[pre-commit.ci] pre-commit autoupdate

.pre-commit-config.yaml

@@ -17,7 +17,7 @@ ci:
 repos:
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.14.10
+    rev: v0.15.9
     hooks:
       # Run the linter.
       - id: ruff
@@ -26,12 +26,12 @@ repos:
       - id: ruff-format
   - repo: https://github.com/astral-sh/uv-pre-commit
     # uv version.
-    rev: 0.9.21
+    rev: 0.11.3
     hooks:
       # Update the uv lockfile
       - id: uv-lock
   - repo: https://github.com/crate-ci/typos
-    rev: v1.42.0
+    rev: v1
     hooks:
       - id: typos
         args: []

docs/print_api.py

@@ -31,7 +31,7 @@ def get_symbols(mod_name: str):
         else:
             children.append(name)
 
-    return (mod_name.split(".")[-1], children)
+    return (mod_name.rsplit(".", maxsplit=1)[-1], children)
 
 
 def print_symbols(sym_dict, indent=0):

newton/_src/solvers/kamino/examples/newton/example_anymal_d.py

@@ -128,8 +128,9 @@ def test_final(self):
                 self.model,
                 self.state_0,
                 "body velocities are small",
-                lambda q, qd: max(abs(qd))
-                < 0.25,  # Relaxed from 0.1 - unified pipeline has residual velocities up to ~0.2
+                lambda q, qd: (
+                    max(abs(qd)) < 0.25
+                ),  # Relaxed from 0.1 - unified pipeline has residual velocities up to ~0.2
             )
 
 

newton/_src/solvers/kamino/examples/newton/example_dr_legs.py

@@ -149,8 +149,9 @@ def test_final(self):
                 self.model,
                 self.state_0,
                 "body velocities are small",
-                lambda q, qd: max(abs(qd))
-                < 0.25,  # Relaxed from 0.1 - unified pipeline has residual velocities up to ~0.2
+                lambda q, qd: (
+                    max(abs(qd)) < 0.25
+                ),  # Relaxed from 0.1 - unified pipeline has residual velocities up to ~0.2
             )
 
 

newton/_src/usd/utils.py

@@ -1718,11 +1718,9 @@ def _get_bound_material(target_prim: Usd.Prim) -> UsdShade.Material | None:
     if not rels:
         return None
     rels.sort(
-        key=lambda rel: 0
-        if rel.GetName() == "material:binding"
-        else 1
-        if rel.GetName() == "material:binding:preview"
-        else 2
+        key=lambda rel: (
+            0 if rel.GetName() == "material:binding" else 1 if rel.GetName() == "material:binding:preview" else 2
+        )
     )
     for rel in rels:
         targets = rel.GetTargets()

newton/_src/utils/selection.py

@@ -380,7 +380,7 @@ def get_name_from_label(label: str):
     Returns:
         The final path component of the label.
     """
-    return label.split("/")[-1]
+    return label.rsplit("/", maxsplit=1)[-1]
 
 
 def find_matching_ids(pattern: str, labels: list[str], world_ids, world_count: int):

newton/examples/basic/example_basic_joints.py

@@ -226,8 +226,10 @@ def test_post_step(self):
             self.model,
             self.state_0,
             "linear motion on axis",
-            lambda q, qd: wp.length(abs(wp.cross(wp.spatial_top(qd), wp.vec3(0.0, 0.0, 1.0)))) < 1e-5
-            and wp.length(wp.spatial_bottom(qd)) < 1e-5,
+            lambda q, qd: (
+                wp.length(abs(wp.cross(wp.spatial_top(qd), wp.vec3(0.0, 0.0, 1.0)))) < 1e-5
+                and wp.length(wp.spatial_bottom(qd)) < 1e-5
+            ),
             indices=[self.model.body_label.index("b_prismatic")],
         )
 

newton/examples/basic/example_basic_shapes.py

@@ -190,13 +190,15 @@ def test_final(self):
             self.model,
             self.state_0,
             "cylinder at rest pose",
-            lambda q, qd: abs(q[0] - cylinder_q[0]) < 0.01
-            and abs(q[1] - cylinder_q[1]) < 0.01
-            and abs(q[2] - cylinder_q[2]) < 1e-4
-            and abs(q[3] - cylinder_q[3]) < 1e-4
-            and abs(q[4] - cylinder_q[4]) < 1e-4
-            and abs(q[5] - cylinder_q[5]) < 1e-4
-            and abs(q[6] - cylinder_q[6]) < 1e-4,
+            lambda q, qd: (
+                abs(q[0] - cylinder_q[0]) < 0.01
+                and abs(q[1] - cylinder_q[1]) < 0.01
+                and abs(q[2] - cylinder_q[2]) < 1e-4
+                and abs(q[3] - cylinder_q[3]) < 1e-4
+                and abs(q[4] - cylinder_q[4]) < 1e-4
+                and abs(q[5] - cylinder_q[5]) < 1e-4
+                and abs(q[6] - cylinder_q[6]) < 1e-4
+            ),
             [3],
         )
         self.box_pos[2] = 0.25

newton/examples/robot/example_robot_anymal_d.py

@@ -152,8 +152,9 @@ def test_final(self):
                 self.model,
                 self.state_0,
                 "body velocities are small",
-                lambda q, qd: max(abs(qd))
-                < 0.25,  # Relaxed from 0.1 - collision pipeline has residual velocities up to ~0.2
+                lambda q, qd: (
+                    max(abs(qd)) < 0.25
+                ),  # Relaxed from 0.1 - collision pipeline has residual velocities up to ~0.2
             )
 
     @staticmethod

newton/examples/robot/example_robot_cartpole.py

@@ -129,34 +129,37 @@ def test_final(self):
             self.model,
             self.state_0,
             "cart only moves along y direction",
-            lambda q, qd: qd[0] == 0.0
-            and abs(qd[1]) > 0.05
-            and qd[2] == 0.0
-            and wp.length_sq(wp.spatial_bottom(qd)) == 0.0,
+            lambda q, qd: (
+                qd[0] == 0.0 and abs(qd[1]) > 0.05 and qd[2] == 0.0 and wp.length_sq(wp.spatial_bottom(qd)) == 0.0
+            ),
             indices=[i * num_bodies_per_world for i in range(self.world_count)],
         )
         newton.examples.test_body_state(
             self.model,
             self.state_0,
             "pole1 only has y-axis linear velocity and x-axis angular velocity",
-            lambda q, qd: qd[0] == 0.0
-            and abs(qd[1]) > 0.05
-            and qd[2] == 0.0
-            and abs(qd[3]) > 0.3
-            and qd[4] == 0.0
-            and qd[5] == 0.0,
+            lambda q, qd: (
+                qd[0] == 0.0
+                and abs(qd[1]) > 0.05
+                and qd[2] == 0.0
+                and abs(qd[3]) > 0.3
+                and qd[4] == 0.0
+                and qd[5] == 0.0
+            ),
             indices=[i * num_bodies_per_world + 1 for i in range(self.world_count)],
         )
         newton.examples.test_body_state(
             self.model,
             self.state_0,
             "pole2 only has yz-plane linear velocity and x-axis angular velocity",
-            lambda q, qd: qd[0] == 0.0
-            and abs(qd[1]) > 0.05
-            and abs(qd[2]) > 0.05
-            and abs(qd[3]) > 0.2
-            and qd[4] == 0.0
-            and qd[5] == 0.0,
+            lambda q, qd: (
+                qd[0] == 0.0
+                and abs(qd[1]) > 0.05
+                and abs(qd[2]) > 0.05
+                and abs(qd[3]) > 0.2
+                and qd[4] == 0.0
+                and qd[5] == 0.0
+            ),
             indices=[i * num_bodies_per_world + 2 for i in range(self.world_count)],
         )
         qd = self.state_0.body_qd.numpy()

newton/examples/robot/example_robot_g1.py

@@ -147,8 +147,9 @@ def test_final(self):
             self.model,
             self.state_0,
             "all body velocities are small",
-            lambda q, qd: max(abs(qd))
-            < 0.015,  # Relaxed from 0.005 - G1 has higher residual velocities with collision pipeline
+            lambda q, qd: (
+                max(abs(qd)) < 0.015
+            ),  # Relaxed from 0.005 - G1 has higher residual velocities with collision pipeline
         )
 
     @staticmethod

newton/examples/selection/example_selection_cartpole.py

@@ -185,34 +185,37 @@ def test_final(self):
             self.model,
             self.state_0,
             "cart only moves along y direction",
-            lambda q, qd: qd[0] == 0.0
-            and abs(qd[1]) > 0.05
-            and qd[2] == 0.0
-            and wp.length_sq(wp.spatial_bottom(qd)) == 0.0,
+            lambda q, qd: (
+                qd[0] == 0.0 and abs(qd[1]) > 0.05 and qd[2] == 0.0 and wp.length_sq(wp.spatial_bottom(qd)) == 0.0
+            ),
             indices=[i * num_bodies_per_world for i in range(self.world_count)],
         )
         newton.examples.test_body_state(
             self.model,
             self.state_0,
             "pole1 only has y-axis linear velocity and x-axis angular velocity",
-            lambda q, qd: qd[0] == 0.0
-            and abs(qd[1]) > 0.05
-            and qd[2] == 0.0
-            and abs(qd[3]) > 0.3
-            and qd[4] == 0.0
-            and qd[5] == 0.0,
+            lambda q, qd: (
+                qd[0] == 0.0
+                and abs(qd[1]) > 0.05
+                and qd[2] == 0.0
+                and abs(qd[3]) > 0.3
+                and qd[4] == 0.0
+                and qd[5] == 0.0
+            ),
             indices=[i * num_bodies_per_world + 1 for i in range(self.world_count)],
         )
         newton.examples.test_body_state(
             self.model,
             self.state_0,
             "pole2 only has yz-plane linear velocity and x-axis angular velocity",
-            lambda q, qd: qd[0] == 0.0
-            and abs(qd[1]) > 0.05
-            and abs(qd[2]) > 0.05
-            and abs(qd[3]) > 0.2
-            and qd[4] == 0.0
-            and qd[5] == 0.0,
+            lambda q, qd: (
+                qd[0] == 0.0
+                and abs(qd[1]) > 0.05
+                and abs(qd[2]) > 0.05
+                and abs(qd[3]) > 0.2
+                and qd[4] == 0.0
+                and qd[5] == 0.0
+            ),
             indices=[i * num_bodies_per_world + 2 for i in range(self.world_count)],
         )