Changelog

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New Features

• Edge workflow automation for spatial intelligence: Added spatial zones, Timed Condition gates, edge-side dwell/timeout/debounce execution, live zone overlays, capture-frame authoring, and compile-time model compatibility checks for camera-frame workflows. This turns intrusion detection and zone-aware perception into an end-to-end workflow pattern across backend, frontend, edge workers, SDK channels, and docs (#2080, #2082, #2085, #2088, #2089, #2093, #2113, #2122, #2153, #2155, #2156).
• Datasets and robot recording playgrounds: Introduced dataset import with Hugging Face/LeRobot focus, dataset slug/visibility/source metadata, SDK schema support, and visualizer/playground pages for LeRobot and Cyberwave-format datasets with episode playback, video panes, URDF/joint context, and long-recording streaming improvements (#2038, #2047, #2051, #2069).
• Commerce and template foundations: Added asset pricing, currency selection, environment monthly cost previews, hardware purchase/rental guidance, organization billing details, delivery addresses, and richer environment/workflow template publishing and cloning flows (#2068, #2101, #2111, #2119, #2154).
• New edge/device integrations: Added the first DJI Mini Android app with DJI telemetry, WebRTC video, Cyberwave MQTT/REST streaming, APK publishing, and smoke-test CI; added a native microphone driver with Whisper STT cloud-model wiring; added the PI05 OpenArm cloud node; and improved GO2 ROS 2 driver setup for dynamic IPs (#2096, #2117, #2004, #2026, #2097).

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Feature Improvements

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Platform

• Workflow authoring polish: Workflow creation can start from templates or generated mission waypoints; the environment workbench, node library, canvas previews, node I/O strips, wired/available port grouping, missing-configuration hints, hover tooltips, and right-side inspector were substantially refined for faster graph authoring (#2048, #2052, #2065, #2077, #2079, #2081, #2086, #2087, #2115, #2120, #2123, #2128).
• Workflow semantics and edge sync clarity: Workflows now derive environment behavior from bindings instead of the legacy kind field, support multi-twin perception on edge, publish sync_workflows immediately when run-on-edge workflows activate, and expose operator-triggered sync from the twin editor plus an --edge-active CLI filter (#2054, #2071, #2090, #2063, #2112, #2114).
• Environment and template UX: The create-environment flow was redesigned into a full-screen multi-step experience, AI environment creation now opens the assistant on a blank environment, public templates clone correctly across workspaces, and template publishing supports public/workspace visibility with workflow summaries (#2053, #2059, #2060, #2119, #2154).
• Edge device observability: The Edge Devices tab now follows live MQTT heartbeats, shows host/IP/uptime/stream health, filters archived tombstones, uses a compact row layout, and updates backend edge heartbeat state from edge_health messages (#2137, #2140, #2141).
• Model and catalog UX: ML models now expose a typed edge runtime selector; the model picker has higher-contrast filters, tokenized search, and greys out edge-incompatible models in camera-frame chains with clear reasons and override affordances (#2076, #2146, #2155).
• Operator controls: Added cloud-recording toggles per twin, an alert-overlay visibility toggle, live-mode hardware-dialog suppression when hardware already exists, improved onboarding overlay dark-mode readability, and route-safe environment creation redirects (#2046, #2095, #2147, #2151, #2158, #2145, #2099).

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SDK

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Python SDK

• Perception/runtime correctness: ONNX YOLO postprocessing now applies per-class NMS; MQTT topic handlers are deduped to prevent WebRTC answer/candidate storms; annotate publishes overlay payloads on a dedicated frame overlay channel; and device fingerprinting has safer hostname fallbacks (#2133, #2153, #2140).
• Dataset and media support: Python SDK schemas and bindings were updated for dataset import/visualization flows, and camera streaming paths gained stronger reconnect behavior for long-lived WebRTC sessions (#2038, #2051, #2069, #2130).
• Internal distribution hardening: Video-sync packaging was obfuscated, CLI/internal install scripts gained better Buildkite authentication and redaction, and sync-assets can filter by --registry-vendor for workspace-scoped catalog syncs (#2036, #2157).

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C++ SDK

• API compatibility maintenance: Updated the generated assets client call shape after pricing filters expanded the list-assets API, and kept C++ recording pipeline CI coverage aligned with the release (#2068).

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Bug Fixes

• Fixed workflow execution reading stale replica data by forcing primary reads in workflow task paths.
• Fixed missing action_id errors in generated move_twin workflow code.
• Fixed workflow editor autosave races, Send Alert target-twin persistence, Timed Condition alias schema emission, node-title font/spacing issues, and spatial-filter inspector action layout.
• Fixed AI environment creation hitting a shadowed backend endpoint, public template clone 403s, and wrong redirects after environment creation.
• Fixed attachment ACL gaps, including environment-map parent access handling.
• Fixed long robot recordings crashing playback by streaming signed Parquet data around the seek point.
• Fixed edge worker install/build regressions by installing the local SDK wheel with required extras and smoke-testing ultralytics/zenoh.
• Fixed edge workflow codegen bugs around detection confidence, empty twin UUID chains, spatial-filter bbox normalization, alert dedupe bypass for re-firing cooldowns, anonymize fail-closed behavior, and cloud-vs-edge model gate scope.
• Fixed edge-core worker lifecycle issues: no unnecessary worker image pull when no active workflows exist, two-strike stale-worker cleanup, symmetric worker restart after edge-core restart, and graceful docker stop semantics.
• Fixed CLI MQTT topic_prefix forwarding so workflow sync commands reach prefixed edge deployments.
• Fixed camera driver WebRTC streams going silent after consumers disconnect, and fixed SDK MQTT handler accumulation that caused repeated WebRTC answers/candidates.
• Fixed Edge Devices status drift, stale online fallbacks, cross-workspace tombstone visibility, and unresolved-edge status rendering.
• Fixed GO2 driver dynamic-IP handling and filtering of simulated teleop commands.
• Fixed the DJI Android smoke-test/degraded-mode path, Sentry empty-DSN startup crash, and CI emulator working-directory issues.
• Fixed live-mode hardware dialog false positives by checking MQTT, REST, and historical edge-device presence.
• Fixed onboarding overlay dark-mode contrast and removed an exposed close button.
• Removed a sensitive token from Terraform configuration.

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New Features

• Multi-runtime Edge ML inference: Edge workers can now run models through a runtime registry covering ONNX, TFLite (including quantized/INT8 paths), OpenCV DNN, TensorRT, and PyTorch, with normalized detection publishing across runtimes.
• Mission orchestration foundation: Introduced the initial Mission model/renaming and planning primitives that connect mission authoring/execution flows across backend, frontend, and runtime paths.
• Replay intelligence overlays: Added timeline event APIs and UI markers for alerts + telemetry, including twin-level filtering for replay investigations.
• Database-backed feature flag platform: Replaced hardcoded flags with a DB catalog and added global, organization, and user-level rollout controls with explicit precedence.
• Uptime Kuma infrastructure: Added a dedicated GCP Uptime Kuma stack with dev/staging/production environments and HTTPS-only access for platform monitoring.

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Feature Improvements

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Platform

• Shared-view performance and reliability: Environment viewer requests now pass a dedicated view token header, isolate viewer query caches, and skip unnecessary data/subscriptions in view-only mode.
• Public website messaging polish: Iterated homepage narrative and interactive hero/code showcase for a simpler, higher-clarity value proposition.
• Simulation and vision UX upgrades: Improved virtual camera live-feed support and added camera FOV cone visualization in 3D environments.
• Catalog and seeding maintenance: Refactored controller/model seed catalogs and updated OpenARM references for staging/prod compatibility.

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SDK

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Python SDK

• Regression hardening for critical paths: Added integration coverage for get_latest_frame() image validity and slash-style registry_id twin resolution.
• Runtime protocol upgrades: Backend MQTT client path moved to MQTT v5 semantics with expanded logging/reason-code handling.

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C++ SDK

• MQTT adapter modernization: Transitioned from Paho to libmosquitto to improve maintainability and throughput behavior, especially for larger payload handling.
• Spec-alignment fixes: Updated assets API client behavior to match current OpenAPI expectations.

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Bug Fixes

• Twin replay correctness on long recordings: Fixed an issue where the digital twin would freeze or snap to a stale pose when scrubbing far from the currently-loaded segment of long robot recordings (90 min+ at 30 Hz). The replay timeline now greys out and shows a “Loading robot data…” indicator while the parquet window for the new segment is being fetched, and scrub clicks are ignored during the load to prevent racing the in-flight request. stub
• Replay parquet load time: Robot recordings up to ~110 minutes at 30 Hz now load once (typically 1-3 seconds) and then scrub instantly across the entire recording. Previously, every scrub triggered a fresh range fetch that re-downloaded the parquet footer + dictionary pages, making large recordings feel “stuck”. The play button is also no longer blocked on the initial fetch — playback starts immediately and the timeline overlay communicates the warm-up state. stub
• Replay spinner stuck on idle recordings: Fixed an issue where loading a robot recording would leave the timeline frozen on “Loading robot data…” until the user clicked Play. The parquet loader now starts fetching the moment a recording is opened (not lazily on the first play tick), so the warm-up overlay clears as soon as the data is in cache. stub
• Multi-recording replay correctness: Fixed two related bugs when multiple robot recordings are loaded together. Previously, only the first recording’s parquet data was loaded (subsequent recordings for the same twin were silently discarded), and the timeline spinner would stay stuck forever when scrubbing to a segment belonging to a second recording. Parquet windows are now scoped per-recording, so every recording in a multi-session timeline loads and plays independently. The window cache also incrementally diffs across selection changes, so adding a recording to a multi-recording session no longer aborts and restarts the in-flight parquet fetch for the recording that was already loaded. stub
• Removed MCP cw_edit_position 2m delta guardrail that was blocking large one-shot moves.
• Fixed UGV replay recording path by ensuring sensor identity and sync-frame publication.
• Fixed large ZIP asset sync regressions and added dedicated regression coverage for symlink/large-upload edge cases.
• Fixed Python SDK crash when environment_id/workspace_id were passed explicitly to Cyberwave()
• Fixed Python SDK asset lookup failure for slash-form registry IDs when aliases are present.
• Fixed Camera.start_streaming() failures in notebook runtimes with active event loops.
• Fixed controller-policy asset preselection clearing on edit due to loading/search timing.
• Fixed edit-mode camera panel defaults and depth-visualization rendering conditions.
• Fixed UGV driver reconnect stability and servo joint-state sync drift.
• Fixed TFLite resize fallback in environments without Pillow/OpenCV dependencies.

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New Features

• 3D editing keeps physics active for GLB and URDF twins: Both GLBAsset and URDFAsset updated so Rapier rigid bodies remain mounted while edit gizmos are shown, instead of disabling physics during transforms.
• Editor-mode-only transform controls: EnvironmentViewer3D now gates isEditing and transformMode with isEditorMode, preventing edit controls from appearing in non-editor contexts.

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Feature Improvements

• Safer pickability while gizmos are visible: setObjectTreePickable(...) logic tightened in both asset renderers so object picking is disabled when transform gizmos are active, reducing accidental scene interaction conflicts.
• More predictable gizmo visibility outside editor mode: New tests assert that selected GLB/URDF twins in simulate mode receive isEditing: false and transformMode: undefined, keeping gizmos hidden outside editor mode.
• Regression coverage for fixed-base physics in edit flows: New GLB and URDF tests verify fixed-body Rapier behavior remains active while PivotControls are visible.

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New Features

• Mission authoring and execution upgrade: Redesigned waypoint editing/ordering in UI, better waypoint visualization, drag-and-drop ordering, and waypoint-style in-scene transform gizmos for assets.
• Mission capture persistence + workflow integration: Capture state and media now persist across backend, edge, and frontend; mission captures are surfaced in UI and connected to workflow attachment processing.
• Primitives as a first-class concept: New public endpoint GET /api/v1/assets/primitives, SDK access via cw.assets.list_primitives(), MCP tooling, and docs updates for environment editing.
• Alert categories (business vs technical): Backend model/schema/migration/API updates, MQTT payload inclusion, Python SDK support, and docs update.
• GO2 runtime pipeline restoration: End-to-end real-robot path and navigation timestamp handling updates under the new structure.

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Feature Improvements

• Python SDK: Added AssetManager.list_primitives() for alias-based primitive discovery (e.g. camera, lidar) with README usage examples.
• Python SDK alerts: Category support added to alert create/update flows, aligned with backend alert categories.
• C++ SDK: Core/runtime parity and route fixes, build/install/guard improvements, and README/docs refresh.

• MQTT documentation: Major rewrite of MQTT topic/payload reference with cross-linking from driver docs.
• Consistent “Add” menus: Environment header and twin-list menus now share aligned items, icons, and action wiring.
• Controller selection UX: Dedicated-first ordering, “See all” for universal controllers, and clearer “Unassign Controller” language/styling.

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Bug Fixes

• Replay timeline: Resolved previously unclickable areas in the timeline.