[pre-commit.ci] pre-commit autoupdate

.pre-commit-config.yaml

@@ -21,7 +21,7 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.48.0
+    rev: v0.49.1
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
@@ -32,13 +32,13 @@ repos:
       - id: yamllint
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.10.2
+    rev: v0.10.3
     hooks:
       - id: ros-include-guard
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.11.0.1
+    rev: v0.11.0.1-1
     hooks:
       - id: shellcheck
 
@@ -49,14 +49,14 @@ repos:
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.15.12
+    rev: v0.16.4
     hooks:
       - id: ruff
         args: [--fix]
       - id: ruff-format
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v22.1.4
+    rev: v22.1.8
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]

crane_mcap_tools/crane_mcap_tools/bag_analysis/__init__.py

@@ -14,24 +14,24 @@
 from .tracking import BallState, RobotState, track_ball, track_robot
 
 __all__ = [
-    "BagReader",
     "BagData",
     "BagInfo",
-    "TimestampedMsg",
-    "run_survey",
-    "detect_events",
+    "BagReader",
+    "BallState",
+    "ControlSnapshot",
     "Event",
-    "track_robot",
-    "track_ball",
+    "FactorTransition",
     "RobotState",
-    "BallState",
+    "TimestampedMsg",
     "analyze_control",
+    "angle_diff",
+    "ball_to_robot_dist",
+    "detect_events",
     "detect_factor_transitions",
-    "ControlSnapshot",
-    "FactorTransition",
     "distance_2d",
+    "run_survey",
     "speed_2d",
     "speed_3d",
-    "angle_diff",
-    "ball_to_robot_dist",
+    "track_ball",
+    "track_robot",
 ]

crane_mcap_tools/crane_mcap_tools/bag_analysis/cli.py

@@ -98,7 +98,7 @@ def cmd_events(args: argparse.Namespace) -> None:
 
 def cmd_control(args: argparse.Namespace) -> None:
     """control_target分析を実行する."""
-    from .control import detect_factor_transitions, analyze_control
+    from .control import analyze_control, detect_factor_transitions
 
     time_range = _parse_time_range(getattr(args, "time", None))
     changes_only = getattr(args, "changes_only", False)

crane_mcap_tools/crane_mcap_tools/mcap_analysis/__init__.py

@@ -1,16 +1,16 @@
 """MCAP annotation analysis tools for RoboCup SSL matches."""
 
-from .extractor import MCAPAnnotationExtractor, AnnotationContext
-from .gemini_client import GeminiAnalysisClient, AnalysisResult
+from .extractor import AnnotationContext, MCAPAnnotationExtractor
+from .gemini_client import AnalysisResult, GeminiAnalysisClient
+from .mcap_tools import MCAP_TOOLS_SCHEMA, MCAPToolsHandler
 from .report_generator import ReportGenerator
-from .mcap_tools import MCAPToolsHandler, MCAP_TOOLS_SCHEMA
 
 __all__ = [
-    "MCAPAnnotationExtractor",
+    "MCAP_TOOLS_SCHEMA",
+    "AnalysisResult",
     "AnnotationContext",
     "GeminiAnalysisClient",
-    "AnalysisResult",
-    "ReportGenerator",
+    "MCAPAnnotationExtractor",
     "MCAPToolsHandler",
-    "MCAP_TOOLS_SCHEMA",
+    "ReportGenerator",
 ]

crane_mcap_tools/crane_mcap_tools/mcap_analysis/gemini_client.py

@@ -11,7 +11,7 @@
 from dataclasses import dataclass
 
 from .extractor import AnnotationContext
-from .mcap_tools import MCAPToolsHandler, MCAP_TOOLS_SCHEMA
+from .mcap_tools import MCAP_TOOLS_SCHEMA, MCAPToolsHandler
 
 logger = logging.getLogger(__name__)
 
@@ -260,12 +260,9 @@ def analyze_annotation_with_tools(
 
                 # マークダウンのコードブロックを削除（```json ... ```）
                 json_text = raw_response.strip()
-                if json_text.startswith("```json"):
-                    json_text = json_text[7:]  # ```json を削除
-                if json_text.startswith("```"):
-                    json_text = json_text[3:]  # ``` を削除
-                if json_text.endswith("```"):
-                    json_text = json_text[:-3]  # ``` を削除
+                json_text = json_text.removeprefix("```json")  # ```json を削除
+                json_text = json_text.removeprefix("```")  # ``` を削除
+                json_text = json_text.removesuffix("```")  # ``` を削除
                 json_text = json_text.strip()
 
                 # JSONをパース

crane_mcap_tools/crane_mcap_tools/mcap_analysis/mcap_tools.py

@@ -6,8 +6,8 @@
 import logging
 from typing import Any
 
-from .extractor import AnnotationContext, WorldModelSnapshot
 from ..bag_analysis.metrics import distance_2d, speed_2d, speed_3d
+from .extractor import AnnotationContext, WorldModelSnapshot
 
 logger = logging.getLogger(__name__)
 

crane_mcap_tools/crane_mcap_tools/svg_video/__init__.py

@@ -12,8 +12,8 @@
 from .video_generator import VideoGenerator
 
 __all__ = [
-    "SvgExtractor",
     "SvgAssembler",
+    "SvgExtractor",
     "VideoGenerator",
     "create_renderer",
     "list_available_backends",

crane_mcap_tools/crane_mcap_tools/svg_video/renderers/__init__.py

@@ -8,8 +8,8 @@
 from .resvg_renderer import ResvgPyRenderer
 
 __all__ = [
-    "SvgRendererBase",
-    "OutputFormat",
     "CairoSvgRenderer",
+    "OutputFormat",
     "ResvgPyRenderer",
+    "SvgRendererBase",
 ]

crane_mcap_tools/crane_mcap_tools/svg_video/renderers/base.py

@@ -53,7 +53,6 @@ def render(self, svg_string: str) -> bytes:
         Returns:
             画像バイト列（フォーマットはoutput_formatに依存）
         """
-        pass
 
     @classmethod
     @abstractmethod
@@ -64,7 +63,6 @@ def is_available(cls) -> bool:
         Returns:
             使用可能な場合True
         """
-        pass
 
     @classmethod
     @abstractmethod
@@ -75,7 +73,6 @@ def get_name(cls) -> str:
         Returns:
             レンダラー名（例: "cairosvg", "resvg"）
         """
-        pass
 
     @classmethod
     def get_description(cls) -> str:

crane_mcap_tools/crane_mcap_tools/svg_video/svg_extractor.py

@@ -5,9 +5,10 @@
 """
 
 import logging
+from collections.abc import Iterator
 from dataclasses import dataclass, field
 from pathlib import Path
-from typing import Any, Iterator
+from typing import Any
 
 from rclpy.serialization import deserialize_message
 

crane_mcap_tools/crane_mcap_tools/svg_video/video_generator.py

@@ -5,9 +5,9 @@
 
 import logging
 import subprocess
+from collections.abc import Iterator
 from enum import Enum
 from pathlib import Path
-from typing import Iterator
 
 logger = logging.getLogger(__name__)
 

crane_mcap_tools/scripts/mcap_analyzer.py

@@ -17,8 +17,8 @@
 from pathlib import Path
 
 from crane_mcap_tools.mcap_analysis import (
-    MCAPAnnotationExtractor,
     GeminiAnalysisClient,
+    MCAPAnnotationExtractor,
     ReportGenerator,
 )
 from crane_mcap_tools.mcap_analysis.prompts import (

crane_web_debugger/web/download_fonts.py

@@ -12,8 +12,8 @@
 import argparse
 import os
 import re
-import urllib.request
 import sys
+import urllib.request
 
 UA = (
     "Mozilla/5.0 (Windows NT 10.0; Win64; x64) "

crane_world_model_publisher/launch/ball_calibration.launch.py

@@ -21,6 +21,7 @@
 
 import os
 from pathlib import Path
+
 import launch
 from launch.actions import DeclareLaunchArgument, LogInfo
 from launch.substitutions import LaunchConfiguration

crane_world_model_publisher/scripts/plot_kick_events.py

@@ -13,9 +13,10 @@
 
 import argparse
 import json
-import sys
 import os
+import sys
 from pathlib import Path
+
 import matplotlib.pyplot as plt
 import numpy as np
 

docker/dev/ball-calibration/aggregate.py

@@ -9,7 +9,6 @@
 from typing import Literal
 
 import numpy as np
-
 from models import RobustAggregateStats
 from robust_fit import FitResult
 

docker/dev/ball-calibration/optimizer.py

@@ -6,7 +6,6 @@
 import math
 
 import numpy as np
-
 from models import (
     OptimizationConfig,
     OptimizationResult,

docker/dev/ball-calibration/robust_fit.py

@@ -8,8 +8,8 @@
 
 import logging
 import math
+from collections.abc import Callable
 from dataclasses import dataclass, field
-from typing import Callable
 
 import numpy as np
 from scipy.optimize import least_squares
@@ -101,8 +101,7 @@ def fit_linear_ransac(
     min_samples: int = 5,
 ) -> FitResult:
     """RANSACRegressor による線形フィット v(t) = v0 - a*t."""
-    from sklearn.linear_model import RANSACRegressor
-    from sklearn.linear_model import LinearRegression
+    from sklearn.linear_model import LinearRegression, RANSACRegressor
 
     result = FitResult(method="ransac")
     n = len(time_points)

docker/dev/ball-calibration/server.py

@@ -14,8 +14,6 @@
 from fastapi import FastAPI, HTTPException, UploadFile
 from fastapi.responses import FileResponse, StreamingResponse
 from fastapi.staticfiles import StaticFiles
-
-from ssl_log_extractor import extract_ball_timeline_and_trajectories
 from models import (
     AddTrajectoryRequest,
     LoadPathRequest,
@@ -28,6 +26,7 @@
     TrajectoryInfo,
 )
 from optimizer import compute_predicted_trajectories, run_optimization
+from ssl_log_extractor import extract_ball_timeline_and_trajectories
 from yaml_exporter import build_yaml_preview, build_yaml_string
 
 logging.basicConfig(level=logging.INFO)
@@ -342,8 +341,8 @@ async def delete_trajectory(event_id: int) -> dict:
 @app.get("/api/bootstrap/{event_id}")
 async def get_bootstrap(event_id: int, n_boot: int = 300) -> dict:
     """指定軌道のブートストラップ分布を返す (UI ヒストグラム用)."""
-    from robust_fit import bootstrap_ci, pick_fit_fn
     import numpy as np
+    from robust_fit import bootstrap_ci, pick_fit_fn
 
     result: OptimizationResult | None = _state["optimization_result"]
     if result is None:

docker/dev/ball-calibration/ssl_log_extractor.py

@@ -206,8 +206,8 @@ def extract_ball_timeline_and_trajectories(
     logger.info("SSL ログ抽出開始: %s", path)
 
     try:
-        from ssl_vision_wrapper_tracked_pb2 import TrackerWrapperPacket
         from ssl_vision_wrapper_pb2 import SSL_WrapperPacket
+        from ssl_vision_wrapper_tracked_pb2 import TrackerWrapperPacket
     except ImportError as e:
         raise RuntimeError(
             f"protobuf モジュールが見つかりません。sync_proto.sh を実行してから Docker を"

docker/dev/ball-calibration/tests/test_robust_fit.py

@@ -3,8 +3,6 @@
 from __future__ import annotations
 
 import numpy as np
-
-from tests.conftest import make_synthetic_trajectory
 from robust_fit import (
     FitResult,
     bootstrap_ci,
@@ -15,6 +13,8 @@
     pick_fit_fn,
 )
 
+from tests.conftest import make_synthetic_trajectory
+
 TRUE_V0 = 4.0
 TRUE_DECEL = 0.7
 TOL = 0.15  # 許容誤差（m/s または m/s²）

docker/dev/ball-calibration/yaml_exporter.py

@@ -6,7 +6,6 @@
 import time
 
 import yaml
-
 from models import OptimizationResult
 
 logger = logging.getLogger(__name__)