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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

Unreleased

Added

  • contributed by @Joelkang

  • Octree geometry bindings (plus octomap::OcTree, OctreeSubType, PointCloud, createOctree) and the remaining tesseract_geometry utilities (isIdentical, extractVertices, toTriangleMesh).

  • Python-subclassable Descartes evaluators/sampler/profile for tesseract_motion_planners_descartes. New bindings for DescartesStateD, DescartesStateSampleD, DescartesEdgeEvaluatorD, DescartesWaypointSamplerD, DescartesStateEvaluatorD, and a now-subclassable DescartesMoveProfileD let users override createWaypointSampler / createEdgeEvaluator / createStateEvaluator from Python.

0.34.1.7 - 2026-05-09 — command_language I/O instructions + TaskComposer introspection

Python API surface expansion: tesseract_command_language gains its remaining I/O and pacing instruction types (Wait, Timer, SetAnalog, SetDigital, SetTool) — closing the gap that previously forced raster and pick-and-place pipelines through C++ or YAML — alongside TaskComposer DAG visualisation via GraphViz DOT output and TaskComposerDataStorage introspection helpers. Welcomes @seonixx (Simon White) as a new contributor.

Added

  • contributed by @Joelkang

  • Remaining tesseract_command_language instruction types bound: WaitInstruction, TimerInstruction, SetAnalogInstruction, SetDigitalInstruction, SetToolInstruction, with their WaitInstructionType / TimerInstructionType enums and InstructionPoly_as_* cast helpers. Closes the I/O-and-pacing gap that previously forced raster/pick-and-place pipelines to be authored in C++ or YAML. New tests/tesseract_command_language/test_command_language.py covers construction, casting, and InstructionPoly round-tripping (#70, a4c26df).

  • TaskComposer DAG visualisation — getDotgraph() / saveDotgraph() overloads on TaskComposerNode, with an optional TaskComposerNodeInfoContainer argument to highlight the executed path on a previously-run DAG. Emits GraphViz DOT for debugging otherwise-opaque planning pipelines (#63, e7c3a92).

  • TaskComposerDataStorage AnyPoly cast/wrap helpers — AnyPoly_wrap_TaskComposerDataStorage and AnyPoly_as_TaskComposerDataStorage, so DAG storage state can be inspected after each node from Python instead of only via C++ (#66, b30ed46).

  • contributed by @seonixx

  • TaskComposerDataStorage.getAllData() no-arg overload binding returning the full data map (#66, 990705f).

  • DiscreteContactCheckTask exposes contact_results through task_infos data_storage, with unit and integration test coverage (#66, 4fe07bf, 06178f0).

Fixed

  • contributed by @Joelkang

  • SimplePlanner and time-parameterization profiles now reachable via the public tesseract_motion_planners_simple and tesseract_time_parameterization package paths instead of only the underscore-prefixed C++ extension modules. C++ binding-side registrations retired in favour of __init__.py re-exports; test_constant_tcp.py consolidated into test_time_parameterization.py (#62, d73e227, 30c8e9f).

  • InstructionPoly_as_CompositeInstruction re-exported from tesseract_command_language package init — was bound but not surfaced (#70, 110e1e0).

0.34.1.6 - 2026-04-27 — PyPI README refresh

Same wheels as 0.34.1.5; recut so the published wheel's README metadata includes the Windows build badge alongside Linux and macOS on PyPI's project page.

Changed

  • README badge row includes a Windows build badge (6656815).

0.34.1.5 - 2026-04-27 — Windows x64 wheels debut + Python profile bindings

First complete cross-platform PyPI release: Linux, macOS, and Windows wheels for Python 3.9–3.12. Closes the long-running #40 Windows wheels initiative (#58). Also ships a batch of profile-binding contributions from @Joelkang that had been queued in Unreleased.

Added

  • Windows x64 wheels published to PyPI via the new wheels-windows.yml workflow. Mirrors wheels-{linux,macos}.yml; sources C++ deps from conda-forge via pixi; bundles plugin DLLs via delvewheel repair --analyze-existing (f9c122d, 3e3a2e4).
  • __init__.py prepends the package dir and tesseract_robotics_nanobind.libs/ to PATH on Windows — required because boost::dll's plain LoadLibrary ignores os.add_dll_directory (006ce38).
  • Cereal polymorphic types re-registered in the tesseract_serialization binding TU — MSVC instantiates the cereal registry per-DLL, so upstream's registrations don't reach the consumer .pyd without re-registration (af88515).

  • New developer doc docs/developer/windows-wheels.md capturing four Windows wheel packaging gotchas surfaced during the gh-40 diagnosis (fe5ad75).

  • contributed by @Joelkang

  • CompositeInstruction.push_back now accepts a CompositeInstruction in addition to a plain Instruction, enabling nested composites (e.g. raster programs) to be built from Python the same way they are in C++ (#51, 6d17314).

  • SimplePlanner profiles configurable from Python — SimplePlannerCompositeProfile plus seven concrete move profiles (FixedSize, FixedSizeAssign, FixedSizeAssignNoIK, LVS, LVSNoIK, LVSAssign, LVSAssignNoIK), with ProfileDictionary_addSimplePlannerMoveProfile / …CompositeProfile helpers for registration (#54, e2bf837).

  • task_composer planning-node profiles exposed through a new tesseract_task_composer_planning module: ContactCheckProfile, FixStateBoundsProfile, FixStateCollisionProfile, KinematicLimitsCheckProfile, MinLengthProfile, ProfileSwitchProfile, and UpsampleTrajectoryProfile. Heavy TrajOpt-typed members on FixStateCollisionProfile (OSQP settings, SQP params, coeff data) are intentionally skipped — configure those via YAML or C++ (#56, 62cd2cd).

  • ConstantTCPSpeedParameterization (KDL-based, constant TCP-speed time parameterization) bound alongside its ConstantTCPSpeedCompositeProfile (#55, f4f981d).

Removed

  • vcpkg-based wheels-windows.yml variant (workflow_dispatch-only, never green) replaced by the conda-forge / pixi pipeline of the same name (3e3a2e4).

0.34.1.4 - 2026-04-27 [YANKED] — partial cross-platform release

Yanked. Linux and macOS wheels published successfully; Windows wheels built and tested but the publish job hit a PyPI Trusted Publisher configuration mismatch and didn't upload. Superseded by 0.34.1.5.

0.34.1.2 - 2026-04-23 — macOS arm64 stability

Follow-up to the macOS arm64 debut in 0.34.1.1, resolving a garbage-collection crash that surfaced in fresh virtual environments during motion planning.

Fixed

  • Dedupe versioned dylibs in the wheel — the actual root cause of the macOS GC crash (#48, 7f53185).
  • Pin plugin dylibs on macOS to prevent a garbage-collection crash during motion planning (#48, 590343f).

Changed

  • Restore the CI macOS test scope that had been narrowed as a workaround for #48 (#49, 07f8f9c).

0.34.1.1 - 2026-04-23 — macOS arm64 wheels debut

First PyPI-published macOS arm64 wheels, shipping via a dedicated wheels-macos.yml workflow parallel to the existing Linux x86_64 pipeline. Also introduces a Python trampoline for ConstraintSet, Python 3.9 compatibility for example modules, and installable example scripts.

Added

  • macOS arm64 wheels published to PyPI via a split, per-platform workflow (d80e689).
  • Python trampoline for ifopt.ConstraintSet so users can subclass it from Python for custom SQP constraints (361c60e).
  • Examples installable as console scripts (e.g. tesseract_basic_cartesian_example) via [project.scripts] (2c62952).
  • contributed by @marip8
  • pixi run build-wheel task for local wheel builds (e26df2a).

Changed

  • Non-benchmark tests fail loud instead of being silently skipped (a1d7607).

Fixed

  • Python 3.9 compatibility for example modules via from __future__ import annotations (87ce68e).