From e0bda6563102d7cc1457cbd82d93cf4c2cce4703 Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sat, 28 Feb 2026 11:47:28 +0000
Subject: [PATCH 1/2] chore(ci): decouple python deps from docker images

moved python dep installation from docker build to test runtime.
pyproject.toml changes no longer trigger image rebuilds.

- docker/python/Dockerfile: removed COPY, uv pip install, pydrake stub deletion
- docker/dev/Dockerfile: removed uv pip install .[dev]
- docker.yml: removed pyproject.toml from python path filter, renamed job to run-tests/run-mypy
- tests.yml: added uv sync --all-extras --no-extra dds --frozen, activate venv before running tests
---
 .github/workflows/docker.yml |  5 ++---
 .github/workflows/tests.yml  | 11 ++++++++++-
 docker/dev/Dockerfile        |  3 ---
 docker/python/Dockerfile     | 10 ----------
 4 files changed, 12 insertions(+), 17 deletions(-)

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 361ef66bf8..8bf8bc8771 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -46,7 +46,6 @@ jobs:
               - .github/workflows/_docker-build-template.yml
               - .github/workflows/docker.yml
               - docker/python/**
-              - pyproject.toml
 
             dev:
               - docker/dev/**
@@ -199,7 +198,7 @@ jobs:
       to-image: ghcr.io/dimensionalos/ros-dev:${{ needs.check-changes.outputs.branch-tag }}
       dockerfile: dev
 
-  run-ros-tests:
+  run-tests:
     needs: [check-changes, ros-dev]
     if: ${{
       always() &&
@@ -232,7 +231,7 @@ jobs:
       dev-image: ros-dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true' || needs.check-changes.outputs.ros == 'true') && needs.ros-dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
 
   ci-complete:
-    needs: [check-changes, ros, python, ros-python, dev, ros-dev, run-ros-tests, run-mypy]
+    needs: [check-changes, ros, python, ros-python, dev, ros-dev, run-tests, run-mypy]
     runs-on: [self-hosted, Linux]
     if: always()
     steps:
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 25273238dc..6006bae397 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -32,9 +32,18 @@ jobs:
         run: |
           git config --global --add safe.directory '*'
 
+      - name: Install Python dependencies
+        run: uv sync --all-extras --no-extra dds --frozen
+
+      - name: Remove pydrake stubs
+        run: |
+          find .venv/lib/*/site-packages/pydrake -name '*.pyi' -delete 2>/dev/null || true
+
       - name: Run tests
+        shell: bash
         run: |
-          /entrypoint.sh bash -c "${{ inputs.cmd }}"
+          /entrypoint.sh bash -c "source .venv/bin/activate && ${{ inputs.cmd }} ; echo \$? > /tmp/pytest_exit" || true
+          exit $(cat /tmp/pytest_exit)
 
       - name: check disk space
         if: failure()
diff --git a/docker/dev/Dockerfile b/docker/dev/Dockerfile
index ef80b70e1d..c6822e54cb 100644
--- a/docker/dev/Dockerfile
+++ b/docker/dev/Dockerfile
@@ -29,9 +29,6 @@ ENV UV_SYSTEM_PYTHON=1
 RUN curl -LsSf https://astral.sh/uv/install.sh | sh
 ENV PATH="/root/.local/bin:$PATH"
 
-# Install dependencies with UV
-RUN uv pip install .[dev]
-
 # Copy files and add version to motd
 COPY /assets/dimensionalascii.txt /etc/motd
 COPY /docker/dev/bash.sh /root/.bash.sh
diff --git a/docker/python/Dockerfile b/docker/python/Dockerfile
index 30c9fda8eb..16b4db1807 100644
--- a/docker/python/Dockerfile
+++ b/docker/python/Dockerfile
@@ -42,13 +42,3 @@ RUN curl -LsSf https://astral.sh/uv/install.sh | sh
 ENV PATH="/root/.local/bin:$PATH"
 
 WORKDIR /app
-
-# Copy entire project first to ensure proper package installation
-COPY . /app/
-
-# Install dependencies with UV (10-100x faster than pip)
-RUN uv pip install --upgrade 'pip>=24' 'setuptools>=70' 'wheel' 'packaging>=24' && \
-    uv pip install '.[misc,cpu,sim,drone,unitree,web,perception,visualization,manipulation]'
-
-# Remove pydrake .pyi stubs that use Python 3.12 syntax (breaks mypy on 3.10)
-RUN find /usr/local/lib/python3.10/dist-packages/pydrake -name '*.pyi' -delete

From 73d248cca657c7768d54e1fc855a8c4d824047d8 Mon Sep 17 00:00:00 2001
From: spomichter <pomichterstash@gmail.com>
Date: Sun, 1 Mar 2026 23:29:34 +0000
Subject: [PATCH 2/2] revert: remove Open3D exit code workaround

open3d leak fixed in #1386, workaround no longer needed.
keeps venv activation since deps are now installed at test time.
---
 .github/workflows/tests.yml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 6006bae397..3e91dff14a 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -40,10 +40,8 @@ jobs:
           find .venv/lib/*/site-packages/pydrake -name '*.pyi' -delete 2>/dev/null || true
 
       - name: Run tests
-        shell: bash
         run: |
-          /entrypoint.sh bash -c "source .venv/bin/activate && ${{ inputs.cmd }} ; echo \$? > /tmp/pytest_exit" || true
-          exit $(cat /tmp/pytest_exit)
+          /entrypoint.sh bash -c "source .venv/bin/activate && ${{ inputs.cmd }}"
 
       - name: check disk space
         if: failure()