[pre-commit.ci] pre-commit autoupdate

.pre-commit-config.yaml

@@ -13,7 +13,7 @@ repos:
     -   id: check-yaml
     -   id: check-toml
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.14.5
+    rev: v0.15.21
     hooks:
     -   id: ruff
         args: [ --fix ]

get_started/rl/fast_td3/fttd3_module.py

@@ -425,7 +425,8 @@ def projection(
         next_dist = F.softmax(self.forward(obs, actions), dim=1)
         proj_dist = torch.zeros_like(next_dist)
         offset = (
-            torch.linspace(0, (batch_size - 1) * self.num_atoms, batch_size, device=device)
+            torch
+            .linspace(0, (batch_size - 1) * self.num_atoms, batch_size, device=device)
             .unsqueeze(1)
             .expand(batch_size, self.num_atoms)
             .long()

roboverse_pack/callback_funcs/humanoid/step_funcs.py

@@ -80,7 +80,8 @@ def push_by_setting_velocity(
             / env.step_dt
         ).to(torch.int)
     push_env_ids = (
-        torch.logical_and(env._episode_steps % env.push_interval == 0, env._episode_steps > 0)
+        torch
+        .logical_and(env._episode_steps % env.push_interval == 0, env._episode_steps > 0)
         .nonzero(as_tuple=False)
         .flatten()
     )

roboverse_pack/tasks/beyondmimic/metasim/envs/base_legged_robot.py

@@ -130,7 +130,8 @@ def _instantiate_cfg(self):
 
         # per-actuator action scale
         self.action_scale = (
-            torch.tensor(list(self.robot.action_scale.values()), device=self.device)
+            torch
+            .tensor(list(self.robot.action_scale.values()), device=self.device)
             .unsqueeze(0)
             .repeat(self.num_envs, 1)
         )

roboverse_pack/tasks/beyondmimic/metasim/mdp/events.py

@@ -66,7 +66,8 @@ def push_by_setting_velocity(
         ).to(torch.int)
     # TODO different from how interval events are triggered in Isaac Lab, consider adapting this
     push_env_ids = (
-        torch.logical_and(env._episode_steps % env.push_interval == 0, env._episode_steps > 0)
+        torch
+        .logical_and(env._episode_steps % env.push_interval == 0, env._episode_steps > 0)
         .nonzero(as_tuple=False)
         .flatten()
     )

roboverse_pack/tasks/beyondmimic/metasim/mdp/rewards.py

@@ -109,9 +109,8 @@ def undesired_contacts(
     contact_forces: ContactForces = env_states.extras["contact_forces"][env.name]
     is_contact = (
         # TODO check correspondence with `contact_sensor.data.net_forces_w_history`
-        contact_forces.contact_forces_history[
-            :, :, indexes, :
-        ]  # [n_envs, history_length, n_indexes, 3] -> [n_envs, 3, 26, 3]
+        contact_forces
+        .contact_forces_history[:, :, indexes, :]  # [n_envs, history_length, n_indexes, 3] -> [n_envs, 3, 26, 3]
         .norm(dim=-1)
         .max(dim=1)[0]
         > threshold

tools/mjlab_integration/full_runner.py

@@ -258,7 +258,7 @@ def _align_by_jointname(a: RolloutResult, b: RolloutResult):
     import mujoco
 
     def _short(n: str) -> str:
-        return n.split("/")[-1]
+        return n.rsplit("/", maxsplit=1)[-1]
 
     a_short = [_short(n) for n in a.joint_names]
     b_short = [_short(n) for n in b.joint_names]