I cannot finish Esmerelda's quest, nor can I finish
the robot out of control
despite having spoken to the commander, the mage, Esmerelda or the Councillor. Despite obviously being completed, they simply won't trigger.
To finish Arhu's failed experiment you have to
go to the jail and talk to the guard by the treasury. He should thank you for saving him from the machine. He can also be made to let you into the treasury