diff --git a/.claude/skills/robostack-versions/SKILL.md b/.claude/skills/robostack-versions/SKILL.md
index b7112665..ab45bab3 100644
--- a/.claude/skills/robostack-versions/SKILL.md
+++ b/.claude/skills/robostack-versions/SKILL.md
@@ -25,8 +25,10 @@ change, or on request) open PRs that already contain the bumps below. Do it by h
     `distros/<d>/conda_build_config.yaml`.
 - **The mutex** (`mutex_package` in `distros/<d>/vinca.yaml`): `ros2-distro-mutex`
   with `upper_bound: x.x`. Packages built with mutex 0.11 can't be installed with
-  0.10 builds. Its `run_constraints` pin the ABI-relevant libraries for users'
-  environments and must agree with the rendered pins.
+  0.10 builds. It has no `run_constraints` (`rs check` enforces it): library versions
+  come from the packages' own dependencies. When an environment resolves to a broken
+  combination, fix the metadata of the package that is wrong (a patch,
+  `pkg_additional_info.yaml`, or a conda-forge repodata patch), never the mutex.
 
 ## Update the snapshot
 
@@ -53,12 +55,10 @@ pixi run rs <d> create-snapshot
 pixi run rs <d> update-pinning      # = bot command: latest pinning + rebuild plan for <d>
 pixi run rs update-pinning          # the same for every distribution
 pixi run rs <d> render-pinning      # after editing shared/pinning or distro.yaml
-pixi run rs <d> check-deps          # solve all non-ROS deps + mutex constraints, nothing built
+pixi run rs <d> check-deps          # solve all non-ROS deps together, nothing built
 ```
 
 `check-deps` reports:
-- `PIN MISMATCH`: a mutex `run_constraints` entry contradicts the rendered pin. Fix
-  `vinca.yaml` or the pinning; never `conda_build_config.yaml`.
 - Per conflicting package: the recipes that need it, the clashing pin, the solver
   explanation and the conda-forge migration status. "no migration" means the feedstock
   only needs a rebuild upstream.
@@ -78,9 +78,8 @@ host requirements, plus everything that depends on them (host or run, transitive
 are rebuilt; the rest keep their published builds.
 
 - **Partial rebuild** (the usual case): those packages get `build_number` = highest
-  released build + 1 in `distros/<d>/pkg_additional_info.yaml`, and when the mutex
-  `run_constraints` changed, the mutex gets a new build at the same version
-  (`mutex_package.build_number`), so all other published packages stay installable.
+  released build + 1 in `distros/<d>/pkg_additional_info.yaml`. The mutex stays as
+  it is, so all other published packages stay installable.
 - **Full rebuild** (more than half of the packages affected): the bump below.
 
 The PR lists the packages and why, the migrations used / waiting for our dependencies'
@@ -102,11 +101,9 @@ rebuilt:
 2. Mutex minor version + 1, e.g. `0.10.0` -> `0.11.0`. Nothing else hard-codes the
    mutex version.
 3. Remove all per-package `build_number` entries in `distros/<d>/pkg_additional_info.yaml`.
-4. Update mutex `run_constraints` to the new pins, then run `check-deps`.
-5. `pixi run rs check`.
+4. `pixi run rs <d> check-deps`, then `pixi run rs check`.
 
-The bot does 1–4. It only moves constraints of the form `<pkg> <version>.*`; ranges
-and other constraints are left for you to check.
+The bot does 1–3.
 
 In the PR, CI uses its cache unless told otherwise. A full rebuild PR sets
 `full_rebuild: true` in `distros/<d>/ci.yaml` (reset after merging).
@@ -123,15 +120,12 @@ In the PR, CI uses its cache unless told otherwise. A full rebuild PR sets
 ```bash
 pixi run rs <d> find-stale                                     # = bot find-stale-packages
 pixi run rs <d> check-deps --stale                             # local artifacts
-pixi run rs <d> check-deps --stale --mutex-only                # only mutex violations
 pixi run rs <d> check-deps --stale --repodata https://conda.anaconda.org/<channel>
 pixi run rs <d> check-deps --stale --delete                    # delete stale local artifacts
 ```
 
 For published stale builds, the report prints the `pkg_additional_info.yaml`
-build-number snippet, a `mutex_package: build_number:` bump (re-publishes the mutex
-with new constraints without changing its version), and the `anaconda remove`
-commands for the old files.
+build-number snippet and the `anaconda remove` commands for the old files.
 
 ## Bump vinca or rattler-build
 
diff --git a/.github/workflows/testpr.yaml b/.github/workflows/testpr.yaml
index 4d75786e..7a0a6329 100644
--- a/.github/workflows/testpr.yaml
+++ b/.github/workflows/testpr.yaml
@@ -65,6 +65,8 @@ jobs:
           cache-write: false  # the build jobs save the pixi environment cache
       - name: Sanity checks (every distribution assembles, generated files up to date, sorted)
         run: pixi run rs check
+      - name: Unit tests of the tooling
+        run: pixi run test
 
   build:
     needs: plan
diff --git a/README.md b/README.md
index 4a6d2074..1b18869f 100644
--- a/README.md
+++ b/README.md
@@ -71,7 +71,7 @@ combines the two, and the files next to each:
 - **`vinca.yaml`:**
   - The package selection (`packages_select_by_deps`) lives in `shared/` for every distribution; vinca skips packages a distribution's rosdistro doesn't have.
   - Exceptions, in `shared/` or a distribution: `packages_exclude` (not built, dropped from other packages' dependencies) and `packages_skip` (not built, dependents keep the dependency), each as plain names or under `- if: <condition>`. ROS packages mapped to conda-forge in `robostack.yaml` are skipped automatically.
-  - `mutex_package`: name, `upper_bound` and the common `run_constraints` are shared. Each distribution sets its own `version`, and its `run_constraints` replace the shared constraint on the same package (e.g. jazzy's `libprotobuf 7.35.*`) or add new ones.
+  - `mutex_package`: name and `upper_bound` are shared; each distribution sets its own `version`. The mutex only keeps one distribution per environment and has no `run_constraints` (`rs check` enforces it): library versions come from the packages' own dependencies, and wrong ones are fixed in the package's metadata.
   - Other keys come from the distribution if it sets them, else from `shared/`. A distribution that differs from a shared setting just sets it.
   - Paths are relative to the file that sets them. `distros/<distro>/work/vinca.yaml` (generated) extends the distribution's file and adds `skip_existing` (its channel).
 - **`pkg_additional_info.yaml` and `patch/dependencies.yaml`:** merged per package. The distribution's keys win, for example its own `build_number` on top of a shared `additional_cmake_args`.
@@ -127,7 +127,7 @@ of a distribution uses `full_rebuild: true` there. A new build number goes into
 | `add-package <pkg>... [<distro>...]` | anyone | Adds ROS packages to the shared selection in `shared/vinca.yaml`, in sorted position; every distribution that has them builds them. Opens a PR listing, for the given (default: every) distribution, what will be built on linux-64 (and what is already published as a dependency). Valid ROS package names only, at most 10 per request. |
 | `update-rosdistro-snapshot [<distro>... \| all]` | maintainers | Snapshots the distribution's latest rosdistro sync (the release team's tag, e.g. `jazzy/2026-10-05`, recorded as `rosdistro_sync` in `distro.yaml`; rosdistro master for `rosdistro_sync: manual`, like rolling), then sets `build_number` to the highest build of the distribution's released packages + 1, bumps the mutex minor version and removes all per-package build numbers: a full rebuild. The PR links the sync's announcement and lists the version bumps. Runs daily for distributions with a new sync. |
 | `find-stale-packages [<distro>... \| all]` | maintainers | Published packages built against pins that no longer match, with the build-number snippet to rebuild them. Replies only. |
-| `update-conda-forge-pinning [<distro>... \| all]` | maintainers | Moves the distribution's conda-forge pinning (`conda_forge_pinning_version` / `conda_forge_migrations` in `distro.yaml`, or `shared/pinning/conda_forge.yaml` for distributions that follow it) to the latest version, with the migrations that are done for the distribution's dependencies, and re-renders `conda_build_config.yaml`. Only packages that use a changed pin, and everything depending on them, are rebuilt (per-package build numbers, a new build of the mutex at the same version); more than half affected means a full rebuild. Mutex `run_constraints` of the form `<pkg> <version>.*` follow the new pins. The PR lists the rebuilt packages, the migrations used and those waiting for feedstocks, and the dependency check; it is labelled `dependency-conflict` when the pins can't be installed together. Runs daily, one PR per distribution. |
+| `update-conda-forge-pinning [<distro>... \| all]` | maintainers | Moves the distribution's conda-forge pinning (`conda_forge_pinning_version` / `conda_forge_migrations` in `distro.yaml`, or `shared/pinning/conda_forge.yaml` for distributions that follow it) to the latest version, with the migrations that are done for the distribution's dependencies, and re-renders `conda_build_config.yaml`. Only packages that use a changed pin, and everything depending on them, are rebuilt (per-package build numbers); more than half affected means a full rebuild. The PR lists the rebuilt packages, the migrations used and those waiting for feedstocks, and the dependency check; it is labelled `dependency-conflict` when the pins can't be installed together. Runs daily, one PR per distribution. |
 
 There are three ways to trigger a command:
 - a *Package request* or *robostack-bot command* issue;
diff --git a/distros/humble/vinca.yaml b/distros/humble/vinca.yaml
index 9354ff9d..c0b2a9ba 100644
--- a/distros/humble/vinca.yaml
+++ b/distros/humble/vinca.yaml
@@ -7,9 +7,9 @@ rosdistro_additional_recipes: rosdistro_additional_recipes.yaml
 build_number: 20
 
 mutex_package:
+  # new build without run_constraints (same version as the published ones)
+  build_number: 21
   version: "0.10.0"
-  run_constraints:
-    - krb5 1.22.*
 
 packages_exclude:
 
diff --git a/distros/jazzy/vinca.yaml b/distros/jazzy/vinca.yaml
index 4dbabd7a..3a7aaa5f 100644
--- a/distros/jazzy/vinca.yaml
+++ b/distros/jazzy/vinca.yaml
@@ -9,31 +9,9 @@ rosdistro_additional_recipes: rosdistro_additional_recipes.yaml
 build_number: 25
 
 mutex_package:
+  # new build without run_constraints (same version as the published ones)
+  build_number: 26
   version: "0.19.0"
-  run_constraints:
-    - libprotobuf 7.35.*
-    # ffmpeg (pulled in transitively by libopencv, needed by the whole image/gz
-    # stack) only supports libprotobuf 7.35 via libopenvino-tensorflow-frontend
-    # >=2026.3.0; older libopenvino/libopencv/ffmpeg builds still coexist in the
-    # channel needing libprotobuf 6.x, so pin this directly rather than relying
-    # on resolvo to find the compatible combination on its own. libopencv/
-    # py-opencv are pinned too, since resolvo has shown trouble propagating the
-    # openvino constraint transitively through ffmpeg on its own.
-    - libopenvino-tensorflow-frontend >=2026.3.0
-    - libopencv >=5.0.0
-    - py-opencv >=5.0.0
-    # Belt-and-suspenders for the same conflict: ffmpeg 8.1.2 builds that pull
-    # in the protobuf-6-only openvino also coexist in the channel. Pinning
-    # ffmpeg directly to major version 9 removes the ambiguity outright.
-    - ffmpeg 9.*
-    # libopencv 5.0.0 also depends on a *second*, separate openvino frontend
-    # package (tensorflow-LITE-frontend, distinct from tensorflow-frontend
-    # above) and every 5.0.0 build hardcodes it to the 2026.3.0.x line. Some
-    # ffmpeg 9.0.1/9.0.2 builds instead need 2026.3.1, which conflicts --
-    # constrain lite-frontend to the same range libopencv needs so resolvo
-    # picks an ffmpeg 9.x build compatible with it.
-    - libopenvino-tensorflow-lite-frontend >=2026.3.0,<2026.3.1.0a0
-
 
 packages_exclude:
 
diff --git a/distros/lyrical/vinca.yaml b/distros/lyrical/vinca.yaml
index c1053175..dac40e31 100644
--- a/distros/lyrical/vinca.yaml
+++ b/distros/lyrical/vinca.yaml
@@ -6,13 +6,9 @@ rosdistro_additional_recipes: rosdistro_additional_recipes.yaml
 build_number: 27
 
 mutex_package:
+  # new build without run_constraints (same version as the published ones)
+  build_number: 28
   name: ros2-distro-mutex
   version: 0.21.0
   upper_bound: x.x
-  run_constraints:
-    - libboost 1.90.*
-    - libboost-devel 1.90.*
-    - pcl 1.15.1.*
-    - libprotobuf 7.35.1.*
-    - vtk 9.7.0.*
 
diff --git a/distros/rolling/vinca.yaml b/distros/rolling/vinca.yaml
index 23f15ade..b0fe2da7 100644
--- a/distros/rolling/vinca.yaml
+++ b/distros/rolling/vinca.yaml
@@ -7,29 +7,9 @@ rosdistro_additional_recipes: rosdistro_additional_recipes.yaml
 build_number: 29
 
 mutex_package:
+  # new build without run_constraints (same version as the published ones)
+  build_number: 30
   version: "0.22.0"
-  run_constraints:
-    # ffmpeg (pulled in transitively by libopencv, needed by the whole image/gz
-    # stack) only supports libprotobuf 7.35 via libopenvino-tensorflow-frontend
-    # >=2026.3.0; older libopenvino/libopencv/ffmpeg builds still coexist in the
-    # channel needing libprotobuf 6.x, so pin this directly rather than relying
-    # on resolvo to find the compatible combination on its own. libopencv/
-    # py-opencv are pinned too, since resolvo has shown trouble propagating the
-    # openvino constraint transitively through ffmpeg on its own.
-    - libopenvino-tensorflow-frontend >=2026.3.0
-    - libopencv >=5.0.0
-    - py-opencv >=5.0.0
-    # Belt-and-suspenders for the same conflict: ffmpeg 8.1.2 builds that pull
-    # in the protobuf-6-only openvino also coexist in the channel. Pinning
-    # ffmpeg directly to major version 9 removes the ambiguity outright.
-    - ffmpeg 9.*
-    # libopencv 5.0.0 also depends on a *second*, separate openvino frontend
-    # package (tensorflow-LITE-frontend, distinct from tensorflow-frontend
-    # above) and every 5.0.0 build hardcodes it to the 2026.3.0.x line. Some
-    # ffmpeg 9.0.1/9.0.2 builds instead need 2026.3.1, which conflicts --
-    # constrain lite-frontend to the same range libopencv needs so resolvo
-    # picks an ffmpeg 9.x build compatible with it.
-    - libopenvino-tensorflow-lite-frontend >=2026.3.0,<2026.3.1.0a0
 
 packages_exclude:
 
diff --git a/pixi.lock b/pixi.lock
index 0f20154b..33a1b6c0 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -77,10 +77,19 @@ environments:
       - conda: https://prefix.dev/conda-forge/linux-64/yaml-0.2.5-hebe6cf0_3.conda
       - conda: https://prefix.dev/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_7.conda
       - conda: https://prefix.dev/conda-forge/noarch/ca-certificates-2026.7.22-hbd8a1cb_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
+      - conda: https://prefix.dev/conda-forge/noarch/exceptiongroup-1.3.1-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/iniconfig-2.3.0-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/pluggy-1.6.0-pyhf9edf01_1.conda
+      - conda: https://prefix.dev/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
       - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.14-9_cp314.conda
       - conda: https://prefix.dev/conda-forge/noarch/setuptools-81.0.0-pyh332efcf_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/tomli-2.5.0-pyh5ded981_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/typing_extensions-4.16.0-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/tzdata-2026c-h151e31d_0.conda
-      - pypi: git+https://github.com/Tobias-Fischer/vinca.git?rev=b5c524bfc06221d8f9345ad851f7d4d9fd9b79b6#b5c524bfc06221d8f9345ad851f7d4d9fd9b79b6
+      - pypi: git+https://github.com/Tobias-Fischer/vinca.git?rev=cf6833a12f36509a90ea33d25766709bcc1eb2cf#cf6833a12f36509a90ea33d25766709bcc1eb2cf
       - pypi: https://files.pythonhosted.org/packages/0b/a7/71ac2cff56fec219ed242bb11b8efb69fcc4bec75db06fb7bfe35de520e6/certifi-2026.7.22-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/12/74/ef303ec980ef962ffe548fa36cb138bb399d1d1315731ba7bb81da85f7e0/rosdistro-1.1.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/12/b3/231ffd4ab1fc9d679809f356cebee130ac7daa00d6d6f3206dd4fd137e9e/distro-1.9.0-py3-none-any.whl
@@ -94,8 +103,6 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/3f/53/b5e80bac66d0db921ddbbe3c8d37198455c19302a29da1a434708c35c79d/catkin_pkg-1.1.1-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/58/a2/bb081bab032533a855d44de1d56f8e8426114ff1ba5d1f07a438a0a654f8/idna-3.20-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/62/a1/3d680cbfd5f4b8f15abc1d571870c5fc3e594bb582bc3b64ea099db13e56/jinja2-3.1.6-py3-none-any.whl
-      - pypi: https://files.pythonhosted.org/packages/63/34/ba1c580383c9eada3711951fef0795c80b829a078d72188184bcab9dd527/packaging-26.3-py3-none-any.whl
-      - pypi: https://files.pythonhosted.org/packages/71/46/17f022dd3e953bf20a04a028a21ec746d942f8d2af30fa0f124fa0e6a684/pygments-2.21.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/7e/cd/fe58041e9011f307c490e3e17dd48cc516448f7c698a3f2d9d9d65d7e6a8/networkx-3.7-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/82/3b/64d4899d73f91ba49a8c18a8ff3f0ea8f1c1d75481760df8c68ef5235bf5/rich-15.0.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/8f/db/d7282caf7ab03af44d5d6fdbaa019b35c7d7f1c90588b839c07cba640d6a/markupsafe-3.0.4-cp314-cp314-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
@@ -149,10 +156,19 @@ environments:
       - conda: https://prefix.dev/conda-forge/linux-aarch64/yaml-0.2.5-h29ee22c_3.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-2026.7.22-hbd8a1cb_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
+      - conda: https://prefix.dev/conda-forge/noarch/exceptiongroup-1.3.1-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/iniconfig-2.3.0-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/pluggy-1.6.0-pyhf9edf01_1.conda
+      - conda: https://prefix.dev/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
       - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.14-9_cp314.conda
       - conda: https://prefix.dev/conda-forge/noarch/setuptools-81.0.0-pyh332efcf_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/tomli-2.5.0-pyh5ded981_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/typing_extensions-4.16.0-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/tzdata-2026c-h151e31d_0.conda
-      - pypi: git+https://github.com/Tobias-Fischer/vinca.git?rev=b5c524bfc06221d8f9345ad851f7d4d9fd9b79b6#b5c524bfc06221d8f9345ad851f7d4d9fd9b79b6
+      - pypi: git+https://github.com/Tobias-Fischer/vinca.git?rev=cf6833a12f36509a90ea33d25766709bcc1eb2cf#cf6833a12f36509a90ea33d25766709bcc1eb2cf
       - pypi: https://files.pythonhosted.org/packages/0b/a7/71ac2cff56fec219ed242bb11b8efb69fcc4bec75db06fb7bfe35de520e6/certifi-2026.7.22-py3-none-any.whl
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@@ -164,8 +180,6 @@ environments:
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-      - pypi: https://files.pythonhosted.org/packages/63/34/ba1c580383c9eada3711951fef0795c80b829a078d72188184bcab9dd527/packaging-26.3-py3-none-any.whl
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       - pypi: https://files.pythonhosted.org/packages/7f/72/9c5e7707b57c8ddfa9ddf7b0b1d009d7fbab9e9e887d5b721060f37e307d/charset_normalizer-3.5.2-cp314-cp314-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
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+- conda: https://prefix.dev/conda-forge/noarch/typing_extensions-4.16.0-pyhcf101f3_0.conda
+  sha256: 2d888f90af0686044882c74193ec80a90ec1943145d94a7b1b048958acda1848
+  md5: c70ad746c22219b9700931707482992c
+  depends:
+  - python >=3.10
+  - python
+  license: PSF-2.0
+  license_family: PSF
+  purls:
+  - pkg:pypi/typing-extensions?source=hash-mapping
+  run_exports: {}
+  size: 52631
+  timestamp: 1783002732887
 - conda: https://prefix.dev/conda-forge/noarch/tzdata-2026c-h151e31d_0.conda
   sha256: b928c30ddcb0e3f544c6eade8352737e6e610e263276b90232db6a578ef899d8
   md5: fcb489df604d100968b737f2cb6076c6
@@ -3079,7 +3237,7 @@ packages:
     - zstd >=1.5.7,<1.6.0a0
   size: 387535
   timestamp: 1786599623274
-- pypi: git+https://github.com/Tobias-Fischer/vinca.git?rev=b5c524bfc06221d8f9345ad851f7d4d9fd9b79b6#b5c524bfc06221d8f9345ad851f7d4d9fd9b79b6
+- pypi: git+https://github.com/Tobias-Fischer/vinca.git?rev=cf6833a12f36509a90ea33d25766709bcc1eb2cf#cf6833a12f36509a90ea33d25766709bcc1eb2cf
   name: vinca
   version: 0.2.0
   requires_dist:
@@ -3223,23 +3381,11 @@ packages:
   - markupsafe>=2.0
   - babel>=2.7 ; extra == 'i18n'
   requires_python: '>=3.7'
-- pypi: https://files.pythonhosted.org/packages/63/34/ba1c580383c9eada3711951fef0795c80b829a078d72188184bcab9dd527/packaging-26.3-py3-none-any.whl
-  name: packaging
-  version: '26.3'
-  sha256: d7193f7c8e4e93f444fde0262bf90af30e16fa0ad0ad44cb553c87339b23cd1c
-  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/6c/ab/2f8488f0f817a39fca068d2b17daf446bf5cdb3eae28c3720af534d873b4/markupsafe-3.0.4-cp314-cp314-macosx_10_15_x86_64.whl
   name: markupsafe
   version: 3.0.4
   sha256: 4cf3468d5ec187ffffcaca8e61929a37448f215dafc1386a12c750a72fe53634
   requires_python: '>=3.9'
-- pypi: https://files.pythonhosted.org/packages/71/46/17f022dd3e953bf20a04a028a21ec746d942f8d2af30fa0f124fa0e6a684/pygments-2.21.0-py3-none-any.whl
-  name: pygments
-  version: 2.21.0
-  sha256: 2363c69b61c4a97c838da3b130dcd6468f4848992b21a82f2a63ec34377137d9
-  requires_dist:
-  - colorama>=0.4.6 ; extra == 'windows-terminal'
-  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/7c/8a/40db9aa9f5907bb0e6f8b6d64064bf8852fb33d4b813ff9414911df7647c/charset_normalizer-3.5.2-cp314-cp314-macosx_10_15_universal2.whl
   name: charset-normalizer
   version: 3.5.2
diff --git a/pixi.toml b/pixi.toml
index 3db21828..db72b417 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -24,6 +24,7 @@ rattler-index = ">=0.27.16"
 pyyaml = "*"
 # Some git repos need git-lfs, see https://github.com/RoboStack/ros-jazzy/issues/118
 git-lfs = "*"
+pytest = ">=9.1.1,<10"
 
 [target.win-64.dependencies]
 # patch is required by rattler-build
@@ -33,12 +34,13 @@ git = "*"
 
 [pypi-dependencies]
 # One vinca for all distributions.
-# Tobias-Fischer/vinca robostack-integration (RoboStack/vinca#162 + extends, test selectors, gha fix) until merged upstream
-vinca = { git = "https://github.com/Tobias-Fischer/vinca.git", rev = "b5c524bfc06221d8f9345ad851f7d4d9fd9b79b6" }
+# Tobias-Fischer/vinca robostack-integration (extends, test selectors, gha fix, rebuild planner, mutex build number: RoboStack/vinca#163-#169) until merged upstream
+vinca = { git = "https://github.com/Tobias-Fischer/vinca.git", rev = "cf6833a12f36509a90ea33d25766709bcc1eb2cf" }
 # For local development, temporarily use (and regenerate pixi.lock):
 # vinca = { path = "../vinca", editable = true }
 
 [tasks]
 rs = { cmd = "python tools/robostack.py", description = "Run a task for one distribution: `pixi run rs <distro> <task>` (generate-recipes, build, build-one, check-patches, check-deps, create-snapshot, render-pinning, sort, ...)." }
 sort = { cmd = "sh -lc 'vinca-sort-vinca-lists $@ shared/vinca.yaml && vinca-sort-yaml-keys $@ shared/robostack.yaml shared/pkg_additional_info.yaml shared/patch/dependencies.yaml && for d in distros/*/; do (cd $d && vinca-sort-vinca-lists $@ vinca.yaml && vinca-sort-yaml-keys $@ pkg_additional_info.yaml rosdistro_additional_recipes.yaml $(ls patch/dependencies.yaml 2>/dev/null)) || exit 1; done' --", description = "Sort the YAML files of all distributions (`--check` to only check)." }
+test = { cmd = "python -m pytest tools/tests", description = "Unit tests of the repository tooling (tools/tests)." }
 render-pinning = { cmd = "sh -lc 'for d in distros/*/; do python tools/robostack.py $(basename $d) render-pinning || exit 1; done'", description = "Regenerate every distribution's conda_build_config.yaml from shared/pinning and its distro.yaml." }
diff --git a/shared/vinca.yaml b/shared/vinca.yaml
index 9649eea4..1644937c 100644
--- a/shared/vinca.yaml
+++ b/shared/vinca.yaml
@@ -6,17 +6,16 @@ conda_index:
   - robostack.yaml
 patch_dir: patch
 
-# The distro mutex: every distribution sets its own version; its run_constraints
-# replace the shared constraint on the same package and add others.
+# The distro mutex: every distribution sets its own version. It only keeps one ROS
+# distribution per environment: no run_constraints. Library versions follow from
+# the packages' own dependencies (run_exports); where those are wrong, fix the
+# package's metadata (patch/, pkg_additional_info.yaml, or a conda-forge repodata
+# patch) instead. Mutex constraints applied to every user environment, also to
+# packages it doesn't use, and made solvers fall back to old ROS builds when
+# another library needed a different version. `rs check` rejects them.
 mutex_package:
   name: "ros2-distro-mutex"
   upper_bound: "x.x"
-  run_constraints:
-    - libboost 1.90.*
-    - libboost-devel 1.90.*
-    - pcl 1.15.1.*
-    - libprotobuf 7.35.1.*
-    - vtk 9.7.0.*
 
 # pixi used by the generated build workflows; keep in sync with .github/workflows.
 setup_pixi_version: "0.11.0"
diff --git a/tools/maintenance.py b/tools/maintenance.py
index 1f5132a1..15700dfb 100644
--- a/tools/maintenance.py
+++ b/tools/maintenance.py
@@ -90,57 +90,6 @@ def _ruamel():
     return ry
 
 
-def sync_mutex_constraints(distro: str) -> list[str]:
-    """Move `<pkg> <version>.*` run_constraints of the mutex to the rendered pin of
-    the same package in conda_build_config.yaml; a shared constraint that no longer
-    matches gets an override in the distribution's vinca.yaml. Other constraints stay
-    as they are."""
-    path = rs.DISTROS / distro / "vinca.yaml"
-    pins = yaml.safe_load((rs.DISTROS / distro / "conda_build_config.yaml").read_text()) or {}
-    changes: list[str] = []
-
-    def repl(m: re.Match) -> str:
-        name, old = m.group(2), m.group(3)
-        pin = pins.get(name.replace("-", "_"))
-        if not (isinstance(pin, list) and pin):
-            return m.group(0)
-        # same precision as before (`libprotobuf 7.35.*` stays at major.minor)
-        new = ".".join(str(pin[0]).split(".")[: len(old.split("."))])
-        if new == old:
-            return m.group(0)
-        changes.append(f"`{name}` {old}.* → {new}.*")
-        return f"{m.group(1)}{name} {new}.*"
-
-    text = path.read_text()
-    head, sep, rest = text.partition("run_constraints:")
-    if sep:
-        block = re.match(r"(?:[ \t]*(?:-.*|#.*)?\n)*", rest).group(0)
-        block_new = re.sub(r"(?m)^([ \t]*-[ \t]+)([A-Za-z0-9_.-]+) ([0-9][0-9.]*)\.\*[ \t]*$", repl, block)
-        text = head + sep + block_new + rest[len(block):]
-
-    # constraints from shared/vinca.yaml that the distribution doesn't override:
-    # an outdated one gets an override in the distribution's file
-    own = (yaml.safe_load(text).get("mutex_package") or {}).get("run_constraints") or []
-    own_names = {rs._constraint_name(c) for c in own}
-    shared = (rs.load_yaml(rs.SHARED / "vinca.yaml").get("mutex_package") or {}).get("run_constraints") or []
-    overrides = []
-    for constraint in shared:
-        m = re.fullmatch(r"([A-Za-z0-9_.-]+) ([0-9][0-9.]*)\.\*", str(constraint).strip())
-        if not m or m.group(1) in own_names:
-            continue
-        line = repl(re.match(r"()(.*) (.*)", f"{m.group(1)} {m.group(2)}"))
-        if line != f"{m.group(1)} {m.group(2)}":
-            overrides.append(line)
-    if overrides:
-        lines = "".join(f"    - {o}\n" for o in overrides)
-        if sep:
-            text = re.sub(r"(?m)^(  run_constraints:\n)", lambda mm: mm.group(1) + lines, text, count=1)
-        else:
-            text = re.sub(r"(?m)^(mutex_package:\n(?:[ \t]+.*\n)*)", lambda mm: mm.group(1) + "  run_constraints:\n" + lines, text, count=1)
-    path.write_text(text)
-    return changes
-
-
 REPODATA_SUBDIRS = ("noarch", "linux-64", "linux-aarch64", "osx-64", "osx-arm64", "win-64")
 
 
@@ -240,10 +189,9 @@ def plan_rebuild(distro: str, old_cbc: str) -> tuple[dict[str, str], int]:
     return rebuild.plan(requirements, changed, prefix), len(requirements)
 
 
-def bump_partial(distro: str, packages: dict[str, str], mutex_changed: bool) -> list[str]:
+def bump_partial(distro: str, packages: dict[str, str]) -> list[str]:
     """Rebuild just these packages: a per-package build number above everything the
-    channel has, and, when its run_constraints changed, a new build of the mutex (its
-    version stays, so every other published package keeps working with it)."""
+    channel has. The mutex has no run_constraints, so it never needs a new build here."""
     builds = released_builds(distro)
     current = int(re.search(r"(?m)^build_number:\s*(\d+)", (rs.DISTROS / distro / "vinca.yaml").read_text()).group(1))
     released = released_build_number(distro, builds)
@@ -260,29 +208,12 @@ def bump_partial(distro: str, packages: dict[str, str], mutex_changed: bool) ->
             entry["build_number"] = number
     with info.open("w") as fh:
         ry.dump(data, fh)
-    lines = [f"{len(packages)} packages get `build_number: {number}` in `distros/{distro}/pkg_additional_info.yaml`"]
-
-    if mutex_changed:
-        path = rs.DISTROS / distro / "vinca.yaml"
-        text = path.read_text()
-        mutex = (rs.read_vinca(distro).get("mutex_package") or {}).get("name")
-        mutex_build = ((builds or {}).get(mutex, number - 1)) + 1
-        block = re.search(r"(?m)^mutex_package:\n((?:[ \t]+.*\n|\n)*)", text)
-        if not block:
-            raise SystemExit(f"{path}: no mutex_package")
-        body = block.group(1)
-        if re.search(r"(?m)^  build_number:", body):
-            body = re.sub(r"(?m)^(  build_number:\s*)\d+", rf"\g<1>{mutex_build}", body, count=1)
-        else:
-            body = f"  build_number: {mutex_build}\n" + body
-        path.write_text(text[: block.start(1)] + body + text[block.end(1):])
-        lines.append(f"mutex `{mutex}`: new build {mutex_build} with the updated run_constraints (same version)")
-    return lines
+    return [f"{len(packages)} packages get `build_number: {number}` in `distros/{distro}/pkg_additional_info.yaml`"]
 
 
 def dependency_conflicts(distro: str) -> set[str] | None:
     """Packages that can't be installed together with the rest of the distribution's
-    dependencies under its current pins and mutex constraints (check_dependency_compat.py,
+    dependencies under its current pins (check_dependency_compat.py,
     linux-64); None when the check itself failed."""
     with tempfile.TemporaryDirectory() as tmp:
         out = Path(tmp) / "conflicts.json"
@@ -494,22 +425,19 @@ def update_pinning(distro: str) -> Result:
     if cbc.read_text() == before_cbc:
         lines.append("The rendered pins don't change: nothing to rebuild.")
     else:
-        constraints = sync_mutex_constraints(distro)
         print(f"Planning the rebuild of {distro}", flush=True)
         packages, total = plan_rebuild(distro, before_cbc)
-        if not packages and not constraints:
+        if not packages:
             lines.append("The pins change, but no package uses them: nothing to rebuild.")
         elif total and len(packages) > FULL_REBUILD_SHARE * total:
             lines.append(f"**Full rebuild**: {len(packages)} of {total} packages use a changed pin or depend "
                          "on one. " + "; ".join(bump_rebuild(distro)))
         else:
             lines.append(f"**Rebuild {len(packages)} of {total} packages** (they use a changed pin or depend "
-                         "on one): " + "; ".join(bump_partial(distro, packages, bool(constraints))))
+                         "on one): " + "; ".join(bump_partial(distro, packages)))
             if packages:
                 lines += ["", *_details(f"Packages to rebuild ({len(packages)})", [
                     f"- `{name}`: {reason}" for name, reason in sorted(packages.items())])]
-        if constraints:
-            lines += ["", "Mutex run_constraints: " + ", ".join(constraints)]
         conflicts_after = dependency_conflicts(distro)
         if conflicts_after is None or conflicts_before is None:
             conflicts = conflicts_after is None
@@ -754,6 +682,15 @@ def _form_fields(body: str) -> dict[str, str]:
     return fields
 
 
+def mutex_problems(vinca: dict) -> list[str]:
+    """The mutex only keeps one distribution per environment: library versions come
+    from the packages' own metadata (see shared/vinca.yaml), not from run_constraints."""
+    if (vinca.get("mutex_package") or {}).get("run_constraints"):
+        return ["mutex_package.run_constraints must stay empty; fix the dependencies of the affected "
+                "packages instead (see shared/vinca.yaml)"]
+    return []
+
+
 def check() -> Result:
     """Sanity checks: every distribution assembles and its generated files are consistent."""
     problems: list[str] = []
@@ -781,6 +718,7 @@ def check() -> Result:
         for key in ("build_number", "mutex_package", "packages_select_by_deps"):
             if not vinca.get(key):
                 problems.append(f"{distro}: vinca.yaml has no {key}")
+        problems += [f"{distro}: {p}" for p in mutex_problems(vinca)]
         for patch in (d / "patch").glob("*.patch"):
             if not re.match(r"^ros2-[a-z0-9-]+(\.(osx|linux|win|unix|emscripten))?\.patch$", patch.name):
                 problems.append(f"{distro}: patch {patch.name} should be named ros2-<package>[.<platform>].patch")
diff --git a/tools/robostack.py b/tools/robostack.py
index 2dd515ba..40ddd722 100644
--- a/tools/robostack.py
+++ b/tools/robostack.py
@@ -141,10 +141,6 @@ def load_yaml(path: Path) -> dict:
     return (yaml.safe_load(path.read_text()) or {}) if path.is_file() else {}
 
 
-def _constraint_name(spec: str) -> str:
-    return re.split(r"[\s=<>!~]", str(spec).strip(), maxsplit=1)[0]
-
-
 # package lists of vinca.yaml (import_distro strips the shared entries)
 LIST_KEYS = ("packages_select_by_deps", "packages_exclude", "packages_skip")
 
diff --git a/tools/tests/conftest.py b/tools/tests/conftest.py
new file mode 100644
index 00000000..687490bc
--- /dev/null
+++ b/tools/tests/conftest.py
@@ -0,0 +1,5 @@
+import sys
+from pathlib import Path
+
+# the tools are scripts, not a package
+sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
diff --git a/tools/tests/test_mutex.py b/tools/tests/test_mutex.py
new file mode 100644
index 00000000..641858d9
--- /dev/null
+++ b/tools/tests/test_mutex.py
@@ -0,0 +1,46 @@
+"""The distro mutex keeps one ROS distribution per environment and nothing else:
+library versions come from the packages' own dependencies."""
+
+import pytest
+
+import maintenance
+import robostack as rs
+
+
+def test_mutex_without_constraints_is_fine():
+    assert maintenance.mutex_problems({"mutex_package": {"name": "ros2-distro-mutex", "run_constraints": []}}) == []
+    assert maintenance.mutex_problems({"mutex_package": {"name": "ros2-distro-mutex"}}) == []
+    assert maintenance.mutex_problems({}) == []
+
+
+def test_mutex_constraints_are_rejected():
+    problems = maintenance.mutex_problems({"mutex_package": {"run_constraints": ["libprotobuf 7.35.*"]}})
+    assert len(problems) == 1
+    assert "run_constraints must stay empty" in problems[0]
+
+
+@pytest.mark.parametrize("distro", rs.distros())
+def test_no_distribution_constrains_its_mutex(distro):
+    # shared/vinca.yaml and the distribution's vinca.yaml as vinca combines them
+    vinca = rs.read_vinca(distro, "linux-64")
+    assert maintenance.mutex_problems(vinca) == []
+
+
+def test_partial_rebuild_leaves_the_mutex_alone(tmp_path, monkeypatch):
+    distro = tmp_path / "distros" / "testdistro"
+    distro.mkdir(parents=True)
+    vinca = "ros_distro: testdistro\nbuild_number: 5\n\nmutex_package:\n  version: \"0.3.0\"\n"
+    (distro / "vinca.yaml").write_text(vinca)
+    (distro / "pkg_additional_info.yaml").write_text("rclcpp:\n  build_number: 3\n  add_host: [foo]\n")
+    monkeypatch.setattr(rs, "DISTROS", tmp_path / "distros")
+    monkeypatch.setattr(maintenance, "released_builds", lambda d: {
+        "ros2-rclcpp": 7, "ros-testdistro-std-msgs": 6, "ros2-distro-mutex": 40, "libfoo": 99})
+    monkeypatch.setattr(rs, "read_vinca", lambda d, platform=None: {"mutex_package": {"name": "ros2-distro-mutex"}})
+
+    lines = maintenance.bump_partial("testdistro", {"rclcpp": "uses libboost", "std_msgs": "depends on rclcpp"})
+
+    # above every released ROS package (7), ignoring the mutex and non-ROS packages
+    assert lines == ["2 packages get `build_number: 8` in `distros/testdistro/pkg_additional_info.yaml`"]
+    info = maintenance.yaml.safe_load((distro / "pkg_additional_info.yaml").read_text())
+    assert info == {"rclcpp": {"build_number": 8, "add_host": ["foo"]}, "std_msgs": {"build_number": 8}}
+    assert (distro / "vinca.yaml").read_text() == vinca