+                            double sx, double sy, double tileSize,
+                            MapEntity entity, Map map) {
+        ensureLoaded();
+
+        int ex = entity.getPosition().getX();
+        int ey = entity.getPosition().getY();
+
+        int mask = 0;
+        if (isWall(map, ex,     ey - 1)) mask |= 1;   // N
+        if (isWall(map, ex,     ey + 1)) mask |= 2;   // S
+        if (isWall(map, ex + 1, ey    )) mask |= 4;   // E
+        if (isWall(map, ex - 1, ey    )) mask |= 8;   // W
+
+        Image img = VARIANTS[mask];
+        if (img != null && !img.isError()) {
+            gc.drawImage(img, sx, sy, tileSize, tileSize);
+        } else {
+            // Fallback: solid dark rect
+            gc.setFill(javafx.scene.paint.Color.web("#6b5b4e"));
+            gc.fillRect(sx, sy, tileSize, tileSize);
+        }
+    }
+
+    // ── helpers ──────────────────────────────────────────────────────────
+
+    private static boolean isWall(Map map, int x, int y) {
+        if (map == null) return false;
+        try {
+            for (MapEntity e : map.getEntitiesAt(new Vector2D(x, y))) {
+                if (isWallLike(e)) return true;
+            }
+        } catch (Exception ignored) {}
+        return false;
+    }
+
+    public static boolean isWallLike(MapEntity e) {
+        if (e instanceof Obstacle) return true;
+        String n = e.getName() == null ? "" : e.getName().toLowerCase();
+        return n.contains("wall") || n.contains("obstacle");
+    }
+}
diff --git a/open-robotics/src/main/java/com/openrobotics/util/RobotSpriteAnimator.java b/open-robotics/src/main/java/com/openrobotics/util/RobotSpriteAnimator.java
new file mode 100644
index 00000000..578ecf06
--- /dev/null
+++ b/open-robotics/src/main/java/com/openrobotics/util/RobotSpriteAnimator.java
@@ -0,0 +1,112 @@
+package com.openrobotics.util;
+
+import com.openrobotics.common.Direction;
+import javafx.scene.image.Image;
+import javafx.scene.image.WritableImage;
+
+import java.util.EnumMap;
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * Loads robot and charger sprite sheets and slices the correct frame at runtime.
+ *
+ * <p>Sheet layout (robot sheets):
+ * <pre>
+ *   row 0 = South (DOWN)   row 1 = North (UP)
+ *   row 2 = East  (RIGHT)  row 3 = West  (LEFT)
+ *   columns = animation frames (0-based)
+ * </pre>
+ *
+ * <p>Charger sheet: single row, columns = frames.
+ */
+public class RobotSpriteAnimator {
+
+    private static final int FRAME_PX   = 256;   // each cell in the PNG is 256×256
+    private static final int WALK_FRAMES  = 12;
+    private static final int IDLE_FRAMES  = 12;
+    private static final int CHARGE_FRAMES = 12;
+
+    /** ms per frame for each animation type */
+    private static final long WALK_FRAME_MS   = 80;   // 12 fps-ish walk
+    private static final long IDLE_FRAME_MS   = 160;  // slow idle sway
+    private static final long CHARGE_FRAME_MS = 400;  // slow charge fill
+
+    // Sheet images — loaded lazily once
+    private static Image walkSheet;
+    private static Image walkBoxSheet;
+    private static Image idleSheet;
+    private static Image chargerSheet;
+    private static boolean loaded = false;
+
+    // Frame cache: "sheetKey_row_col" → WritableImage crop
+    private static final Map<String, WritableImage> frameCache = new HashMap<>();
+
+    private static final EnumMap<Direction, Integer> DIR_ROW = new EnumMap<>(Direction.class);
+    static {
+        DIR_ROW.put(Direction.DOWN,  0);  // South
+        DIR_ROW.put(Direction.UP,    1);  // North
+        DIR_ROW.put(Direction.RIGHT, 2);  // East
+        DIR_ROW.put(Direction.LEFT,  3);  // West
+    }
+
+    public static void ensureLoaded() {
+        if (loaded) return;
+        walkSheet    = loadSheet("robot_walk.png");
+        walkBoxSheet = loadSheet("robot_walk_box.png");
+        idleSheet    = loadSheet("robot_idle.png");
+        chargerSheet = loadSheet("charger_anim.png");
+        loaded = true;
+    }
+
+    private static Image loadSheet(String filename) {
+        try (var s = RobotSpriteAnimator.class.getResourceAsStream(
+                "/com/openrobotics/img/" + filename)) {
+            if (s == null) return null;
+            return new Image(s);
+        } catch (Exception e) {
+            return null;
+        }
+    }
+
+    /** Robot walk frame (or walk-with-box). */
+    public static Image walkFrame(Direction dir, boolean carrying) {
+        ensureLoaded();
+        Image sheet = carrying ? walkBoxSheet : walkSheet;
+        if (sheet == null) return null;
+        int row = DIR_ROW.getOrDefault(dir, 0);
+        int col = (int) ((System.currentTimeMillis() / WALK_FRAME_MS) % WALK_FRAMES);
+        return crop(sheet, carrying ? "wb" : "w", row, col);
+    }
+
+    /** Robot idle frame. */
+    public static Image idleFrame(Direction dir) {
+        ensureLoaded();
+        if (idleSheet == null) return null;
+        int row = DIR_ROW.getOrDefault(dir, 0);
+        int col = (int) ((System.currentTimeMillis() / IDLE_FRAME_MS) % IDLE_FRAMES);
+        return crop(idleSheet, "i", row, col);
+    }
+
+    /** Charging-station animation frame (independent of direction). */
+    public static Image chargerFrame() {
+        ensureLoaded();
+        if (chargerSheet == null) return null;
+        int col = (int) ((System.currentTimeMillis() / CHARGE_FRAME_MS) % CHARGE_FRAMES);
+        return crop(chargerSheet, "c", 0, col);
+    }
+
+    private static WritableImage crop(Image src, String key, int row, int col) {
+        String cacheKey = key + "_" + row + "_" + col;
+        return frameCache.computeIfAbsent(cacheKey, k -> {
+            int x = col * FRAME_PX;
+            int y = row * FRAME_PX;
+            int maxW = (int) src.getWidth()  - x;
+            int maxH = (int) src.getHeight() - y;
+            if (maxW <= 0 || maxH <= 0) return null;
+            int w = Math.min(FRAME_PX, maxW);
+            int h = Math.min(FRAME_PX, maxH);
+            return new WritableImage(src.getPixelReader(), x, y, w, h);
+        });
+    }
+}
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