From a26254304f28befecc20f375339c7cf61aaa952d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 11 Jul 2026 12:59:49 -0700
Subject: [PATCH] Move eigen dependency into rednose (#38321)

* Move eigen dependency into rednose

* Declare complete rednose package dependencies

* Update rednose submodule

* Update rednose submodule

* Update rednose submodule

* Fix rednose dependency integration

* bump rednose
---
 SConstruct                      |  2 +-
 pyproject.toml                  |  2 --
 rednose_repo                    |  2 +-
 tools/release/build_stripped.sh |  2 +-
 uv.lock                         | 16 ++++++++++++----
 5 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/SConstruct b/SConstruct
index 3ce34a86f7..72a25e12d4 100644
--- a/SConstruct
+++ b/SConstruct
@@ -55,7 +55,7 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
 ffmpeg = pkgs[pkg_names.index('ffmpeg')]
diff --git a/pyproject.toml b/pyproject.toml
index 4118553595..c4df3aabe1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,6 @@ dependencies = [
   # multiple users
   "sounddevice",  # micd + soundd
   "requests",     # many one-off uses
-  "sympy",        # rednose + friends
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
   # core
@@ -29,7 +28,6 @@ dependencies = [
   "comma-deps-capnproto",
   "comma-deps-catch2",
   "comma-deps-acados",
-  "comma-deps-eigen",
   "comma-deps-ffmpeg",
   "comma-deps-zstd",
   "comma-deps-ncurses",
diff --git a/rednose_repo b/rednose_repo
index 6c2abeb471..9e19086c26 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 6c2abeb471c830b38abb0f95d3aa348ca2b8dbc6
+Subproject commit 9e19086c26ca35708870d50ebcf237d65d0b163e
diff --git a/tools/release/build_stripped.sh b/tools/release/build_stripped.sh
index 1892360f6d..0e957c9212 100755
--- a/tools/release/build_stripped.sh
+++ b/tools/release/build_stripped.sh
@@ -38,7 +38,7 @@ git submodule foreach --recursive git clean -xdff
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-cp -pR --parents $(./tools/release/release_files.py) $TARGET_DIR/
+./tools/release/release_files.py | xargs -d '\n' cp -pR --parents -t "$TARGET_DIR"
 
 # in the directory
 cd $TARGET_DIR
diff --git a/uv.lock b/uv.lock
index 56d67b3a2d..1f5dd07cd4 100644
--- a/uv.lock
+++ b/uv.lock
@@ -963,7 +963,6 @@ dependencies = [
     { name = "comma-deps-bzip2" },
     { name = "comma-deps-capnproto" },
     { name = "comma-deps-catch2" },
-    { name = "comma-deps-eigen" },
     { name = "comma-deps-ffmpeg" },
     { name = "comma-deps-gcc-arm-none-eabi" },
     { name = "comma-deps-git-lfs" },
@@ -989,7 +988,6 @@ dependencies = [
     { name = "setproctitle" },
     { name = "setuptools" },
     { name = "sounddevice" },
-    { name = "sympy" },
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
@@ -1042,7 +1040,6 @@ requires-dist = [
     { name = "comma-deps-bzip2" },
     { name = "comma-deps-capnproto" },
     { name = "comma-deps-catch2" },
-    { name = "comma-deps-eigen" },
     { name = "comma-deps-ffmpeg" },
     { name = "comma-deps-gcc-arm-none-eabi" },
     { name = "comma-deps-git-lfs" },
@@ -1080,7 +1077,6 @@ requires-dist = [
     { name = "setproctitle" },
     { name = "setuptools" },
     { name = "sounddevice" },
-    { name = "sympy" },
     { name = "tqdm" },
     { name = "ty", marker = "extra == 'testing'" },
     { name = "websocket-client" },
@@ -1496,15 +1492,27 @@ version = "0.0.1"
 source = { editable = "rednose_repo" }
 dependencies = [
     { name = "cffi" },
+    { name = "comma-deps-eigen" },
+    { name = "cython" },
     { name = "numpy" },
+    { name = "scons" },
+    { name = "setuptools" },
     { name = "sympy" },
 ]
 
 [package.metadata]
 requires-dist = [
     { name = "cffi" },
+    { name = "comma-deps-eigen" },
+    { name = "cython" },
     { name = "numpy" },
+    { name = "pre-commit", marker = "extra == 'dev'" },
+    { name = "pytest", marker = "extra == 'dev'" },
+    { name = "pytest-xdist", marker = "extra == 'dev'" },
+    { name = "ruff", marker = "extra == 'dev'" },
     { name = "scipy", marker = "extra == 'dev'" },
+    { name = "scons" },
+    { name = "setuptools" },
     { name = "sympy" },
 ]
 provides-extras = ["dev"]