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Changelog

Unreleased

  • contactTest releases the GIL — parallel collision checking across cores — DiscreteContactManager.contactTest and ContinuousContactManager.contactTest now bind with nb::call_guard<nb::gil_scoped_release>(), mirroring the motion planners' solve() guards. Without it a Python worker thread sweeping a trajectory for collisions only time-shared the GIL with the main thread (concurrency, not parallelism — the sweep didn't get faster and contended with the UI); with it, sweeping on per-thread cloned managers scales near-linearly — measured 1.95× on 2 threads (10-core machine) against a 0.99× pure-Python control that rules out a measurement artifact. Enables off-main-thread, sharded collision scans of a whole program (#122).
  • Plugin-backed objects keep their Environment alive — fixes the gh-72 SIGSEGV lottery — getKinematicGroup / getJointGroup / getDiscreteContactManager / getContinuousContactManager now bind with nb::keep_alive<0, 1>. These objects are plugin-created (OPW/KDL/UR kinematics, bullet/fcl collision factories) and their vtables live in dylibs owned by the Environment's plugin loader; when Python destroyed the Environment first (interpreter-teardown dict order, pytest GC), the loader dlclosed the plugin dylibs and the survivors' destructors virtual-called into unmapped pages. Whether a given script crashed was pure destruction-order luck — the reported "calcJacobian segfaults under pytest but works in plain Python" was this lottery, not the jacobian path (lldb forensics: dangling vptr pinned inside unloaded libtesseract_kinematics_opw.dylib) ([#72]).
  • Linux wheels: libstdc++ no longer bundled — fixes dual-copy heap corruption — the ldd-closure bundling swept the conda env's gcc-14 libstdc++.so.6 into every wheel; numpy/scipy load the system copy, the loader unifies STB_GNU_UNIQUE locale statics across the two, and std::regex inside PropertyTree::rebuildAutoValidators freed a stack address during Environment.init (SIGSEGV/double free or corruption — detection-dependent UB, so the pytest suite corrupted silently). The gcc runtime (libstdc++, libgcc_s) is now excluded from bundling, the GH #35 RTLD_GLOBAL preload is removed (its "two copies coexist safely" premise was falsified), and a test-wheel CI guard asserts ships-no-copy / one-copy-mapped / numpy-first env.init clean. Wheels now require a gcc-13+ era system or conda libstdc++ (ubuntu 24.04+, debian 13+); older distros fail loudly at import. Full forensics: docs/developer/linux-wheels.md ([#119]).
  • Basic Descartes example — descartes_raster_c_api_example.py, low-level port of upstream motion_planners/examples/raster_example.cpp: a 3-pass raster program solved by DescartesMotionPlannerD directly (no TaskComposer) with TrajOpt refinement chained on the result; CompositeInstruction gains the full C++ constructor (profile, manipulator_info, order) so UNORDERED transition composites are constructible from Python ([#87]).
  • Descartes woven into the high-level planning API — new create_descartes_pipeline_profiles() for the standalone DescartesF/D(NPC)Pipeline family, and create_descartes_default_profiles() grows the 0.35 knob surface: tool-axis rotation sampling for axis-symmetric processes (sample_axis/sample_resolution/sample_min/sample_max → target_pose_fixed=False), ik_solver override, use_redundant_joint_solutions, and move_profile= injection of custom (Python-subclassable, #83) DescartesMoveProfileD instances — mutually exclusive with the knobs, fails loud ([#85]).
  • Lowlevel planning example: TrajOpt profiles reach the solver — tesseract_planning_lowlevel_c_api_example.py added its TrajOpt plan/composite profiles to the OMPL dictionary while handing the solver an empty trajopt_profiles; TrajOpt silently planned on fallback defaults ([#115]).
  • get_task_composer_config_path() resolves like the runtime — returns the @PLUGIN_PATH@-patched config that _configure_environment() publishes via TESSERACT_TASK_COMPOSER_CONFIG_FILE (env var → bundled data → conda share) instead of unconditionally returning the bundled-only path, which doesn't exist in dev envs and was unpatched in wheels; raises the new TaskComposerConfigNotFoundError when nothing resolves; the hand-rolled fallback chains in the task composer tests, TaskComposer.from_config, and scripts/generate_pipeline_dotgraphs.py now delegate to it ([#110]).
  • ruff enforces the py39 floor — FA102 added to lint select so PEP 604 unions without from __future__ import annotations fail the hooks; with target-version = "py39" (rejects 3.10+ syntax) this turns 3.9 compatibility from convention into a gate ([#92]).

0.35.0.4 - 2026-06-08 — conda-forge C++ deps + OSQP tunability + Linux libstdc++ preload + CI hardening

  • OSQP solver settings exposed — OSQPEigenSolver gains seven tunable setters (setPolish, setWarmStart, setAdaptiveRho, setMaxIteration, setAbsoluteTolerance, setRelativeTolerance, setVerbosity) and TrajOptIfoptOSQPSolverProfile gains setAdaptiveRhoInterval, enabling iteration-based (deterministic) rho adaptation for reproducible SQP solves; fixes dangling-pointer segfault in getJacobian() via rv_policy::reference_internal on getVar/getNode/getNodes (0f40048, c984044, c083f5e, #103).
  • OMPL RNG determinism — RNG_setSeed/RNG_getSeed bound in tesseract_motion_planners_ompl; conftest.py auto-reseeds per test for xdist-safe reproducibility; single-planner + optimize=False recipe documented as the only guaranteeable determinism contract (parallel-plan best-of-N races even with seeded samplers); Windows determinism test dropped — conda-forge ompl.lib embeds a separate RNGSeedGenerator copy per DLL so seeding the extension can't reach the planner (a0f49c6, 5f4776e, 31c7541, #103).
  • conda-forge C++ deps — C++ stack migrated from colcon workspace build to conda-forge prebuilts; pixi install && pixi run build replaces pixi run build-cpp / colcon; pixi.lock v7 with eigen-abi-tagged orocos-kdl _2 ending heap corruption in all KDL paths; locked:true + pinned pixi-version in CI so stale-lock drift fails loud; build-dir cache keyed on pixi.lock hash; Python 3.9 feature env added for Rhino 8 (b6a14c4, 3c80a25, 6210a99, 0455e34).
  • Linux libstdc++ preload — bundled gcc-14 libstdc++ loaded RTLD_GLOBAL as the first act of __init__ wins the SONAME race before numpy/scipy can pull in the system copy on Ubuntu 22.04 and older; gated on CONDA_PREFIX absence to avoid double-loading inside pixi/conda envs (#35, ee83dc8, 7715422).
  • Environment.setState input validation — unknown or non-active (fixed/mimic) joint names now raise ValueError with a clear message instead of silently dereferencing unmapped entries and crashing with SIGSEGV; all three entry points covered (dict, names+values, setStateByNamesAndValues) (#43, ca620d3).
  • SceneGraph type registration in URDF module — _tesseract_urdf now imports _tesseract_scene_graph at module load so the return type of parseURDFFile is always registered; was masked by full-suite imports, exposed by the new minimal-import ABI canary (f944293).
  • CI hardening — Windows test-wheel now runs the full suite (kinematics + examples, benchmarks-only exclusion); macOS nanobind build directory cached to halve warm builds; ABI canary (install wheel into pixi env → kinematics smoke-test) on Linux and macOS build jobs catches dep-ABI rot in ~30 s instead of as scattered segfaults in test-wheel; duplicate CI env block merged (e60f272, b29c37a, 04a812f, 6210a99, 607b4b9).
  • Dotgraph polish — TaskComposer pipeline diagrams woven into docs; clean_dot_labels strips dump-debug fields for legibility; contract test + type annotations (4aa5efb, 57537da, 1bfb4c3).

0.35.0.3 - 2026-06-05 — complete wheel matrix for the 0.35.0.2 content

Reissue of 0.35.0.2 with the full wheel set actually published. In 0.35.0.2 a dirty CI build tree made setuptools_scm stamp a PEP 440 local segment (+d<date>) onto some wheels; PyPI rejects those with HTTP 400, and the non-idempotent publish step aborted mid-upload — so macOS (all) and Linux x86_64 (cp39/cp311) wheels never landed. 0.35.0.2 is yanked. Identical bindings to 0.35.0.2 — no API changes (49f1aa9).

  • Release pipeline hardened — setuptools_scm local_scheme = "no-local-version" so a dirty tag build can't produce a PyPI-rejected local version; skip-existing: true on all three publish workflows so re-runs fill gaps instead of 400-aborting; macOS fail-fast: false so one flaky build can't cancel sibling wheels; plus a 3× retry on the macOS upload-artifact step working around GitHub's long-standing arm64-runner CreateArtifact timeout (actions/upload-artifact#569, still open) that otherwise skips the entire macOS publish ~80% of the time (49f1aa9, 804d5b8).
  • cp312-abi3 support verified on all platforms — macOS and Windows test-wheel now install the cp312-abi3 wheel on Python 3.13/3.14 (mirroring Linux; wheel != python), so the published 3.9–3.14 support matrix is verified in CI, not just asserted (14a4cea).

0.35.0.2 - 2026-06-04 — aarch64 / Jetson Linux wheels + collision manager bindings

Extends Linux wheel coverage to aarch64 (including NVIDIA Jetson), completes the contact-manager binding surface, and hardens the new ROS RPY decomposition against gimbal-lock edge cases (#97, 669f2da, f30014b).

  • aarch64 / NVIDIA Jetson Linux wheels — new GitHub Actions matrix entry plus Jetson build patches, built for Python 3.12+ on aarch64; Linux wheel CI standardised on pixi run build-cpp / build-wheel (#52, dc3f1df, 605dc4d, af7bc4e, #91, ba0510f, c897251, @Joelkang).
  • Collision manager bindings completed — remaining discrete/continuous contact-manager surface plus Descartes MoveProfile contact-manager config (#94, 9bfd6b1, 7a3b0e3, @Joelkang).

0.35.0.1 - 2026-05-29 — tesseract 0.35.0 upgrade + Eigen geometry suite + RAPID emitter

Major dependency bump to tesseract 0.35.0, a complete Eigen geometry binding surface with scalar-last quaternions as the project canon, a Pose that now is an Isometry3d, and a new ABB RAPID code emitter. (First wheel release of the 0.35 series; the project's setuptools_scm scheme requires four-component tags, so it is 0.35.0.1, not 0.35.0.)

  • Complete Eigen geometry binding suite — fleshed-out Vector3d / Vector4d / Matrix3d / Quaterniond / AngleAxisd / Isometry3d surface, with scalar-last [qx, qy, qz, qw] Quaterniond.from_xyzw and Quaterniond.from_rpy / to_rpy ZYX ROS RPY interop; float64 default precision centralised via Eigen NumTraits (#76, 492ab7a, 544f7dd, 1d6f5c7, ef26fc9).
  • ABB RAPID code emitter for tesseract_command_language (tesseract_robotics.emitters.rapid) (#75, 37f21b2).
  • Octree geometry bindings (plus octomap::OcTree, OctreeSubType, PointCloud, createOctree) and the remaining tesseract_geometry utilities (isIdentical, extractVertices, toTriangleMesh) (#67, 4575aa9, @Joelkang).
  • 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 (#83, 620b228, @Joelkang).
  • Upgraded to tesseract 0.35.0 — deps bumped (rosinstall → repos), MIGRATION.md sed applied, namespace aliases added, resource URIs and dev paths updated for the 0.35 layout, wheel data dir tesseract_support → tesseract/support, kinematics_core_factories → kinematics_factories, descartes tp::MoveInstructionPoly → tcl::MoveInstructionPoly (#86, 6710ccf, 422c5ea, 4e08a36).
  • Pose now subclasses Isometry3d (tesseract_robotics.planning) — rotation math via Eigen, numpy-property facade dropped, factories collapsed to one name accepting both scalar-positional and arraylike call styles, Transform alias removed in favour of the single canonical Pose, stored-data accessors exposed as properties (#76, a202a45, caa3b19).
  • Scalar-last quaternions declared project canon — [qx, qy, qz, qw]; Quaterniond(w, x, y, z) literals migrated to Quaterniond.from_xyzw (0bd408d, f7b2fea).
  • README gains an examples section and a refreshed platform-support matrix (d7bde99, 8eed899).
  • KinematicsInformation.group_tcps exposed to Python (tesseract_srdf) (#79, 52fdfba).
  • TaskComposerNodeInfoContainer returns TaskComposerNodeInfo (#81, 106d162, @Joelkang).
  • getSeed() exposed on CartesianWaypoint (#80, 0c57074, @Joelkang).
  • Viewer light color (#73, 3b4c545, @johnwason).

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.

  • 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, @Joelkang).
  • 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, @Joelkang).
  • 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, @Joelkang).
  • TaskComposerDataStorage.getAllData() no-arg overload binding returning the full data map (#66, 990705f, @seonixx).
  • DiscreteContactCheckTask exposes contact_results through task_infos data_storage, with unit and integration test coverage (#66, 4fe07bf, 06178f0, @seonixx).
  • 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, @Joelkang).
  • InstructionPoly_as_CompositeInstruction re-exported from tesseract_command_language package init — was bound but not surfaced (#70, 110e1e0, @Joelkang).

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.

  • 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.

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

  • 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).
  • 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.

  • 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, @marip8).
  • pixi run build-wheel task for local wheel builds (e26df2a).
  • Non-benchmark tests fail loud instead of being silently skipped (a1d7607).
  • Python 3.9 compatibility for example modules via from __future__ import annotations (87ce68e).