Use rules_python uv for python libraries instead of host dependencies

BUILD.bazel

@@ -180,6 +180,9 @@ install_test(
         ":install",
         _INSTALL_TEST_COMMANDS,
     ],
+    requirements = [
+        "numpy",
+    ],
 )
 
 add_lint_tests(

MODULE.bazel

@@ -91,7 +91,10 @@ PYTHON_VERSIONS = [
 ]
 
 [
-    python.toolchain(python_version = python_version)
+    python.toolchain(
+        configure_coverage_tool = False,
+        python_version = python_version,
+    )
     for python_version in PYTHON_VERSIONS
 ]
 
@@ -109,14 +112,14 @@ pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
 
 [
     pip.parse(
-        hub_name = "drake_mypy",
+        hub_name = "pip",
         python_version = python_version,
-        requirements_lock = "//setup:python/mypy/requirements.txt",
+        requirements_lock = "//setup:python/requirements.txt",
     )
     for python_version in PYTHON_VERSIONS
 ]
 
-use_repo(pip, "drake_mypy")
+use_repo(pip, "pip")
 
 # Load dependencies which are "public", i.e., made available to downstream
 # projects.
@@ -338,7 +341,6 @@ use_repo(
     "mpmath_py_internal",
     "sympy_py_internal",
     "uritemplate_py_internal",
-    "xmlrunner_py_internal",
     #
     # Test or example data.
     #

bindings/pydrake/BUILD.bazel

@@ -1,4 +1,3 @@
-load("@drake_mypy//:requirements.bzl", mypy_requirement = "requirement")
 load("//bindings/pydrake:pydrake.bzl", "add_lint_tests_pydrake")
 load("//bindings/pydrake:stubgen.bzl", "generate_python_stubs")
 load("//tools/install:install.bzl", "install")
@@ -53,6 +52,10 @@ drake_py_library(
         "//bindings/pydrake/common:_init_py",
         "//lcmtypes:lcmtypes_drake_py",
     ],
+    requirements = [
+        "PyYAML",
+        "numpy",
+    ],
 )
 
 drake_cc_library(
@@ -392,7 +395,9 @@ drake_py_binary(
     deps = [
         ":all_py",
         "@stable_baselines3_internal//:stable_baselines3",
-        mypy_requirement("mypy"),
+    ],
+    requirements = [
+        "mypy",
     ],
 )
 
@@ -476,7 +481,9 @@ drake_py_unittest(
     ],
     deps = [
         "@rules_python//python/runfiles",
-        mypy_requirement("mypy"),
+    ],
+    requirements = [
+        "mypy",
     ],
 )
 

bindings/pydrake/common/BUILD.bazel

@@ -420,6 +420,9 @@ drake_py_unittest(
     deps = [
         ":eigen_pybind_test_util_py",
     ],
+    requirements = [
+        "numpy",
+    ],
 )
 
 generate_pybind_documentation_header(

bindings/pydrake/common/test_utilities/scipy_stub/BUILD.bazel

@@ -19,6 +19,9 @@ drake_py_library(
     ],
     # N.B. We don't use get_pybind_package_info; we aren't part of pydrake.
     imports = ["."],
+    requirements = [
+        "numpy",
+    ],
 )
 
 drake_py_unittest(

bindings/pydrake/geometry/BUILD.bazel

@@ -199,6 +199,9 @@ drake_py_unittest(
         "//bindings/pydrake/systems:lcm_py",
         "//bindings/pydrake/systems:test_util_py",
     ],
+    requirements = [
+        "u-msgpack-python",
+    ],
 )
 
 add_lint_tests_pydrake()

bindings/pydrake/math/BUILD.bazel

@@ -76,6 +76,9 @@ drake_py_binary(
     deps = [
         "//bindings/pydrake:module_py",
     ],
+    requirements = [
+        "matplotlib",
+    ],
     add_test_rule = True,
 )
 

bindings/pydrake/systems/BUILD.bazel

@@ -209,6 +209,9 @@ drake_py_library(
     srcs = ["drawing.py"],
     imports = PACKAGE_INFO.py_imports,
     deps = [":module_py"],
+    requirements = [
+        "pydot",
+    ],
 )
 
 drake_cc_library(
@@ -295,6 +298,9 @@ drake_py_library(
         "//bindings/pydrake:lcm_py",
         "@rules_python//python/runfiles",
     ],
+    requirements = [
+        "matplotlib",
+    ],
 )
 
 drake_py_library(
@@ -308,6 +314,9 @@ drake_py_library(
         ":primitives_py",
         "//bindings/pydrake:trajectories_py",
     ],
+    requirements = [
+        "matplotlib",
+    ],
 )
 
 drake_py_library(
@@ -386,6 +395,9 @@ drake_py_binary(
         "//bindings/pydrake/multibody:plant_py",
         "//bindings/pydrake/visualization",
     ],
+    requirements = [
+        "matplotlib",
+    ],
     add_test_rule = True,
     test_rule_timeout = "moderate",
 )

bindings/pydrake/visualization/BUILD.bazel

@@ -45,6 +45,10 @@ drake_pybind_library(
         "//bindings/pydrake/geometry",
         "//bindings/pydrake:lcm_py",
     ],
+    py_requirements = [
+        "matplotlib",
+        "opencv-python",
+    ],
     py_srcs = [
         "meldis.py",
         "model_visualizer.py",
@@ -76,6 +80,9 @@ drake_py_binary(
     name = "lcm_image_array_viewer",
     srcs = ["_lcm_image_array_viewer.py"],
     deps = [":visualization"],
+    requirements = [
+        "flask",
+    ],
 )
 
 # TODO(jwnimmer-tri) For now, this is a private library for testing only. Once
@@ -84,6 +91,9 @@ drake_py_library(
     name = "_lcm_image_array_viewer_py",
     srcs = ["_lcm_image_array_viewer.py"],
     deps = [":visualization"],
+    requirements = [
+        "flask",
+    ],
 )
 
 install_files(
@@ -144,6 +154,9 @@ drake_py_unittest(
     deps = [
         ":visualization",
     ],
+    requirements = [
+        "u-msgpack-python",
+    ],
 )
 
 drake_py_unittest(
@@ -184,6 +197,9 @@ drake_py_unittest(
         ":model_visualizer",
         "//bindings/pydrake/common/test_utilities",
     ],
+    requirements = [
+        "u-msgpack-python",
+    ],
 )
 
 drake_py_unittest(

common/proto/BUILD.bazel

@@ -41,6 +41,10 @@ drake_py_library(
     deps = [
         "//lcmtypes:lcmtypes_drake_py",
     ],
+    requirements = [
+        "matplotlib",
+        "numpy",
+    ],
 )
 
 drake_py_binary(
@@ -50,6 +54,9 @@ drake_py_binary(
     deps = [
         ":call_python_client",
     ],
+    requirements = [
+        "numpy",
+    ],
 )
 
 drake_cc_library(

common/test_utilities/drake_py_unittest_main.py

@@ -14,6 +14,10 @@
 import unittest
 import warnings
 
+print("YYY")
+for x in sys.path:
+    print("XXX", x)
+
 import xmlrunner
 
 try:

doc/doxygen_cxx/BUILD.bazel

@@ -23,6 +23,9 @@ drake_py_library(
         "//doc/pydrake:__pkg__",
         "//tools/workspace/mkdoc_internal:__pkg__",
     ],
+    requirements = [
+        "PyYAML",
+    ],
 )
 
 drake_py_unittest(

examples/acrobot/BUILD.bazel

@@ -139,6 +139,9 @@ drake_cc_library(
 drake_py_library(
     name = "metrics",
     srcs = ["metrics.py"],
+    requirements = [
+        "numpy",
+    ],
 )
 
 drake_cc_library(

examples/hardware_sim/BUILD.bazel

@@ -93,6 +93,9 @@ drake_py_library(
     deps = [
         "@rules_python//python/runfiles",
     ],
+    requirements = [
+        "PyYAML",
+    ],
 )
 
 drake_py_unittest(

geometry/BUILD.bazel

@@ -669,6 +669,10 @@ drake_py_binary(
     visibility = [
         "//bindings/pydrake/visualization:__pkg__",
     ],
+    requirements = [
+        "u-msgpack-python",
+        "websockets",
+    ],
 )
 
 drake_cc_googletest(

geometry/render_gltf_client/BUILD.bazel

@@ -307,6 +307,9 @@ drake_py_binary(
     deps = [
         "@rules_python//python/runfiles",
     ],
+    requirements = [
+        "flask",
+    ],
 )
 
 drake_cc_binary(
@@ -410,6 +413,10 @@ drake_py_unittest(
     deps = [
         "@rules_python//python/runfiles",
     ],
+    requirements = [
+        "Pillow",
+        "numpy",
+    ],
 )
 
 filegroup(

lcm/BUILD.bazel

@@ -240,6 +240,9 @@ drake_py_unittest(
     deps = [
         "@rules_python//python/runfiles",
     ],
+    requirements = [
+        "psutil",
+    ],
 )
 
 drake_cc_googletest(

multibody/plant/images/BUILD.bazel

@@ -15,11 +15,19 @@ filegroup(
 drake_py_binary(
     name = "ideal_stiction",
     srcs = ["ideal_stiction.py"],
+    requirements = [
+        "matplotlib",
+        "numpy",
+    ],
 )
 
 drake_py_binary(
     name = "stiction",
     srcs = ["stiction.py"],
+    requirements = [
+        "matplotlib",
+        "numpy",
+    ],
 )
 
 drake_py_unittest(

setup/BUILD.bazel

@@ -1,3 +1,4 @@
+load("@rules_python//python/uv:lock.bzl", "lock")
 load("//tools/install:install.bzl", "install_files")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 load("//tools/skylark:drake_py.bzl", "drake_py_library", "drake_py_unittest")
@@ -8,8 +9,6 @@ package(default_visibility = ["//visibility:private"])
 # projects.
 PREREQUISITES_DATA = glob([
     "**/Brewfile*",
-    "**/*.lock",
-    "**/*.toml",
     "**/*.txt",
 ])
 
@@ -67,4 +66,18 @@ drake_py_unittest(
     ],
 )
 
+lock(
+    name = "python/requirements_lock",
+    srcs = ["python/requirements.in"],
+    out = "python/requirements.txt",
+    args = [
+        "--upgrade",
+        "--universal",
+        "--exclude-newer=1 week",
+        # This is our minimum supported version.
+        # When changing this, see drake/tools/workspace/python/README.md.
+        "--python-version=3.12",
+    ],
+)
+
 add_lint_tests()