From 067dbebae2bf813e32a6a29ddc4456f400ee2237 Mon Sep 17 00:00:00 2001
From: Ezra Brooks <ebroo@softserveinc.com>
Date: Wed, 4 Nov 2026 14:09:30 -0700
Subject: [PATCH 1/2] Conditional Pythons 3.12-3.14 for lyrical

---
 AGENTS.md                               |   5 +
 README.md                               |  10 ++
 distros/lyrical/conda_build_config.yaml |  11 +-
 distros/lyrical/distro.yaml             |  19 ++-
 distros/lyrical/vinca.yaml              |   7 +-
 tools/python_abi_audit.py               | 216 ++++++++++++++++++++++++
 tools/robostack.py                      |   2 +
 tools/tests/test_python_abi_audit.py    |  30 ++++
 8 files changed, 291 insertions(+), 9 deletions(-)
 create mode 100644 tools/python_abi_audit.py
 create mode 100644 tools/tests/test_python_abi_audit.py

diff --git a/AGENTS.md b/AGENTS.md
index 8e51076a9..cb1111f06 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -21,6 +21,10 @@ to read without Claude):
   into `distros/<d>/`.
 - Run everything per distribution with `pixi run rs <distro> <task>`, from the
   repository root. Package names are `ros2-<pkg>` (dashes), e.g. `ros2-rsl`.
+- lyrical builds packages with Python content for Python 3.12-3.14 and the others once
+  (`conditional_python_dependency`, see README "Python versions"). A built-once package
+  that fails its `package_contents` test ships Python after all: add `python` to its
+  `add_host` in `patch/dependencies.yaml`.
 - Never edit `conda_build_config.yaml` by hand: change `shared/pinning/` or the
   distribution's `distro.yaml`, then `pixi run rs <distro> render-pinning` (CI checks it).
 - A change outside `distros/` rebuilds every distribution in CI; keep such PRs focused.
@@ -51,6 +55,7 @@ pixi run rs <d> build --continue-on-failure     # everything missing on the chan
 pixi run rs <d> check-patches [--recipe ros2-<pkg>]
 pixi run rs <d> check-deps                      # pin conflicts, before building anything
 pixi run rs <d> gap-report                      # recipes without artifacts and vice versa
+pixi run rs <d> python-audit [--elf]            # per-Python vs built-once recipes against the published packages
 pixi run rs add-package <pkg>... [<d>...]       # select packages (as the bot does)
 pixi run rs check                               # sanity checks (CI)
 ```
diff --git a/README.md b/README.md
index 3e9e04305..77d0ee386 100644
--- a/README.md
+++ b/README.md
@@ -106,6 +106,16 @@ pixi run rs check                             # sanity checks (also run in CI)
 of a distribution uses `full_rebuild: true` there. A new build number goes into its
 `pkg_additional_info.yaml` (one package) or `vinca.yaml` (everything).
 
+**Python versions:** a distribution's `pinning_overrides` can list several Pythons, as
+lyrical does for 3.12-3.14. With `conditional_python_dependency: true` in its
+`vinca.yaml`, only packages with Python content (Python modules, rosidl Python bindings,
+extensions) get python in host/run and are built once per Python; the others are built
+once, without a `python_abi` dependency, and fail their build if they ship
+`site-packages` content or a CPython extension anyway. When vinca's guess from
+`package.xml` is wrong, add `python` to the package's `add_host` (or `remove_host`) in
+`patch/dependencies.yaml`. `pixi run rs <distro> python-audit [--elf]` compares the
+guess with the published packages and lists the misses.
+
 **Building only some distributions in a PR:** a PR builds the distributions it changes,
 and all of them as soon as it touches anything outside `distros/<distro>/`. To limit
 that (e.g. a humble rebuild that also changes `shared/` or `tools/`), add the label
diff --git a/distros/lyrical/conda_build_config.yaml b/distros/lyrical/conda_build_config.yaml
index f95422a34..65159c500 100644
--- a/distros/lyrical/conda_build_config.yaml
+++ b/distros/lyrical/conda_build_config.yaml
@@ -1000,8 +1000,9 @@ pythia8:
 python:
   # conda-forge supports only 3.14+ for win-arm64 and linux-riscv64
   # part of a zip_keys: python, is_python_min
+  - 3.12.* *_cpython   # [not ((win and arm64) or riscv64)]
+  - 3.13.* *_cp313     # [not ((win and arm64) or riscv64)]
   - 3.14.* *_cp314
-  - 3.12.* *_cpython
 python_impl:
   - cpython
 
@@ -1009,14 +1010,16 @@ python_impl:
 python_min:
   # minimum supported python version per CFEP-25
   # bump to next minor version when we drop python versions
-  - '3.11'             # [not ((win and arm64) or riscv64)]
+  - '3.12'             # [not ((win and arm64) or riscv64)]
   - '3.14'             # [(win and arm64) or riscv64]
 is_freethreading:
   - false
 is_python_min:
   # part of a zip_keys: python, is_python_min
-  - false
-  - false
+  - true               # [not ((win and arm64) or riscv64)]
+  - false              # [not ((win and arm64) or riscv64)]
+  - false              # [not ((win and arm64) or riscv64)]
+  - true               # [(win and arm64) or riscv64]
 is_abi3:
   - true
 pytorch:
diff --git a/distros/lyrical/distro.yaml b/distros/lyrical/distro.yaml
index 33b9e0ddf..b9f2ed47d 100644
--- a/distros/lyrical/distro.yaml
+++ b/distros/lyrical/distro.yaml
@@ -7,10 +7,21 @@ upload_to: [prefix, anaconda]
 read_from: prefix
 rosdistro_sync: lyrical/2026-10-05
 pinning_overrides:
-  # build every python package for 3.14 (the shared default) and 3.12;
-  # is_python_min is zipped with python, so it needs one entry per version
-  python: [3.14.* *_cp314, 3.12.* *_cpython]
-  is_python_min: [false, false]
+  # Lyrical supports Python 3.12-3.14 (REP 2000). Packages with Python content are
+  # built for each (vinca.yaml: conditional_python_dependency), the others once.
+  # conda-forge has only 3.14+ for win-arm64 and linux-riscv64, so those get one variant.
+  python:
+    - 3.12.* *_cpython # [not ((win and arm64) or riscv64)]
+    - 3.13.* *_cp313   # [not ((win and arm64) or riscv64)]
+    - 3.14.* *_cp314
+  is_python_min:
+    - true             # [not ((win and arm64) or riscv64)]
+    - false            # [not ((win and arm64) or riscv64)]
+    - false            # [not ((win and arm64) or riscv64)]
+    - true             # [(win and arm64) or riscv64]
+  python_min:
+    - '3.12'           # [not ((win and arm64) or riscv64)]
+    - '3.14'           # [(win and arm64) or riscv64]
   # every pyqt6 6.11.0 build on conda-forge needs qt6-main <=6.11.2, but the shared
   # `6.11` pin resolves to 6.11.3, whose run export (>=6.11.3) rules pyqt6 out: the
   # rqt packages then can't be installed with python_qt_binding. The published
diff --git a/distros/lyrical/vinca.yaml b/distros/lyrical/vinca.yaml
index 15070a041..2306e66a9 100644
--- a/distros/lyrical/vinca.yaml
+++ b/distros/lyrical/vinca.yaml
@@ -3,7 +3,12 @@ ros_distro: lyrical
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml
 rosdistro_additional_recipes: rosdistro_additional_recipes.yaml
-build_number: 30
+build_number: 31
+# Only packages with Python content get python in host/run, and with it the Python
+# variants of distro.yaml (cp312-cp314); the others are built once, without a
+# python_abi dependency. Override the classification per package with python in
+# add_host (or remove_host) in patch/dependencies.yaml.
+conditional_python_dependency: true
 
 mutex_package:
   version: 0.22.0
diff --git a/tools/python_abi_audit.py b/tools/python_abi_audit.py
new file mode 100644
index 000000000..ac0de1d2d
--- /dev/null
+++ b/tools/python_abi_audit.py
@@ -0,0 +1,216 @@
+"""Check vinca's Python classification (conditional_python_dependency) against the
+published packages.
+
+    pixi run rs lyrical python-audit                 # linux-64, info/paths.json only
+    pixi run rs lyrical python-audit --elf           # also scan ELF files for libpython
+    pixi run rs lyrical python-audit --platform osx-arm64 --json audit.json
+
+A generated recipe (work/recipes) either has python in host, and is built for every
+Python of the distribution's pinning, or not, and is built once. This compares that
+with what the newest published build of each ros2-* package actually contains:
+
+- native: CPython extensions (*.cpython-*.so, *.pyd), rosidl_generator_py libraries,
+  or (--elf) ELF files that link libpython;
+- pure: only Python modules (site-packages);
+- none: no Python content.
+
+A recipe built once whose published package has Python content is a miss: that
+content would only work with the Python it happened to be built with. Misses make
+the exit status 1; fix them with `add_host: ["python"]` in patch/dependencies.yaml.
+Recipes built per Python without Python content in the package are only reported
+(an unneeded rebuild per Python, not a broken package).
+
+Run it before the switch to per-Python builds, while the channel still has the
+packages that were built with python in host (their content is complete).
+"""
+
+from __future__ import annotations
+
+import argparse
+import io
+import json
+import re
+import sys
+import tarfile
+import urllib.request
+import zipfile
+from concurrent.futures import ThreadPoolExecutor
+from pathlib import Path
+
+import yaml
+import zstandard
+
+UA = {"User-Agent": "robostack-python-audit"}
+SITE_PACKAGES = re.compile(r"(^|/)(lib/python[0-9.]*/site-packages|Lib/site-packages)/")
+EXTENSION = re.compile(r"\.cpython-[^/]*\.(so|dylib)$|\.pyd$")
+
+
+class RangeReader(io.RawIOBase):
+    """A remote file read with HTTP range requests (zipfile only needs the end and
+    the info-*.tar.zst member of a .conda)."""
+
+    def __init__(self, url: str):
+        with urllib.request.urlopen(urllib.request.Request(url, headers={**UA, "Range": "bytes=0-0"}),
+                                    timeout=120) as r:
+            self.url = r.url
+            content_range = r.headers.get("Content-Range")
+            if r.status != 206 or not content_range:
+                raise OSError(f"{url}: no range support")
+            self.size = int(content_range.split("/")[1])
+        self.pos = 0
+
+    def readable(self) -> bool:
+        return True
+
+    def seekable(self) -> bool:
+        return True
+
+    def tell(self) -> int:
+        return self.pos
+
+    def seek(self, offset: int, whence: int = 0) -> int:
+        self.pos = {0: offset, 1: self.pos + offset, 2: self.size + offset}[whence]
+        return self.pos
+
+    def readinto(self, b) -> int:
+        n = min(len(b), self.size - self.pos)
+        if n <= 0:
+            return 0
+        headers = {**UA, "Range": f"bytes={self.pos}-{self.pos + n - 1}"}
+        with urllib.request.urlopen(urllib.request.Request(self.url, headers=headers), timeout=300) as r:
+            data = r.read()
+        b[: len(data)] = data
+        self.pos += len(data)
+        return len(data)
+
+
+def open_conda(url: str, whole: bool) -> zipfile.ZipFile:
+    if not whole:
+        try:
+            return zipfile.ZipFile(io.BufferedReader(RangeReader(url), buffer_size=1 << 16))
+        except OSError:
+            pass
+    with urllib.request.urlopen(urllib.request.Request(url, headers=UA), timeout=600) as r:
+        return zipfile.ZipFile(io.BytesIO(r.read()))
+
+
+def members(z: zipfile.ZipFile, prefix: str):
+    name = next(n for n in z.namelist() if n.startswith(prefix))
+    stream = zstandard.ZstdDecompressor().stream_reader(z.open(name))
+    with tarfile.open(fileobj=stream, mode="r|") as tar:
+        for member in tar:
+            if member.isfile():
+                yield member, tar.extractfile(member)
+
+
+def inspect(url: str, elf: bool) -> dict:
+    """Classify by info/paths.json; with *elf*, a package without Python files is
+    downloaded whole and its ELF files are searched for libpython (embedding)."""
+    for attempt in range(3):
+        try:
+            z = open_conda(url, whole=False)
+            paths = []
+            for member, f in members(z, "info-"):
+                if member.name == "info/paths.json":
+                    paths = [p["_path"] for p in json.load(f)["paths"]]
+                    break
+            result = classify(paths, [])
+            if elf and result["content"] == "none":
+                linked = [member.name for member, f in members(open_conda(url, whole=True), "pkg-")
+                          if (data := f.read())[:4] == b"\x7fELF" and b"libpython3." in data]
+                result = classify(paths, linked)
+            return result
+        except Exception as err:  # noqa: BLE001 - network or archive trouble: retried, then reported
+            error = err
+    return {"content": "error", "error": str(error)}
+
+
+def classify(paths: list[str], linked: list[str]) -> dict:
+    site = [p for p in paths if SITE_PACKAGES.search(p)]
+    native = [p for p in paths if EXTENSION.search(p)]
+    native += [p for p in paths if "rosidl_generator_py" in p and re.search(r"\.(so|dylib|dll)$", p)]
+    native += linked
+    content = "native" if native else "pure" if site else "none"
+    return {"content": content, "examples": (native or site)[:3]}
+
+
+def flatten(requirements) -> list[str]:
+    out = []
+    for r in requirements or []:
+        if isinstance(r, dict):
+            out += flatten(r.get("then")) + flatten(r.get("else"))
+        else:
+            out.append(str(r))
+    return out
+
+
+def recipes_needing_python(recipes: Path) -> dict[str, bool]:
+    result = {}
+    for path in sorted(recipes.glob("ros2-*/recipe.yaml")):
+        recipe = yaml.safe_load(path.read_text())
+        host = flatten((recipe.get("requirements") or {}).get("host"))
+        result[recipe["package"]["name"]] = "python" in host
+    return result
+
+
+def newest_builds(repodata: dict) -> dict[str, str]:
+    records = {**repodata.get("packages", {}), **repodata.get("packages.conda", {})}
+    newest: dict[str, tuple] = {}
+    for fn, rec in records.items():
+        key = (rec["build_number"], rec.get("timestamp", 0))
+        if rec["name"].startswith("ros2-") and key > newest.get(rec["name"], ((-1, 0), ""))[0]:
+            newest[rec["name"]] = (key, fn)
+    return {name: fn for name, (_, fn) in newest.items()}
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument("--channel", required=True, help="channel URL, e.g. https://prefix.dev/robostack-lyrical")
+    parser.add_argument("--platform", default="linux-64")
+    parser.add_argument("--recipes", default="recipes", type=Path, help="generated recipes (default: ./recipes)")
+    parser.add_argument("--elf", action="store_true",
+                        help="download the packages without Python files and look for libpython in their ELF files")
+    parser.add_argument("--json", type=Path, help="write the per-package results here")
+    args = parser.parse_args()
+
+    needs = recipes_needing_python(args.recipes)
+    if not needs:
+        print(f"No ros2-* recipes in {args.recipes}: run generate-recipes first", file=sys.stderr)
+        return 1
+    with urllib.request.urlopen(urllib.request.Request(f"{args.channel}/{args.platform}/repodata.json", headers=UA),
+                                timeout=300) as r:
+        published = newest_builds(json.load(r))
+
+    names = [n for n in needs if n in published]
+    def work(name: str) -> tuple[str, dict]:
+        url = f"{args.channel}/{args.platform}/{published[name]}"
+        return name, {"file": published[name], **inspect(url, elf=args.elf)}
+
+    with ThreadPoolExecutor(16) as pool:
+        results = dict(pool.map(work, names))
+
+    misses = sorted(n for n, r in results.items() if not needs[n] and r["content"] in ("native", "pure"))
+    unneeded = sorted(n for n, r in results.items() if needs[n] and r["content"] == "none")
+    errors = sorted(n for n, r in results.items() if r["content"] == "error")
+    counts: dict[tuple[bool, str], int] = {}
+    for n, r in results.items():
+        counts[(needs[n], r["content"])] = counts.get((needs[n], r["content"]), 0) + 1
+
+    print(f"{len(needs)} recipes, {len(results)} with a published {args.platform} package, "
+          f"{len(needs) - len(results)} unpublished")
+    for (per_python, content), count in sorted(counts.items()):
+        print(f"  {'per Python' if per_python else 'built once':10}  package content {content:7}  {count}")
+    for name in misses:
+        print(f"MISS {name}: built once, but ships {results[name]['content']} Python: {results[name]['examples']}")
+    if unneeded:
+        print(f"{len(unneeded)} recipes are built per Python without Python content: {', '.join(unneeded)}")
+    for name in errors:
+        print(f"ERROR {name}: {results[name]['error']}", file=sys.stderr)
+    if args.json:
+        args.json.write_text(json.dumps({n: {"per_python": needs[n], **r} for n, r in results.items()},
+                                        indent=1, sort_keys=True) + "\n")
+    return 1 if misses or errors else 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/tools/robostack.py b/tools/robostack.py
index 8b723dfa9..bc4ac219c 100644
--- a/tools/robostack.py
+++ b/tools/robostack.py
@@ -532,6 +532,8 @@ def task(distro: str, name: str, args: list[str]) -> int:
         return run(py + [str(TOOLS / "check_dependency_compat.py"), *args], w)
     if name == "gap-report":
         return run(py + [str(TOOLS / "build_gap_report.py"), *args], w)
+    if name == "python-audit":
+        return run(py + [str(TOOLS / "python_abi_audit.py"), "--channel", repodata_url(distro), *args], w)
     if name in ("build", "build-one"):
         if not (w / "recipes").is_dir():
             print(f"No {(w / 'recipes').relative_to(ROOT)}: run `pixi run rs {distro} generate-recipes` first",
diff --git a/tools/tests/test_python_abi_audit.py b/tools/tests/test_python_abi_audit.py
new file mode 100644
index 000000000..580f858fd
--- /dev/null
+++ b/tools/tests/test_python_abi_audit.py
@@ -0,0 +1,30 @@
+import python_abi_audit as audit
+
+
+def test_classify_by_package_content():
+    assert audit.classify(["share/a/package.xml", "share/a/launch/__pycache__/x.cpython-314.pyc"], [])["content"] == "none"
+    assert audit.classify(["lib/python3.14/site-packages/a/__init__.py"], [])["content"] == "pure"
+    assert audit.classify(["lib/python/site-packages/a/__init__.py"], [])["content"] == "pure"
+    assert audit.classify(["Lib/site-packages/a/__init__.py"], [])["content"] == "pure"
+    assert audit.classify(["lib/a/_a.cpython-314-x86_64-linux-gnu.so"], [])["content"] == "native"
+    assert audit.classify(["Lib/site-packages/a/_a.cp314-win_amd64.pyd"], [])["content"] == "native"
+    assert audit.classify(["lib/liba_msgs__rosidl_generator_py.so"], [])["content"] == "native"
+    assert audit.classify(["lib/a/node"], ["lib/a/node"])["content"] == "native"
+
+
+def test_recipes_needing_python_reads_host(tmp_path):
+    for name, host in (("ros2-a", "[{if: unix, then: [python]}, ros2-b]"),
+                       ("ros2-b", "[\"python ${{ python_min }}.*\"]"),
+                       ("ros-lyrical-a", "[python]")):
+        (tmp_path / name).mkdir()
+        (tmp_path / name / "recipe.yaml").write_text(f"package: {{name: {name}}}\nrequirements:\n  host: {host}\n")
+    assert audit.recipes_needing_python(tmp_path) == {"ros2-a": True, "ros2-b": False}
+
+
+def test_newest_builds_takes_the_highest_build_number():
+    def rec(name, number, timestamp=0):
+        return {"name": name, "build_number": number, "timestamp": timestamp}
+
+    repodata = {"packages.conda": {"a-1-h_30.conda": rec("ros2-a", 30), "a-1-h_29.conda": rec("ros2-a", 29, 9),
+                                   "a-1-g_30.conda": rec("ros2-a", 30, 5), "x.conda": rec("ros-lyrical-a", 31)}}
+    assert audit.newest_builds(repodata) == {"ros2-a": "a-1-g_30.conda"}

From 543b5132f6ca6cfb85b99b10982d119ec7899f81 Mon Sep 17 00:00:00 2001
From: Ezra Brooks <ebroo@softserveinc.com>
Date: Thu, 12 Nov 2026 10:11:39 -0700
Subject: [PATCH 2/2] Temporarily pin rattler-build to its main for
 prefix-dev/rattler-build#2931

A build or test waited for any variant of a dependency, not the one it can
install: e.g. a Python 3.13 test started once the 3.12 package it needs was
built, and failed to solve. The pre-releases (built from main, for linux-64,
osx-arm64 and win-64; built for glibc 2.28) from prefix.dev's
rattler-build-pre-release channel, and the same commit built from git on
osx-64 and linux-aarch64. patchelf, which only conda-forge's package depends
on, is added on Linux. Locked with pixi 0.81.0, the workflows' version: the
source packages' identity differs between pixi versions.
---
 pixi.lock | 1003 ++++++++++++++++++++++++++++++++++++++++++++++++-----
 pixi.toml |   25 +-
 2 files changed, 941 insertions(+), 87 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index ab0edb4f3..701ea4b85 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,11 +1,10 @@
 version: 7
 platforms:
-- name: linux-64-glibc-2-17
-  subdir: linux-64
+- name: linux-64
   virtual-packages:
-  - __glibc=2.17
   - __unix=0=0
   - __linux=4.18
+  - __glibc=2.28
   - __archspec=0=x86_64
 - name: linux-aarch64-glibc-2-17
   subdir: linux-aarch64
@@ -32,10 +31,11 @@ environments:
   default:
     channels:
     - url: https://prefix.dev/conda-forge/
+    - url: https://prefix.dev/rattler-build-pre-release/
     indexes:
     - https://pypi.org/simple
     packages:
-      linux-64-glibc-2-17:
+      linux-64:
       - conda: https://prefix.dev/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
       - conda: https://prefix.dev/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda
       - conda: https://prefix.dev/conda-forge/linux-64/c-ares-1.34.8-hebe6cf0_2.conda
@@ -70,7 +70,6 @@ environments:
       - conda: https://prefix.dev/conda-forge/linux-64/patchelf-0.19.2-hee9eb32_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/python-3.14.7-hcd007b5_106_cp314.conda
       - conda: https://prefix.dev/conda-forge/linux-64/pyyaml-6.0.3-py314h67df5f8_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/rattler-build-0.80.0-hf01adef_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/rattler-index-0.31.5-h10a7753_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/readline-8.3-hd6e31c0_1.conda
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+  - libgcc >=16
+  - __glibc >=2.28,<3.0.a0
+  constrains:
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+  license: BSD-3-Clause
+  run_exports: {}
+  size: 31021852
+  timestamp: 1794408791461
+- conda: https://prefix.dev/rattler-build-pre-release/osx-arm64/rattler-build-0.80.0.20261111.1453.252f9c-h2d708b9_0.conda
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+  depends:
+  - __osx >=13.0
+  constrains:
+  - __osx >=11.0
+  license: BSD-3-Clause
+  run_exports: {}
+  size: 26223844
+  timestamp: 1794408803719
+- conda: https://prefix.dev/rattler-build-pre-release/win-64/rattler-build-0.80.0.20261111.1453.252f9c-hc42f684_0.conda
+  sha256: 72af3a30e671173017fef81af5e96b2a5891a9a079caf03838e157705d0764b9
+  md5: c0a20f7a4cef76fa3d28da0f27dc92dd
+  depends:
+  - vc >=14.5,<15
+  - vc14_runtime >=14.51.36247
+  - ucrt >=10.0.20348.0
+  license: BSD-3-Clause
+  run_exports: {}
+  size: 27711538
+  timestamp: 1794408810123
+- conda_source: rattler-build[4af41fa8] @ git+https://github.com/prefix-dev/rattler-build?rev=0252f9ca2c5f8a9ab039b96ef09dc1d52d17de7d#0252f9ca2c5f8a9ab039b96ef09dc1d52d17de7d
+  version: 0.80.0
+  build: h4778241_0
+  subdir: osx-64
+  variants:
+    c_stdlib: macosx_deployment_target
+    c_stdlib_version: '13.0'
+    target_platform: osx-64
+  depends:
+  - __osx >=13.0
+  constrains:
+  - __osx >=11.0
+  license: BSD-3-Clause
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+  - conda: https://prefix.dev/conda-forge/noarch/compiler-rt23_osx-64-23.1.4-h8d5f570_0.conda
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+  - conda: https://prefix.dev/conda-forge/noarch/macosx_deployment_target_osx-64-13.0-h2830193_7.conda
+  - conda: https://prefix.dev/conda-forge/noarch/rust-std-x86_64-apple-darwin-1.99.1-h9cb622b_1.conda
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+  - conda: https://prefix.dev/conda-forge/osx-64/c-ares-1.34.9-had63097_0.conda
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+  - conda: https://prefix.dev/conda-forge/osx-64/cctools_osx-64-1030.6.3-llvm23_1_h254e556_7.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/clang-23-23.1.4-default_h4ef152c_1.conda
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+  - conda: https://prefix.dev/conda-forge/osx-64/libcurl-8.23.0-h5318221_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libcxx-23.1.5-h19cb2f5_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libedit-3.1.20260512-pl5321hba2e2ab_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libev-4.33-ha3d0635_3.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libexpat-2.9.0-h6e061ac_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libiconv-1.18-h4ae439b_3.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libllvm23-23.1.5-hd11396f_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/liblzma-5.8.3-hbb4bfdb_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libnghttp2-1.71.0-h180c657_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libpsl-0.23.1-h7ff43d8_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libsigtool-0.1.3-h8c25ef7_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libssh2-1.11.1-hd53bb72_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libuv-1.52.1-ha3d0635_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libxml2-16-2.15.4-h8376fb4_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libxml2-2.15.4-hb56241c_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/libzlib-1.3.2-hbb4bfdb_3.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/llvm-tools-23-23.1.5-h36529c3_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/llvm-tools-23.1.5-h8c1e6b9_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/ncurses-6.6-hcc0dc9a_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/openssl-3.6.5-h332eb6d_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/rhash-1.4.6-ha1e9b39_2.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/rust-1.99.1-h2b8025e_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/rust_osx-64-1.99.1-h8d9202f_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/sigtool-codesign-0.1.3-h8c25ef7_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/tapi-1600.0.11.8-h44950e2_4.conda
+  - conda: https://prefix.dev/conda-forge/osx-64/zstd-1.5.7-hbc1a06c_7.conda
+- conda_source: rattler-build[b4a62793] @ git+https://github.com/prefix-dev/rattler-build?rev=0252f9ca2c5f8a9ab039b96ef09dc1d52d17de7d#0252f9ca2c5f8a9ab039b96ef09dc1d52d17de7d
+  version: 0.80.0
+  build: h11eb1b2_0
+  subdir: linux-aarch64
+  variants:
+    c_stdlib: sysroot
+    c_stdlib_version: '2.17'
+    target_platform: linux-aarch64
+  depends:
+  - libgcc >=16
+  constrains:
+  - __glibc >=2.17
+  license: BSD-3-Clause
+  build_packages:
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/_openmp_mutex-4.5-20_gnu.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/binutils_impl_linux-aarch64-2.46.1-default_h5f4c503_103.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/binutils_linux-aarch64-2.46.1-default_hf1166c9_103.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/bzip2-1.0.8-h4777abc_10.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/c-ares-1.34.9-h29ee22c_0.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/cmake-4.4.5-hcbeb305_0.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/gcc_impl_linux-aarch64-16.2.0-h5425ead_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/gcc_linux-aarch64-16.2.0-h25cc031_2.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/icu-79.1-py313h6ffeb17_0.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/keyutils-1.6.3-h5bc82ec_1.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/krb5-1.22.2-h095d8e5_2.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/ld_impl_linux-aarch64-2.46.1-default_h1979696_103.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libcurl-8.23.0-h86273da_0.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libedit-3.1.20260512-pl5321hc48eb74_0.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libev-4.33-h80f16a2_3.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libexpat-2.9.0-h4154aff_0.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libgcc-16.2.0-h205dda4_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libgomp-16.2.0-h8acb6b2_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/liblzma-5.8.3-he30d5cf_1.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libnghttp2-1.71.0-h0d23a54_0.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libpsl-0.23.1-h37fd031_2.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libsanitizer-16.2.0-h73cac2c_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libssh2-1.11.1-h7572e3e_1.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libstdcxx-16.2.0-hef695bb_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libuv-1.52.1-h80f16a2_1.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libzlib-1.3.2-hdc9db2a_3.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/ncurses-6.6-h2b6f883_1.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/openssl-3.6.5-he6ad1d5_0.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/rhash-1.4.6-he30d5cf_2.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/rust-1.99.1-hfa1fd44_1.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/rust_linux-aarch64-1.99.1-ha511860_0.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/zstd-1.5.7-h9d15635_7.conda
+  - conda: https://prefix.dev/conda-forge/noarch/ca-certificates-2026.10.23-hbd8a1cb_0.conda
+  - conda: https://prefix.dev/conda-forge/noarch/kernel-headers_linux-aarch64-4.18.0-h05a177a_18.conda
+  - conda: https://prefix.dev/conda-forge/noarch/libgcc-devel_linux-aarch64-16.2.0-hc0c2482_107.conda
+  - conda: https://prefix.dev/conda-forge/noarch/libstdcxx-devel_linux-aarch64-16.2.0-h082e5f6_107.conda
+  - conda: https://prefix.dev/conda-forge/noarch/rust-std-aarch64-unknown-linux-gnu-1.99.1-hb0489cc_1.conda
+  - conda: https://prefix.dev/conda-forge/noarch/sysroot_linux-aarch64-2.17-h68829e0_18.conda
+  - conda: https://prefix.dev/conda-forge/noarch/tzdata-2026e-h5d301ff_0.conda
+  host_packages:
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/_openmp_mutex-4.5-20_gnu.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libgcc-16.2.0-h205dda4_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-aarch64/libgomp-16.2.0-h8acb6b2_7.conda
 - pypi: git+https://github.com/RoboStack/vinca.git?rev=74d1e856d5b00c0cb5ee0c1be41dac4afcae7bf5#74d1e856d5b00c0cb5ee0c1be41dac4afcae7bf5
   name: vinca
   version: 0.2.0
diff --git a/pixi.toml b/pixi.toml
index c76cfff92..eee8eb68e 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -2,11 +2,14 @@
 name = "robostack"
 description = "RoboStack: conda packages for all ROS 2 distributions, from one repository"
 authors = ["Tobias Fischer <tobias.fischer@qut.edu.au>", "Wolf Vollprecht <w.vollprecht@gmail.com>", "Silvio Traversaro <silvio@traversaro.it>", "Daisuke Nishimatsu <daisuke.nishimatsu1021@gmail.com>"]
-channels = ["https://prefix.dev/conda-forge"]
+channels = ["https://prefix.dev/conda-forge", "https://prefix.dev/rattler-build-pre-release"]
+# rattler-build from git on the platforms its pre-releases aren't built for
+preview = ["pixi-build"]
 platforms = [
   "osx-arm64",
-  # 2.17 is the glibc version used in CentOS 7
-  { platform = "linux-64", glibc = "2.17" },
+  # 2.17 is the glibc version used in CentOS 7; temporarily pixi's default (2.28) on
+  # linux-64, for the rattler-build pre-release (built for 2.28) below
+  "linux-64",
   "osx-64",
   { platform = "linux-aarch64", glibc = "2.17" },
   "win-64",
@@ -17,7 +20,11 @@ PYTHONIOENCODING = "utf-8"
 
 [dependencies]
 python = ">=3.14.0,<3.15"
-rattler-build = ">=0.80.0,<0.81"
+# Temporarily rattler-build's main (0252f9ca), for prefix-dev/rattler-build#2931: a
+# build or test waits for the variant of a dependency it can install, not any variant.
+# Back to conda-forge's rattler-build (and no pre-release channel or pixi-build) once
+# a release has it.
+rattler-build = { version = "==0.80.0.20261111.1453.252f9c", channel = "https://prefix.dev/rattler-build-pre-release" }
 cmake = "<4.0"
 setuptools = "<82.0"
 rattler-index = ">=0.27.16"
@@ -28,6 +35,16 @@ pytest = ">=9.1.1,<10"
 # gh for the workflows: one version everywhere (the runner's is not on PATH on Windows)
 gh = ">=2.102.0,<3"
 
+[target.linux.dependencies]
+# required by rattler-build; only conda-forge's package depends on it
+patchelf = "*"
+
+[target.osx-64.dependencies]
+rattler-build = { git = "https://github.com/prefix-dev/rattler-build.git", rev = "0252f9ca2c5f8a9ab039b96ef09dc1d52d17de7d" }
+
+[target.linux-aarch64.dependencies]
+rattler-build = { git = "https://github.com/prefix-dev/rattler-build.git", rev = "0252f9ca2c5f8a9ab039b96ef09dc1d52d17de7d" }
+
 [target.win-64.dependencies]
 # patch is required by rattler-build
 m2-patch = "*"