> For the complete documentation index, see [llms.txt](https://docs-origin.anvil.bot/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs-origin.anvil.bot/reference/release-notes.md).

# Release Notes

{% updates format="full" %}
{% update date="2026-07-26" %}

## Version 1.2.7

* Introduced the ability to launch/stop robots via the Web App, without needing to tear down and restart entire docker stack
* Tuned gravity compensation and gripper constants to improve OpenYAM leader/follower operation
* Improved Web App's error notification system to be less intrusive and report fewer false positives
* Reduced errors in monitoring services; made them non-essential so they don't affect main software operation
  {% endupdate %}

{% update date="2026-06-30" %}

## Version 1.2.4

* Optimized Quest teleop to ensure smooth continued motion for long sessions
* Increased joint range for OpenARM 2.0
  {% endupdate %}

{% update date="2026-06-29" %}

## Version 1.2.3

* Added full support for OpenARM 2.0!
* Improved handling of velocity limits to enhance Quest teleop experience on OpenYAM by allowing faster, smoother motions
* Added support for Leader/Follower control mode on the OpenYAM
* Added robot visualizer in Web App
* Reworked camera software so that cameras can be configured individually and dynamically, and camera feeds can be restarted without taking down and bringing back up entire software stack. Moved camera configuration from `.env.config` to the Web App, to allow for easier configurability / debugging 
* Improved stability of software stack when running without internet connection
* Added more options to configure CycloneDDS during ML policy deployment
* Improved mid-operation homing to be smoother and quicker
* Improved stability and recoverability of Quest headset connection, and improved Quest connection health UI in the Web App
  {% endupdate %}

{% update date="2026-06-03" %}

## Version 1.1.19

* Improved OpenYAM Quest teleop experience, making it quicker, safer, and more intuitive
* Added "dehoming" feature - arms go through the reverse of their homing motion, to safely return to zero without disturbing any task set-ups. Triggers automatically on shutdown, can be triggered programmatically or via Web App (also added button in Web App for homing)
* Improved control during homing/dehoming sequence, so arms don't "sag" and disturb task set-up, but instead follow strict path to the ready/zero positions
* Added "pause" and "estop" functionality via Web App (can be triggered programmatically)
* Added page in Web App to monitor CAN communications with arms, reporting kernel-level statistics for in-depth debugging
* Exposed controls for all camera confguration settings
* Change data recording settings so some basic list of topics gets into every episode by default
  {% endupdate %}

{% update date="2026-05-11" %}

## Version 1.1.16

* Added support for programmatic arm control in cartesian space
* Increased range of motion during Quest teleop
  {% endupdate %}

{% update date="2026-04-29" %}

## Version 1.1.14

* Improvements to gripper behavior for follower in Leader / Follower mode
* Added metrics "drop" alerts to make instantaneous and transient metrics fluctuations easy to detect
* Optimizations to replay buffer
* Expanded diagnostic tests to include OpenYAM
  {% endupdate %}

{% update date="2026-04-08" %}

## Version 1.1.8

* Minor bug fixes, stability improvements to diagnostic tests
  {% endupdate %}

{% update date="2026-04-08" %}

## Version 1.1.7

* Improved camera reliability and upgraded default framerate to 60 FPS
* Added rehoming feature, making it easier to collect clean and consistent data, see [Collecting Data](/user-guides/collecting-data.md#rehoming)
* Added diagnostic tests for repeatable evaluation of robot health
* Various improvements to Leader/Follower control mode
* Improved Quest app consistency, reducing occasions of lost connection
* Fixed various bugs causing spurious errors to show in logs

{% endupdate %}

{% update date="2026-03-23" %}

## Version 1.1.3

* Added "Replay Buffer" feature, making it easier for users to debug their systems, see [Replay Buffer](/reference/troubleshooting/replay-buffer.md)
* Quest teleop QOL additions, to improve usability and increase consistency
* Added functionality for users to reset error-state motors (over-temperature, over-current, etc) using the Web App, removing the need for a full power cycle on the motors
* Included richer metadata to episode recording, tracking episode length, success/fail, etc
  {% endupdate %}

{% update date="2026-03-16" %}

## Version 1.1.0

Initial release!
{% endupdate %}
{% endupdates %}