fix(python): make vehicle CI tests architecture-robust + fix typos

The `test` job failed on ubuntu/windows (x86_64) while passing on macOS
(arm64): rapier is not bit-reproducible across architectures, and two
vehicle tests encoded arm64-specific results.

- test_vehicle_brakes_decelerate: measure `current_vehicle_speed` (chassis
  forward axis) instead of `linvel.x`. The vehicle's heading drifts and the
  drift differs per arch, so the world-x component is not forward speed.
- test_example_runs[vehicle/drive.py]: assert output shape + direction via
  regex instead of an exact speed snapshot.
- typos: reword `mis-decode`/`rapierNd`/"PNGs"; allowlist the `ba` and
  `typ` identifiers in .typos.toml.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

Author: sebcrozet

.typos.toml

@@ -22,6 +22,10 @@ iit_softfoot = "iit_softfoot"
 FoV = "FoV"
 # Shepperd's method: named after S. W. Shepperd (quaternion extraction).
 Shepperd = "Shepperd"
+# Short local identifiers in the Python bindings/tests: `ba` (body a, paired
+# with `bb`) and `typ` (a "type" value — `type` is reserved in Rust/Python).
+ba = "ba"
+typ = "typ"
 
 # Case insensitive, matches inside word.
 [default.extend-words]

python/docs/api/serde.rst

@@ -33,5 +33,5 @@ Flavor-tagging caveat
 
 Snapshots are **not** tagged with the ``(dim, scalar)`` flavor that
 produced them. Restoring an f32 snapshot through
-``rapier3d_f64.PhysicsWorld.restore(...)`` will silently mis-decode
+``rapier3d_f64.PhysicsWorld.restore(...)`` will silently misinterpret
 the floats. See :doc:`../limitations` for the long version.

python/docs/limitations.rst

@@ -21,7 +21,7 @@ Snapshot blobs are not flavor-tagged
 :meth:`rapier3d.PhysicsWorld.snapshot` emits a bincode blob with a
 ``b"RPYS"`` magic prefix and a u32 version, but **not** a
 ``(dim, scalar)`` tag. Restoring an f32 snapshot through
-``rapier3d_f64.PhysicsWorld.restore(...)`` will silently mis-decode
+``rapier3d_f64.PhysicsWorld.restore(...)`` will silently misinterpret
 the floats. Always restore through the same flavor that snapshotted.
 
 ``rapier-py-3d-f64`` lacks URDF / mesh loaders

python/docs/repackaging/00-target-layout.md

@@ -78,7 +78,7 @@ Documented in Phase 5; no separate `-determinism` dist for now.
 | `from rapier import dim2`           | `import rapier2d`             |
 | `from rapier.dim3 import f64`       | `import rapier3d_f64`        |
 | `from rapier.dim2 import f64`       | `import rapier2d_f64`        |
-| `rapier.RapierError` (cross-flavor) | per-package `rapierNd.RapierError` |
+| `rapier.RapierError` (cross-flavor) | per-package `rapier{2,3}d.RapierError` |
 
 There is no longer a single exception base shared across flavors; each package
 exposes its own `RapierError` tree. Note this prominently in the changelog.

python/tests/test_controllers.py

@@ -418,7 +418,12 @@ def test_vehicle_brakes_decelerate(ns):
         w.step()
         w.update_query_pipeline()
         veh.update_vehicle(1.0 / 60.0, w.rigid_bodies, w.colliders, w.query_pipeline)
-    forward_before = abs(w.rigid_bodies[h].linvel.x)
+    # Use the controller's forward speed (along the chassis axis), not the
+    # world-space `linvel.x`: the vehicle's heading drifts during the run, and
+    # how much it drifts is not bit-reproducible across architectures (x86_64
+    # vs aarch64). `current_vehicle_speed` is the heading-independent measure of
+    # "how fast is it going forward", so the brake check is robust everywhere.
+    forward_before = abs(veh.current_vehicle_speed)
     assert forward_before > 0.1, f"vehicle never accelerated ({forward_before})"
 
     # Brake.
@@ -430,7 +435,7 @@ def test_vehicle_brakes_decelerate(ns):
         w.step()
         w.update_query_pipeline()
         veh.update_vehicle(1.0 / 60.0, w.rigid_bodies, w.colliders, w.query_pipeline)
-    forward_after = abs(w.rigid_bodies[h].linvel.x)
+    forward_after = abs(veh.current_vehicle_speed)
     assert forward_after < forward_before, (
         f"brakes did not slow the vehicle (before={forward_before}, after={forward_after})"
     )

python/tests/test_examples.py

@@ -9,6 +9,7 @@
 from __future__ import annotations
 
 import os
+import re
 import subprocess
 import sys
 from pathlib import Path
@@ -18,13 +19,19 @@
 
 EXAMPLES_DIR = Path(__file__).resolve().parent.parent / "examples"
 
-# Map example script -> final stdout line we expect.
-EXPECTED: dict[str, str] = {
+# Map example script -> expected final stdout line. A plain string is matched
+# exactly; a compiled regex is matched with `.search()` for outputs that are
+# not bit-reproducible across architectures (the ray-cast vehicle sim drifts
+# between x86_64 and aarch64), where we assert the shape/direction instead.
+EXPECTED: dict[str, str | re.Pattern[str]] = {
     "hello_world.py": "final: y=0.60 (rest height ~0.6)",
     "joints/pendulum.py": "tip: x=+0.00 y=+3.50",
     "joints/six_dof_motor.py": "motor: lin.x=3.52 ang.z=0.49",
     "character/stairs.py": "climbed: x=13.50 y=0.28",
-    "vehicle/drive.py": "vehicle: speed=-30.3 km/h vx=-2.18",
+    # The vehicle controller's exact speed depends on per-architecture floating
+    # point (rapier is not bit-reproducible across arches without
+    # enhanced-determinism). Assert it drove backward at a real speed instead.
+    "vehicle/drive.py": re.compile(r"^vehicle: speed=-\d+\.\d+ km/h vx=[-+]\d+\.\d+$"),
     "urdf/load_simple.py": "urdf: name=two_link links=2 joints=1",
     "render/matplotlib_animation.py": "matplotlib: segments=9720 frames=120",
     "serde/snapshot_restore.py": "snapshot: snap.y=0.58 later.y=0.60 bytes=1767",
@@ -42,8 +49,8 @@
 def test_example_runs(relpath: str, tmp_path: Path) -> None:
     script = EXAMPLES_DIR / relpath
     assert script.exists(), f"example missing: {script}"
-    # Use tmp_path as cwd so example artifacts (e.g. matplotlib PNGs) don't
-    # pollute the repo.
+    # Use tmp_path as cwd so example artifacts (e.g. matplotlib image output)
+    # don't pollute the repo.
     env = os.environ.copy()
     res = subprocess.run(
         [sys.executable, str(script)],
@@ -60,9 +67,14 @@ def test_example_runs(relpath: str, tmp_path: Path) -> None:
     # The final non-empty line of stdout must match the expected snapshot.
     lines = [ln for ln in res.stdout.splitlines() if ln.strip()]
     assert lines, f"example {relpath} produced no stdout output"
-    assert lines[-1] == EXPECTED[relpath], (
+    expected = EXPECTED[relpath]
+    if isinstance(expected, re.Pattern):
+        matched = expected.search(lines[-1]) is not None
+    else:
+        matched = lines[-1] == expected
+    assert matched, (
         f"example {relpath} drifted:\n"
-        f"  expected: {EXPECTED[relpath]!r}\n"
+        f"  expected: {expected!r}\n"
         f"  actual:   {lines[-1]!r}\n"
         f"  full stdout:\n{res.stdout}"
     )