From 0af922d7869d605f4c473b39e4d32f658012af70 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Thu, 1 Aug 2024 13:06:09 +0200
Subject: [PATCH 1/2] Bump version of pre-commit hooks (backport #1649) (#1651)

* Bump version of pre-commit hooks (#1649)

Co-authored-by: christophfroehlich <3367244+christophfroehlich@users.noreply.github.com>
(cherry picked from commit 42107676e96d6517c258cb9c06e0adcfbb23fc3b)

* Fix workflows

---------

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
---
 .github/workflows/humble-abi-compatibility.yml  | 2 --
 .github/workflows/rolling-abi-compatibility.yml | 2 --
 .pre-commit-config.yaml                         | 4 ++--
 3 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index fc78e25e34..61a5f1f29c 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index e10120d18f..a07fecc660 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Rolling - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 35e7a034cb..49ad7afbb7 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -36,7 +36,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.16.0
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -132,7 +132,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

From 8a3ac66b3ff2a60ab4336d1bbc14f0121906a08a Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Wed, 14 Aug 2024 11:56:10 +0100
Subject: [PATCH 2/2] Fix flaky transmission_interface tests by making them
 deterministic. (backport #1665) (#1670)

---
 .../four_bar_linkage_transmission.hpp                       | 2 +-
 transmission_interface/test/random_generator_utils.hpp      | 6 ++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/transmission_interface/include/transmission_interface/four_bar_linkage_transmission.hpp b/transmission_interface/include/transmission_interface/four_bar_linkage_transmission.hpp
index 39f5df6f61..863c20da9b 100644
--- a/transmission_interface/include/transmission_interface/four_bar_linkage_transmission.hpp
+++ b/transmission_interface/include/transmission_interface/four_bar_linkage_transmission.hpp
@@ -288,7 +288,7 @@ inline void FourBarLinkageTransmission::actuator_to_joint()
 
     joint_eff[0].set_value(jr[0] * act_eff[0].get_value() * ar[0]);
     joint_eff[1].set_value(
-      jr[1] * (act_eff[1].get_value() * ar[1] - act_eff[0].get_value() * ar[0] * jr[0]));
+      jr[1] * (act_eff[1].get_value() * ar[1] - jr[0] * act_eff[0].get_value() * ar[0]));
   }
 }
 
diff --git a/transmission_interface/test/random_generator_utils.hpp b/transmission_interface/test/random_generator_utils.hpp
index e6088f1b2f..01e1245e48 100644
--- a/transmission_interface/test/random_generator_utils.hpp
+++ b/transmission_interface/test/random_generator_utils.hpp
@@ -26,12 +26,14 @@ using std::vector;
 /// \brief Generator of pseudo-random double in the range [min_val, max_val].
 // NOTE: Based on example code available at:
 // http://stackoverflow.com/questions/2860673/initializing-a-c-vector-to-random-values-fast
+// Use a user specified seed instead of system time for deterministic tests
 struct RandomDoubleGenerator
 {
 public:
-  RandomDoubleGenerator(double min_val, double max_val) : min_val_(min_val), max_val_(max_val)
+  RandomDoubleGenerator(double min_val, double max_val, unsigned int seed = 1234)
+  : min_val_(min_val), max_val_(max_val)
   {
-    srand(time(nullptr));
+    srand(seed);
   }
   double operator()()
   {