Changelog

• sentinel enroll — enrollment is its own command. sentinel enroll prompts for the license key; sentinel enroll <key> runs without prompts for scripted setups; re-enrolling an already-enrolled robot shows the current identity and asks for confirmation.
• Breaking: sentinel start no longer enrolls and no longer takes --license-key — it fails with a pointer to sentinel enroll when the robot is not enrolled. The deprecated sentinel up alias is removed. Update any provisioning scripts.
• sentinel status now surfaces authentication failures instead of reporting a rejected device as enrolled, moves full error text to an errors: section below the summary, and colorizes state words on terminals.
• Fixed runtime-container logs and metrics being dropped: the shared telemetry spool was not writable by the container's producers on some installs.

Upgrade by re-running the installer: curl -fsSL https://sentinel.avearobotics.com/install.sh | bash

• Webhooks — subscribe an HTTPS endpoint to episode lifecycle events (episode.finalized, episode.synced, episode.verified, episode.failed, episode.pruned) instead of polling. Deliveries are HMAC-signed, secrets rotate with a 24-hour grace window, and dead-lettered deliveries can be inspected and redelivered. See Webhooks.
• Dataset cloud sync — finalized episodes sync from robots to your storage through per-episode grants. Configure destinations and routing rules; optional retention prunes the local copy after every destination verifies. See Cloud sync.
• Grant providers — run an endpoint that issues presigned upload URLs and robots upload directly to your storage; Avea relays the URLs and never has access to the data. A conformance check (POST /v1/destinations/{id}/check) grades your implementation in CI. See Build a grant provider.
• Episode responses include replicas — per-destination sync state — and GET /v1/episodes filters on sync_state.
• GET /v1/sync-health/robots reports per-robot sync backlog for alerting.
• POST endpoints accept an Idempotency-Key header; retries with the same key return the stored response for 24 hours.

• Subtasks for operators — step through a task's subtasks from the controller; ordered subtask context and outcomes are recorded with each episode.
• Immersive stereo neck view — a ZED X Mini stereo camera renders as the headset's immersive view.
• Dynamixel neck backend — necks support Dynamixel XC330 servos alongside Feetech (backend: feetech | dynamixel).
• Smoother fine arm motion on YAM — corrected gravity model, end-effector mass override, and stiction compensation reduce overshoot and stick-slip in small motions.
• PiPER X arms can hold position on shutdown (adapter.hold_on_shutdown) instead of dropping — the arms have no brakes.
• Neck reliability — motion profiles are re-applied after a motor reboot (no more full-speed snaps), goals track across the encoder boundary, and end-of-travel jitter is fixed.
• ZED cameras recover automatically after a driver restart or GMSL link drop.
• Recording fixes — commanded joint and gripper actions are recorded so episodes are train-ready, and the gripper state topic records correctly.
• Fixed episode discard handling.

• UFACTORY xArm7 support — native Ethernet adapter with gripper support, e-stop handling, and fault recovery on re-arm.
• Anvil devbox support for OpenArm v1/v2, including an optional Cartesian mode that drives Anvil's on-devbox IK as a config switch.
• OpenArm reliability — CAN fault detection with motor deadman and bus self-healing, safe first-power-on behavior, and per-chain torque limits.
• More responsive teleop — velocity feedforward in trajectory smoothing removes command lag; bench-tuned profiles ship for OpenArm.
• Absolute (shoulder-relative) posturing mode (retargeting.absolute) closes the start-of-session pose gap.
• Haptics route to the correct side on bimanual systems.
• The generic ROS 2 bridge can emit Float64MultiArray command streams (manipulator.command.outputs).
• Episodes carry task and operator names plus robot hardware and firmware metadata (robot_platform, per-arm hardware info) in metadata.yaml and the platform API.
• Fixed a silent adapter failure that blocked re-arming until a full stack restart; fixed connection-status reporting on the new WebRTC transport.
• Software H.264 (x264) encoder included in the runtime image.

• Native H.264 encoding — NVENC on discrete GPU and Jetson, with correct profile/level signaling.
• New WebRTC transport with custom congestion control for smoother video under changing network conditions.
• Torso recentering safety measure — the waist recenters slowly and recentering is gated so it can't fire during active teleop.
• Dataset labeling and task selection for operators, plus more reliable episode reporting.
• Advanced logging — runtime logs and telemetry ship to our cloud for faster support and diagnostics.
• API to transition robot states remotely (arm, disarm, e-stop).
• OpenArm (Enactic) support.
• Almond Axol support.
• RealMan RMC-DA (dual-arm wheeled) support.
• Bug fixes.

• Humanoid torso control — joystick-driven waist yaw and tilt.
• Generic ROS 2 adapter — bridge Sentinel to your own robot over standard ROS 2 topics. See Connect with ROS 2.
• image_transport camera adapter for existing ROS 2 camera streams.
• Network diagnostics on the operator dashboard.
• Logs and metrics are tagged with the container build version.
• Fixed MCAP file-name suffixes.

• PTZ camera control — toggle between locomotion and PTZ mode to aim PTZ cameras with the joysticks.
• AgileX PiperX support.
• Independent left/right arm control via per-arm grip gating.
• E-stop handling and disarm support, including software e-stop recovery without restarting the runtime.
• Fixed the multi-chain deadman system.
• Connection reliability improvements.

• Configs can change camera panel placement and size in pass-through mode.

  • Panels sit in a 3×3 grid: {top,middle,bottom}_{left,center,right}.
  • Sizes are fractional values in [0.25, 4.0].

  xr:
    coordinate_system: "webxr"
    video:
      enabled: true
      mode: "pre_encoded"
      cameras:
        - {id: "neck", panel_position: "middle_left", panel_size: 2.0}
        - {id: "chest", panel_position: "middle_right"}
        - {id: "left_wrist", panel_position: "bottom_left"}
        - {id: "right_wrist", panel_position: "bottom_right", panel_size: 0.25}
      resolution: [1920, 1080]
      fps: 30
      max_latency_ms: 100

• Improved connection and retry logic for more robust, reliable connections.

• Fixed a bug where turning your head too far in one direction caused neck commands to roll around the other way.

• New platform:
  • Website backend revamped — better render performance and graphics.
  • New web client at Sentinel XR Teleoperation.
  • Accompanying Avea Robotics dashboard.
• Support for non-CUDA computers:
  • amd64 — x86_64
  • arm64 — arm64
  • amd64-cu13 — x86_64 CPU with discrete NVIDIA GPU (CUDA Toolkit 13)
  • jp6.2 — Jetson family running JetPack 6.2.x (CUDA Toolkit 12.6)
• New transport backend — faster connection times, more stable streams.
• Added LimX Dynamics Oli robot: arm retargeting, neck movement, head and chest camera access, locomotion, Inspire gripper, BrainCo dex-hand (pre-programmed grasps + open/close).
• Dataset recording changes:
  • Episodes are written to session_<ts>/episode-###.in_progress/ while recording, then atomically renamed to *.finalized/ on stop. NAS sync, sqlite ledgers, and downstream tooling can rely on the suffix to tell unfinalized data apart.
  • Session rollover — episodes_per_session rotates session folders automatically.
  • Two new services — discard_episode (hard delete; counter rolls back so there are no gaps) and fail_episode (mark outcome=failure and let policy decide: keep, delete, or mark-and-archive).

• Fixed inconsistent "A" button behavior for dual-arm robots.
• Added "success"/"failure" labeling with the fail_episode service.

• Added support for UR robots.
• Added support for the Robotiq gripper.

• Fixed a bug in the cycle_wrist_cam handler for RGB-only or heatmap-only encoder setups.

• Haptics when control error crosses a configured threshold, with a matching visual indicator in the UI.
• Added depth encoders to cameras: PNG encoder for lossless 16UC1 depth, and a heatmap + H.264 encoder for visualizing depth in the Quest.
• Fixed a track-labeling bug.
• Added the cycle_wrist_cam button handler.
• Auto-stop tracks from being sent when not displayed in the UI.
• Support for up to 5 videos in the UI.

• Added depth-image collection from ZED and RealSense cameras.
• Permissions fixes.
• Bumped ZED SDK to 5.2 on all platforms.
• Formal support for JetPack 6.2.2 (l4t 36.5).

• Added analog control of velocity scale for arm retargeting.
• Refactored the button system — all buttons and analog sources are remappable; analog sources can act as virtual buttons with rising/falling edge events.
• Added 6-DoF neck support.
• Web client UI improvements: unified HUD, episode start/stop, system state indicator, network quality indicator, RTT indicator.
• Reduced dependency footprint.

• Added Trossen WXAI support.
• Added XLeRobot neck support.

• Standard Bots and YAM support.
• ZED, ZED X, RealSense, and UVC camera support.
• JetPack 6.2 and amd64 support.
• Multi-host runtime.
• Dataset recording.