From 952c7bfd7cf43d786156de7ee53dcaabe1f50d50 Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Tue, 7 Apr 2026 08:11:28 +0300
Subject: [PATCH 01/10] paul(ci): single step

---
 .github/workflows/ci.yml                      |  67 +++++++++++
 .../{docker.yml => docker-build.yml}          | 109 ++++++------------
 .github/workflows/tests.yml                   |  61 ----------
 docs/development/docker.md                    |  24 +---
 4 files changed, 106 insertions(+), 155 deletions(-)
 create mode 100644 .github/workflows/ci.yml
 rename .github/workflows/{docker.yml => docker-build.yml} (65%)
 delete mode 100644 .github/workflows/tests.yml

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000000..3b35a29c40
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,67 @@
+name: ci
+on:
+  push:
+    branches: [main, dev]
+    paths-ignore:
+      - '**.md'
+  pull_request:
+    types: [opened, synchronize, reopened, ready_for_review]
+    paths-ignore:
+      - '**.md'
+
+permissions:
+  contents: read
+  packages: read
+
+jobs:
+  checks:
+    if: github.event_name != 'pull_request' || github.event.pull_request.draft == false
+    timeout-minutes: 60
+    runs-on: [self-hosted, Linux]
+    container:
+      image: ghcr.io/dimensionalos/ros-dev:dev
+      env:
+        OPENAI_API_KEY: ${{ secrets.OPENAI_API_KEY }}
+        ANTHROPIC_API_KEY: ${{ secrets.ANTHROPIC_API_KEY }}
+        ALIBABA_API_KEY: ${{ secrets.ALIBABA_API_KEY }}
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Fix permissions
+        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
+        if: github.event_name != 'push'
+        run: |
+          /entrypoint.sh bash -c "source .venv/bin/activate && pytest --durations=0 -m 'not (tool or mujoco)'"
+
+      - name: Run tests with coverage
+        if: github.event_name == 'push'
+        run: |
+          /entrypoint.sh bash -c "source .venv/bin/activate && _DIMOS_COV=1 coverage run -m pytest --durations=0 -m 'not (tool or mujoco)' && coverage combine && coverage html && coverage report"
+
+      - name: Run mypy
+        if: ${{ !cancelled() }}
+        run: |
+          /entrypoint.sh bash -c "source .venv/bin/activate && MYPYPATH=/opt/ros/humble/lib/python3.10/site-packages mypy dimos"
+
+      - name: Upload coverage report
+        if: github.event_name == 'push' && !cancelled()
+        uses: actions/upload-artifact@v4
+        with:
+          name: coverage-report
+          path: htmlcov/
+
+      - name: Check disk space
+        if: failure()
+        run: |
+          df -h
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker-build.yml
similarity index 65%
rename from .github/workflows/docker.yml
rename to .github/workflows/docker-build.yml
index 0240df6ff7..a4e25bfcb2 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker-build.yml
@@ -1,29 +1,27 @@
-name: docker
+name: docker-build
 on:
   push:
-    branches:
-      - main
-      - dev
-    paths-ignore:
-      - '**.md'
-  pull_request:
-    types: [opened, synchronize, reopened, ready_for_review]
+    branches: [main, dev]
+    paths:
+      - 'docker/**'
+      - '.github/workflows/docker-build.yml'
+      - '.github/workflows/_docker-build-template.yml'
+  schedule:
+    - cron: '0 4 * * 1' # Weekly Monday 4am UTC for base image security patches
+  workflow_dispatch:
 
 permissions:
   contents: read
   packages: write
-  pull-requests: read
 
 jobs:
   check-changes:
-    if: github.event_name != 'pull_request' || github.event.pull_request.draft == false
     runs-on: [self-hosted, Linux]
     outputs:
-      ros:    ${{ steps.filter.outputs.ros }}
-      python: ${{ steps.filter.outputs.python }}
-      dev:    ${{ steps.filter.outputs.dev }}
-      navigation: ${{ steps.filter.outputs.navigation }}
-      tests:  ${{ steps.filter.outputs.tests }}
+      ros:        ${{ steps.force.outputs.force == 'true' && 'true' || steps.filter.outputs.ros }}
+      python:     ${{ steps.force.outputs.force == 'true' && 'true' || steps.filter.outputs.python }}
+      dev:        ${{ steps.force.outputs.force == 'true' && 'true' || steps.filter.outputs.dev }}
+      navigation: ${{ steps.force.outputs.force == 'true' && 'true' || steps.filter.outputs.navigation }}
       branch-tag: ${{ steps.set-tag.outputs.branch_tag }}
     steps:
       - name: Fix permissions
@@ -31,22 +29,32 @@ jobs:
           sudo chown -R $USER:$USER ${{ github.workspace }} || true
 
       - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Check if full rebuild
+        id: force
+        run: |
+          if [[ "${{ github.event_name }}" == "schedule" || "${{ github.event_name }}" == "workflow_dispatch" ]]; then
+            echo "force=true" >> "$GITHUB_OUTPUT"
+          else
+            echo "force=false" >> "$GITHUB_OUTPUT"
+          fi
+
       - id: filter
+        if: steps.force.outputs.force != 'true'
         uses: dorny/paths-filter@v3
         with:
           base: ${{ github.event.before }}
           filters: |
-            # ros and python are (alternative) root images
-            # change to root stuff like docker.yml etc triggers rebuild of those
-            # which cascades into a full rebuild
             ros:
               - .github/workflows/_docker-build-template.yml
-              - .github/workflows/docker.yml
+              - .github/workflows/docker-build.yml
               - docker/ros/**
 
             python:
               - .github/workflows/_docker-build-template.yml
-              - .github/workflows/docker.yml
+              - .github/workflows/docker-build.yml
               - docker/python/**
 
             dev:
@@ -54,14 +62,9 @@ jobs:
 
             navigation:
               - .github/workflows/_docker-build-template.yml
-              - .github/workflows/docker.yml
+              - .github/workflows/docker-build.yml
               - docker/navigation/**
 
-            tests:
-              - dimos/**
-              - pyproject.toml
-              - uv.lock
-
       - name: Determine Branch Tag
         id: set-tag
         run: |
@@ -78,15 +81,6 @@ jobs:
           echo "branch tag determined: ${branch_tag}"
           echo branch_tag="${branch_tag}" >> "$GITHUB_OUTPUT"
 
-  # just a debugger
-  inspect-needs:
-    needs: [check-changes, ros]
-    runs-on: dimos-runner-ubuntu-2204
-    if: always()
-    steps:
-      - run: |
-          echo '${{ toJSON(needs) }}'
-
   ros:
     needs: [check-changes]
     if: needs.check-changes.outputs.ros == 'true'
@@ -202,48 +196,15 @@ jobs:
       to-image: ghcr.io/dimensionalos/ros-dev:${{ needs.check-changes.outputs.branch-tag }}
       dockerfile: dev
 
-  run-tests:
-    needs: [check-changes, ros-dev]
-    if: ${{
-      always() &&
-      needs.check-changes.result == 'success' &&
-      (needs.check-changes.outputs.tests == 'true' ||
-       needs.check-changes.outputs.ros == 'true' ||
-       needs.check-changes.outputs.python == 'true' ||
-       needs.check-changes.outputs.dev == 'true')
-      }}
-    uses: ./.github/workflows/tests.yml
-    secrets: inherit
-    with:
-      cmd: "_DIMOS_COV=1 coverage run -m pytest --durations=0 -m 'not (tool or mujoco)' && coverage combine && coverage html && coverage report"
-      upload-coverage: true
-      dev-image: ros-dev:${{ (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' }}
-
-  run-mypy:
-    needs: [check-changes, ros-dev]
-    if: ${{
-      always() &&
-      needs.check-changes.result == 'success' &&
-      (needs.check-changes.outputs.tests == 'true' ||
-       needs.check-changes.outputs.ros == 'true' ||
-       needs.check-changes.outputs.python == 'true' ||
-       needs.check-changes.outputs.dev == 'true')
-      }}
-    uses: ./.github/workflows/tests.yml
-    secrets: inherit
-    with:
-      cmd: "MYPYPATH=/opt/ros/humble/lib/python3.10/site-packages mypy dimos"
-      dev-image: ros-dev:${{ (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-tests, run-mypy]
+  build-complete:
+    needs: [check-changes, ros, python, ros-python, dev, ros-dev, navigation]
     runs-on: [self-hosted, Linux]
     if: always()
     steps:
-      - name: CI gate
+      - name: Build gate
         if: ${{ contains(needs.*.result, 'failure') || contains(needs.*.result, 'cancelled') }}
         run: |
-          echo "❌ One or more CI jobs failed or were cancelled"
+          echo "One or more build jobs failed or were cancelled"
           exit 1
-      - name: CI passed
-        run: echo "✅ All CI checks passed or were intentionally skipped"
+      - name: Build passed
+        run: echo "All build jobs passed or were intentionally skipped"
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
deleted file mode 100644
index 14eaaabab9..0000000000
--- a/.github/workflows/tests.yml
+++ /dev/null
@@ -1,61 +0,0 @@
-name: tests
-
-on:
- workflow_call:
-   inputs:
-     dev-image:
-       required: true
-       type: string
-       default: "dev:dev"
-     cmd:
-       required: true
-       type: string
-     upload-coverage:
-       required: false
-       type: boolean
-       default: false
-
-permissions:
-  contents: read
-  packages: read
-
-jobs:
-  run-tests:
-    timeout-minutes: 60
-    runs-on: [self-hosted, Linux]
-    container:
-      image: ghcr.io/dimensionalos/${{ inputs.dev-image }}
-      env:
-        OPENAI_API_KEY: ${{ secrets.OPENAI_API_KEY }}
-        ANTHROPIC_API_KEY: ${{ secrets.ANTHROPIC_API_KEY }}
-        ALIBABA_API_KEY: ${{ secrets.ALIBABA_API_KEY }}
-
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Fix permissions
-        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
-        run: |
-          /entrypoint.sh bash -c "source .venv/bin/activate && ${{ inputs.cmd }}"
-
-      - name: Upload coverage report
-        if: inputs.upload-coverage && !cancelled()
-        uses: actions/upload-artifact@v4
-        with:
-          name: coverage-report
-          path: htmlcov/
-
-      - name: check disk space
-        if: failure()
-        run: |
-          df -h
diff --git a/docs/development/docker.md b/docs/development/docker.md
index 2f3f4a98ec..c6622ff87f 100644
--- a/docs/development/docker.md
+++ b/docs/development/docker.md
@@ -100,34 +100,18 @@ Use the helper script:
 
 ## CI/CD Pipeline
 
-The workflow in [`.github/workflows/docker.yml`](/.github/workflows/docker.yml) handles:
+Images are built by [`.github/workflows/docker-build.yml`](/.github/workflows/docker-build.yml#L4) on merges to `main`/`dev` (when Docker files change) and weekly for base image security patches.
 
-1. **Change detection** - Only rebuilds images when relevant files change
-2. **Parallel builds** - ROS and non-ROS tracks build independently
-3. **Cascade rebuilds** - Changes to base images trigger downstream rebuilds
-4. **Test execution** - Tests run in the freshly built images
+Tests and type checking run in [`.github/workflows/ci.yml`](/.github/workflows/ci.yml) using pre-built images.
 
-### Trigger Paths
+### Build Trigger Paths
 
 | Image    | Triggers on changes to                               |
 |----------|------------------------------------------------------|
 | `ros`    | `docker/ros/**`, workflow files                      |
-| `python` | `docker/python/**`, `pyproject.toml`, workflow files |
+| `python` | `docker/python/**`, workflow files                   |
 | `dev`    | `docker/dev/**`                                      |
 
-### Test Jobs
-
-After images build, tests run in parallel:
-
-| Job                     | Image   | Command                   |
-|-------------------------|---------|---------------------------|
-| `run-tests`             | dev     | `pytest`                  |
-| `run-ros-tests`         | ros-dev | `pytest && pytest -m ros` |
-| `run-heavy-tests`       | dev     | `pytest -m heavy`         |
-| `run-lcm-tests`         | dev     | `pytest -m lcm`           |
-| `run-integration-tests` | dev     | `pytest -m integration`   |
-| `run-mypy`              | ros-dev | `mypy dimos`              |
-
 ## Dockerfile Structure
 
 ### Common Patterns

From da00f19fb9f058285401b894553f496ac4b339ec Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Wed, 8 Apr 2026 00:32:02 +0300
Subject: [PATCH 02/10] simplify macos

---
 .github/workflows/macos.yml | 29 +++------------------
 .github/workflows/readme.md | 51 -------------------------------------
 2 files changed, 3 insertions(+), 77 deletions(-)
 delete mode 100644 .github/workflows/readme.md

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 6ed62e6d5c..a4abddf25a 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -12,7 +12,7 @@ on:
     paths-ignore:
       - '**.md'
       - 'docker/**'
-      - '.github/workflows/docker.yml'
+      - '.github/workflows/docker-build.yml'
       - '.github/workflows/_docker-build-template.yml'
 
 permissions:
@@ -36,7 +36,7 @@ jobs:
               - 'uv.lock'
               - '.github/workflows/macos.yml'
 
-  macos-tests:
+  checks:
     needs: [check-changes]
     if: needs.check-changes.outputs.should-run == 'true'
     runs-on: [self-hosted, macos, arm64]
@@ -94,31 +94,8 @@ jobs:
         if: always()
         run: df -h .
 
-  macos-mypy:
-    needs: [check-changes]
-    if: needs.check-changes.outputs.should-run == 'true'
-    runs-on: [self-hosted, macos, arm64]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          lfs: false
-
-      - name: Install uv
-        uses: astral-sh/setup-uv@v6
-        with:
-          enable-cache: true
-
-      - name: Set up Python
-        run: uv python install 3.12
-
-      - name: Install system dependencies
-        run: brew install gnu-sed gcc portaudio git-lfs libjpeg-turbo
-
-      - name: Install dependencies
-        run: |
-          uv sync --all-extras --no-extra dds --no-extra cuda --frozen
-
       - name: Run mypy
+        if: ${{ !cancelled() }}
         run: |
           source .venv/bin/activate
           mypy dimos
diff --git a/.github/workflows/readme.md b/.github/workflows/readme.md
deleted file mode 100644
index f82ba479bb..0000000000
--- a/.github/workflows/readme.md
+++ /dev/null
@@ -1,51 +0,0 @@
-# general structure of workflows
-
-Docker.yml checks for releavant file changes and re-builds required images
-Currently images have a dependancy chain of ros -> python -> dev (in the future this might be a tree and can fork)
-
-On top of the dev image then tests are run.
-Dev image is also what developers use in their own IDE via devcontainers
-https://code.visualstudio.com/docs/devcontainers/containers
-
-# login to github docker repo
-
-create personal access token (classic, not fine grained)
-https://github.com/settings/tokens
-
-add permissions
-- read:packages scope to download container images and read their metadata.
-
-    and optionally,
-
-- write:packages scope to download and upload container images and read and write their metadata.
-- delete:packages scope to delete container images.
-
-more info @ https://docs.github.com/en/packages/working-with-a-github-packages-registry/working-with-the-container-registry
-
-login to docker via
-
-`sh
-echo TOKEN | docker login ghcr.io -u GITHUB_USER --password-stdin
-`
-
-pull dev image (dev branch)
-`sh
-docker pull ghcr.io/dimensionalos/dev:dev
-`
-
-pull dev image (master)
-`sh
-docker pull ghcr.io/dimensionalos/dev:latest
-`
-
-# todo
-
-Currently there is an issue with ensuring both correct docker image build ordering, and skipping unneccessary re-builds.
-
-(we need job dependancies for builds to wait to their images underneath to be built (for example py waits for ros))
-by default if a parent is skipped, it's children get skipped as well, unless they have always() in their conditional.
-
-Issue is once we put always() in the conditional, it seems that no matter what other check we put in the same conditional, job will always run.
-for this reason we cannot skip python (and above) builds for now. Needs review.
-
-I think we will need to write our own build dispatcher in python that calls github workflows that build images.

From e0d8692609ab77088ad540705364fd53a1e083fe Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Wed, 8 Apr 2026 02:31:34 +0300
Subject: [PATCH 03/10] cache uv install

---
 .github/workflows/ci.yml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 3b35a29c40..621075bb93 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -32,6 +32,12 @@ jobs:
         run: |
           git config --global --add safe.directory '*'
 
+      - name: Cache Python venv
+        uses: actions/cache@v4
+        with:
+          path: .venv
+          key: venv-${{ hashFiles('uv.lock') }}
+
       - name: Install Python dependencies
         run: uv sync --all-extras --no-extra dds --frozen
 

From bc74f3e07f91f8da4a4e795fb01ce1b3e388afce Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Wed, 8 Apr 2026 02:36:07 +0300
Subject: [PATCH 04/10] update actions

---
 .github/actions/docker-build/action.yml      | 2 +-
 .github/workflows/_docker-build-template.yml | 2 +-
 .github/workflows/ci.yml                     | 6 +++---
 .github/workflows/code-cleanup.yml           | 4 ++--
 .github/workflows/docker-build.yml           | 8 ++++----
 .github/workflows/macos.yml                  | 6 +++---
 6 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/.github/actions/docker-build/action.yml b/.github/actions/docker-build/action.yml
index a538ad35fd..2b04445f5e 100644
--- a/.github/actions/docker-build/action.yml
+++ b/.github/actions/docker-build/action.yml
@@ -30,7 +30,7 @@ runs:
         sudo rm -rf /usr/local/lib/android
         echo -e "post cleanup space:\n $(df -h)"
 
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v5
 
     - uses: docker/login-action@v3
       with:
diff --git a/.github/workflows/_docker-build-template.yml b/.github/workflows/_docker-build-template.yml
index 478a9bec84..a37f5d1e16 100644
--- a/.github/workflows/_docker-build-template.yml
+++ b/.github/workflows/_docker-build-template.yml
@@ -24,7 +24,7 @@ jobs:
         run: |
           sudo chown -R $USER:$USER ${{ github.workspace }} || true
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         if: ${{ inputs.should-run }}
         with:
           fetch-depth: 0
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 621075bb93..2b1c59b3fc 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -26,14 +26,14 @@ jobs:
         ALIBABA_API_KEY: ${{ secrets.ALIBABA_API_KEY }}
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
 
       - name: Fix permissions
         run: |
           git config --global --add safe.directory '*'
 
       - name: Cache Python venv
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           path: .venv
           key: venv-${{ hashFiles('uv.lock') }}
@@ -62,7 +62,7 @@ jobs:
 
       - name: Upload coverage report
         if: github.event_name == 'push' && !cancelled()
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v5
         with:
           name: coverage-report
           path: htmlcov/
diff --git a/.github/workflows/code-cleanup.yml b/.github/workflows/code-cleanup.yml
index f55800686c..0d475bd721 100644
--- a/.github/workflows/code-cleanup.yml
+++ b/.github/workflows/code-cleanup.yml
@@ -17,8 +17,8 @@ jobs:
       run: |
         sudo chown -R $USER:$USER ${{ github.workspace }} || true
 
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v3
+    - uses: actions/checkout@v5
+    - uses: actions/setup-python@v5
     - uses: astral-sh/setup-uv@v4
     - name: Run pre-commit
       id: pre-commit-first
diff --git a/.github/workflows/docker-build.yml b/.github/workflows/docker-build.yml
index a4e25bfcb2..2bb78e9d13 100644
--- a/.github/workflows/docker-build.yml
+++ b/.github/workflows/docker-build.yml
@@ -28,7 +28,7 @@ jobs:
         run: |
           sudo chown -R $USER:$USER ${{ github.workspace }} || true
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           fetch-depth: 0
 
@@ -43,7 +43,7 @@ jobs:
 
       - id: filter
         if: steps.force.outputs.force != 'true'
-        uses: dorny/paths-filter@v3
+        uses: dorny/paths-filter@v4
         with:
           base: ${{ github.event.before }}
           filters: |
@@ -143,12 +143,12 @@ jobs:
         run: |
           sudo chown -R $USER:$USER ${{ github.workspace }} || true
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           fetch-depth: 0
 
       - name: Checkout ros-navigation-autonomy-stack
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
         with:
           repository: dimensionalOS/ros-navigation-autonomy-stack
           ref: fastlio2
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index a4abddf25a..c67ee360e7 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -25,9 +25,9 @@ jobs:
     outputs:
       should-run: ${{ steps.filter.outputs.python }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
       - id: filter
-        uses: dorny/paths-filter@v3
+        uses: dorny/paths-filter@v4
         with:
           filters: |
             python:
@@ -42,7 +42,7 @@ jobs:
     runs-on: [self-hosted, macos, arm64]
     timeout-minutes: 60
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           lfs: false
 

From 985270731301c594a924af5c03fae7a57b9f9d35 Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Wed, 8 Apr 2026 03:12:00 +0300
Subject: [PATCH 05/10] do not install installed pacakges

---
 .github/workflows/macos.yml | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index c67ee360e7..0a28052a4e 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -41,6 +41,8 @@ jobs:
     if: needs.check-changes.outputs.should-run == 'true'
     runs-on: [self-hosted, macos, arm64]
     timeout-minutes: 60
+    env:
+      FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: true
     steps:
       - uses: actions/checkout@v5
         with:
@@ -55,7 +57,10 @@ jobs:
         run: uv python install 3.12
 
       - name: Install system dependencies
-        run: brew install gnu-sed gcc portaudio git-lfs libjpeg-turbo
+        run: |
+          for pkg in gnu-sed gcc portaudio git-lfs libjpeg-turbo; do
+            brew list "$pkg" &>/dev/null || brew install "$pkg"
+          done
 
       - name: Set up git-lfs
         run: |

From cbdedec836f4965d73394d7046c4d785530f2247 Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Wed, 8 Apr 2026 03:24:16 +0300
Subject: [PATCH 06/10] remove uv caching

---
 .github/workflows/ci.yml | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 2b1c59b3fc..4873530096 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -32,12 +32,6 @@ jobs:
         run: |
           git config --global --add safe.directory '*'
 
-      - name: Cache Python venv
-        uses: actions/cache@v5
-        with:
-          path: .venv
-          key: venv-${{ hashFiles('uv.lock') }}
-
       - name: Install Python dependencies
         run: uv sync --all-extras --no-extra dds --frozen
 

From ee274536beda762db2cf841cf9e418adb1064473 Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Wed, 8 Apr 2026 04:31:59 +0300
Subject: [PATCH 07/10] try local cache

---
 .github/workflows/ci.yml | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 4873530096..32d28fee86 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -32,9 +32,28 @@ jobs:
         run: |
           git config --global --add safe.directory '*'
 
+      - name: Restore cached venv
+        run: |
+          cache_dir="${GITHUB_WORKSPACE}/../_venv_cache"
+          mkdir -p "$cache_dir"
+          hash=$(sha256sum uv.lock | cut -d' ' -f1)
+          cached="${cache_dir}/venv-${hash}"
+          if [ -d "$cached" ]; then
+            cp -al "$cached" .venv
+            echo "Restored venv from local cache"
+          fi
+          find "$cache_dir" -maxdepth 1 -name 'venv-*' ! -name "venv-${hash}" -exec rm -rf {} + 2>/dev/null || true
+
       - name: Install Python dependencies
         run: uv sync --all-extras --no-extra dds --frozen
 
+      - name: Cache venv locally
+        run: |
+          cache_dir="${GITHUB_WORKSPACE}/../_venv_cache"
+          hash=$(sha256sum uv.lock | cut -d' ' -f1)
+          cached="${cache_dir}/venv-${hash}"
+          [ -d "$cached" ] || cp -al .venv "$cached"
+
       - name: Remove pydrake stubs
         run: |
           find .venv/lib/*/site-packages/pydrake -name '*.pyi' -delete 2>/dev/null || true

From f9227c0323004110c1506f2339db2d27bec9aa87 Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Wed, 8 Apr 2026 05:24:56 +0300
Subject: [PATCH 08/10] trigger update

---
 dimos/utils/testing/moment.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dimos/utils/testing/moment.py b/dimos/utils/testing/moment.py
index 62779995c4..7ab1b07eba 100644
--- a/dimos/utils/testing/moment.py
+++ b/dimos/utils/testing/moment.py
@@ -52,7 +52,7 @@ class OutputMoment(Generic[T], Resource):
     value: T | None = None
     transport: Transport[T]
 
-    def __init__(self, transport: Transport[T]):
+    def __init__(self, transport: Transport[T]) -> None:
         self.transport = transport
 
     def set(self, value: T) -> None:

From 84cae138f159fd7dc541c2d60159ea67359a0d52 Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Wed, 8 Apr 2026 05:42:20 +0300
Subject: [PATCH 09/10] try different way

---
 .github/workflows/ci.yml | 22 +++-------------------
 1 file changed, 3 insertions(+), 19 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 32d28fee86..39f8cf7822 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -27,33 +27,17 @@ jobs:
 
     steps:
       - uses: actions/checkout@v5
+        with:
+          clean: false
 
       - name: Fix permissions
         run: |
           git config --global --add safe.directory '*'
-
-      - name: Restore cached venv
-        run: |
-          cache_dir="${GITHUB_WORKSPACE}/../_venv_cache"
-          mkdir -p "$cache_dir"
-          hash=$(sha256sum uv.lock | cut -d' ' -f1)
-          cached="${cache_dir}/venv-${hash}"
-          if [ -d "$cached" ]; then
-            cp -al "$cached" .venv
-            echo "Restored venv from local cache"
-          fi
-          find "$cache_dir" -maxdepth 1 -name 'venv-*' ! -name "venv-${hash}" -exec rm -rf {} + 2>/dev/null || true
+          git clean -ffdx -e .venv
 
       - name: Install Python dependencies
         run: uv sync --all-extras --no-extra dds --frozen
 
-      - name: Cache venv locally
-        run: |
-          cache_dir="${GITHUB_WORKSPACE}/../_venv_cache"
-          hash=$(sha256sum uv.lock | cut -d' ' -f1)
-          cached="${cache_dir}/venv-${hash}"
-          [ -d "$cached" ] || cp -al .venv "$cached"
-
       - name: Remove pydrake stubs
         run: |
           find .venv/lib/*/site-packages/pydrake -name '*.pyi' -delete 2>/dev/null || true

From d4dcb320b6824eb18cbc1135e676be4a983c3f7c Mon Sep 17 00:00:00 2001
From: Paul Nechifor <paul@nechifor.net>
Date: Wed, 8 Apr 2026 06:16:49 +0300
Subject: [PATCH 10/10] Revert "trigger update"

This reverts commit f9227c0323004110c1506f2339db2d27bec9aa87.
---
 dimos/utils/testing/moment.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dimos/utils/testing/moment.py b/dimos/utils/testing/moment.py
index 7ab1b07eba..62779995c4 100644
--- a/dimos/utils/testing/moment.py
+++ b/dimos/utils/testing/moment.py
@@ -52,7 +52,7 @@ class OutputMoment(Generic[T], Resource):
     value: T | None = None
     transport: Transport[T]
 
-    def __init__(self, transport: Transport[T]) -> None:
+    def __init__(self, transport: Transport[T]):
         self.transport = transport
 
     def set(self, value: T) -> None: