diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index cf35804492bd43..3893c7fa5e0bc1 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -46,17 +46,13 @@ jobs:
         python3 -m ensurepip --upgrade
         pip3 install uv
         uv lock --upgrade
-    - name: pre-commit autoupdate
-      run: |
-        git config --global --add safe.directory '*'
-        pre-commit autoupdate
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
         author: Vehicle Researcher <user@comma.ai>
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages and pre-commit hooks
-        title: '[bot] Update Python packages and pre-commit hooks'
+        commit-message: Update Python packages
+        title: '[bot] Update Python packages'
         branch: auto-package-updates
         base: master
         delete-branch: true
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 80be72f26af060..8c46e15c2f809b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -25,7 +25,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
@@ -45,7 +45,6 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@@ -62,14 +61,13 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: pre-commit
-      timeout-minutes: 3
+    - name: static analysis
+      timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
-        cp .pre-commit-config.yaml $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+        ${{ env.RUN }} "scripts/lint.sh"
 
   build:
     strategy:
@@ -146,13 +144,12 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: pre-commit
-      timeout-minutes: 4
-      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+    - name: static analysis
+      timeout-minutes: 1
+      run: ${{ env.RUN }} "scripts/lint.sh"
 
   unit_tests:
     name: unit tests
diff --git a/.github/workflows/setup-pre-commit/action.yaml b/.github/workflows/setup-pre-commit/action.yaml
deleted file mode 100644
index f07a106861f729..00000000000000
--- a/.github/workflows/setup-pre-commit/action.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-name: 'set up pre-commit environment'
-
-runs:
-  using: "composite"
-  steps:
-    - uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/pre-commit
-        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
-        restore-keys: |
-          pre-commit-
-        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
deleted file mode 100644
index a7a53790886ca2..00000000000000
--- a/.pre-commit-config.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-exclude: '^(tinygrad_repo)'
-repos:
--   repo: meta
-    hooks:
-    -   id: check-hooks-apply
-    -   id: check-useless-excludes
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
-    hooks:
-    -   id: check-ast
-        exclude: '^(third_party)/'
-    -   id: check-json
-        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
-    -   id: check-toml
-    -   id: check-xml
-    -   id: check-yaml
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-executables-have-shebangs
-    -   id: check-shebang-scripts-are-executable
-    -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
-        args:
-        - --maxkb=120
-        - --enforce-all
--   repo: https://github.com/codespell-project/codespell
-    rev: v2.3.0
-    hooks:
-    -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
-        args:
-        # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
-        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
--   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.5
-    hooks:
-    -   id: ruff
-        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
--   repo: local
-    hooks:
-    -   id: mypy
-        name: mypy
-        entry: mypy
-        language: system
-        types: [python]
-        args:
-        - --local-partial-types
-        - --explicit-package-bases
-        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
--   repo: local
-    hooks:
-    -   id: cppcheck
-        name: cppcheck
-        entry: cppcheck
-        language: system
-        types: [c++]
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
-        args:
-        - --error-exitcode=1
-        - --language=c++
-        - --quiet
-        - --force
-        - -j8
-        - --library=qt
-        - --include=third_party/kaitai/kaitaistream.h
--   repo: https://github.com/cpplint/cpplint
-    rev: 1.6.1
-    hooks:
-    -   id: cpplint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --quiet
-        - --counting=total
-        - --linelength=240
-        # https://google.github.io/styleguide/cppguide.html
-        # relevant rules are whitelisted, see all options with: cpplint --filter=
-        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
--   repo: https://github.com/MarcoGorelli/cython-lint
-    rev: v0.16.2
-    hooks:
-    -   id: cython-lint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --max-line-length=240
-        - --ignore=E111, E302, E305
--   repo: local
-    hooks:
-    -   id: test_translations
-        name: test translations
-        entry: pytest selfdrive/ui/tests/test_translations.py
-        language: system
-        pass_filenames: false
-        files: '^selfdrive/ui/translations/'
--   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.1
-    hooks:
-    -   id: check-github-workflows
--   repo: local
-    hooks:
-    -   id: import-linter
-        name: import linter
-        entry: lint-imports
-        language: system
-        pass_filenames: false
diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
index 10cf244fd6cc32..477c7511ca6a9c 100644
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@@ -29,7 +29,7 @@ pytest
 cd system/loggerd && pytest .
 
 # run the linter
-pre-commit run --all
+op lint
 ```
 
 ## Testing
diff --git a/pyproject.toml b/pyproject.toml
index b486df3870e68d..90b6ecf983af06 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -76,7 +76,6 @@ testing = [
   "hypothesis ==6.47.*",
   "import-linter",
   "mypy",
-  "pre-commit",
   "pytest",
   "pytest-cov",
   "pytest-cpp",
@@ -87,7 +86,8 @@ testing = [
   "pytest-asyncio",
   "pytest-mock",
   "pytest-repeat",
-  "ruff"
+  "ruff",
+  "codespell",
 ]
 
 dev = [
@@ -164,6 +164,13 @@ testpaths = [
   "cereal/messaging/tests",
 ]
 
+[tool.codespell]
+count = true
+quiet-level = 3
+# if you've got a short variable name that's getting flagged, add it here
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn"
+builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US"
+
 [tool.mypy]
 python_version = "3.11"
 plugins = [
diff --git a/release/release_files.py b/release/release_files.py
index be9ad75ed5aed2..29d565a952d223 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -26,7 +26,6 @@
   "selfdrive/car/tests/test_models.*",
 
   "^tools/",
-  "^scripts/",
   "^tinygrad_repo/",
 
   "matlab.*.md",
diff --git a/scripts/lint.sh b/scripts/lint.sh
new file mode 100755
index 00000000000000..3cf548f2bbb612
--- /dev/null
+++ b/scripts/lint.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR/../
+
+# TODO: bring back rest of pre-commit checks:
+# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
+
+ruff check .
diff --git a/scripts/pyupgrade.sh b/scripts/pyupgrade.sh
deleted file mode 100755
index 19aac4b5e23d5c..00000000000000
--- a/scripts/pyupgrade.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-pip install --upgrade pyupgrade
-
-git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index a90462888fb80f..8d118525a52b77 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -43,9 +43,3 @@ if [[ "$(uname)" == 'Darwin' ]]; then
   echo "export ZMQ=1" >> $ROOT/.env
   echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env
 fi
-
-if [ "$(uname)" != "Darwin" ] && [ -e "$ROOT/.git" ]; then
-  echo "pre-commit hooks install..."
-  pre-commit install
-  git submodule foreach pre-commit install
-fi
diff --git a/tools/op.sh b/tools/op.sh
index a7ce7ef28bc8fe..e578459ae0c515 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -224,7 +224,7 @@ function op_juggle() {
 
 function op_lint() {
   op_before_cmd
-  op_run_command pre-commit run --all $@
+  op_run_command scripts/lint.sh $@
 }
 
 function op_test() {
@@ -272,7 +272,7 @@ function op_default() {
   echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}   Run replay"
   echo -e "  ${BOLD}cabana${NC}   Run cabana"
-  echo -e "  ${BOLD}lint${NC}     Run all the pre-commit checks"
+  echo -e "  ${BOLD}lint${NC}     Run the linter"
   echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
   echo -e "  ${BOLD}help${NC}     Show this message"
   echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
diff --git a/uv.lock b/uv.lock
index 7afdbb3c655d4f..6876de533c0680 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,10 +1,5 @@
 version = 1
 requires-python = ">=3.11"
-environment-markers = [
-    "python_version == '3.12' and platform_machine == 'aarch64'",
-    "python_version == '3.12' and platform_machine == 'aarch64' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')",
-    "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'",
-]
 
 [[distribution]]
 name = "aiohttp"
@@ -179,9 +174,6 @@ wheels = [
 name = "casadi"
 version = "3.6.5"
 source = { registry = "https://pypi.org/simple" }
-environment-markers = [
-    "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'",
-]
 dependencies = [
     { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
 ]
@@ -208,11 +200,8 @@ wheels = [
 name = "casadi"
 version = "3.6.6"
 source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" }
-environment-markers = [
-    "python_version == '3.12' and platform_machine == 'aarch64'",
-]
 dependencies = [
-    { name = "numpy", marker = "python_version == '3.12' and platform_machine == 'aarch64'" },
+    { name = "numpy" },
 ]
 wheels = [
     { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:06a15e0099657b960620a2491e565c7f126030018da80c39f6bd33439160c669" },
@@ -259,15 +248,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/e9/63/e285470a4880a4f36edabe4810057bd4b562c6ddcc165eacf9c3c7210b40/cffi-1.16.0-cp312-cp312-win_amd64.whl", hash = "sha256:68678abf380b42ce21a5f2abde8efee05c114c2fdb2e9eef2efdb0257fba1235", size = 181956 },
 ]
 
-[[distribution]]
-name = "cfgv"
-version = "3.4.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/11/74/539e56497d9bd1d484fd863dd69cbbfa653cd2aa27abfe35653494d85e94/cfgv-3.4.0.tar.gz", hash = "sha256:e52591d4c5f5dead8e0f673fb16db7949d2cfb3f7da4582893288f0ded8fe560", size = 7114 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c5/55/51844dd50c4fc7a33b653bfaba4c2456f06955289ca770a5dbd5fd267374/cfgv-3.4.0-py2.py3-none-any.whl", hash = "sha256:b7265b1f29fd3316bfcd2b330d63d024f2bfd8bcb8b0272f8e19a504856c48f9", size = 7249 },
-]
-
 [[distribution]]
 name = "charset-normalizer"
 version = "3.3.2"
@@ -328,6 +308,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/96/43/dae06432d0c4b1dc9e9149ad37b4ca8384cf6eb7700cd9215b177b914f0a/cloudpickle-3.0.0-py3-none-any.whl", hash = "sha256:246ee7d0c295602a036e86369c77fecda4ab17b506496730f2f576d9016fd9c7", size = 20088 },
 ]
 
+[[distribution]]
+name = "codespell"
+version = "2.3.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/a0/a9/98353dfc7afcdf18cffd2dd3e959a25eaaf2728cf450caa59af89648a8e4/codespell-2.3.0.tar.gz", hash = "sha256:360c7d10f75e65f67bad720af7007e1060a5d395670ec11a7ed1fed9dd17471f", size = 329791 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/0e/20/b6019add11e84f821184234cea0ad91442373489ef7ccfa3d73a71b908fa/codespell-2.3.0-py3-none-any.whl", hash = "sha256:a9c7cef2501c9cfede2110fd6d4e5e62296920efe9abfb84648df866e47f58d1", size = 329167 },
+]
+
 [[distribution]]
 name = "colorama"
 version = "0.4.6"
@@ -486,15 +475,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/47/ef/4cb333825d10317a36a1154341ba37e6e9c087bac99c1990ef07ffdb376f/dictdiffer-0.9.0-py2.py3-none-any.whl", hash = "sha256:442bfc693cfcadaf46674575d2eba1c53b42f5e404218ca2c2ff549f2df56595", size = 16754 },
 ]
 
-[[distribution]]
-name = "distlib"
-version = "0.3.8"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c4/91/e2df406fb4efacdf46871c25cde65d3c6ee5e173b7e5a4547a47bae91920/distlib-0.3.8.tar.gz", hash = "sha256:1530ea13e350031b6312d8580ddb6b27a104275a31106523b8f123787f494f64", size = 609931 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8e/41/9307e4f5f9976bc8b7fea0b66367734e8faf3ec84bc0d412d8cfabbb66cd/distlib-0.3.8-py2.py3-none-any.whl", hash = "sha256:034db59a0b96f8ca18035f36290806a9a6e6bd9d1ff91e45a7f172eb17e51784", size = 468850 },
-]
-
 [[distribution]]
 name = "dnspython"
 version = "2.6.1"
@@ -762,15 +742,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/d3/a7/389bbaade2cbbb2534cb2715986041ed01c6d792152c527e71f7f68e93b5/hypothesis-6.47.5-py3-none-any.whl", hash = "sha256:87049b781ee11ec1c7948565b889ab02e428a1e32d427ab4de8fdb3649242d06", size = 387311 },
 ]
 
-[[distribution]]
-name = "identify"
-version = "2.6.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/32/f4/8e8f7db397a7ce20fbdeac5f25adaf567fc362472432938d25556008e03a/identify-2.6.0.tar.gz", hash = "sha256:cb171c685bdc31bcc4c1734698736a7d5b6c8bf2e0c15117f4d469c8640ae5cf", size = 99116 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/24/6c/a4f39abe7f19600b74528d0c717b52fff0b300bb0161081510d39c53cb00/identify-2.6.0-py2.py3-none-any.whl", hash = "sha256:e79ae4406387a9d300332b5fd366d8994f1525e8414984e1a59e058b2eda2dd0", size = 98962 },
-]
-
 [[distribution]]
 name = "idna"
 version = "3.7"
@@ -1081,28 +1052,28 @@ name = "metadrive-simulator"
 version = "0.4.2.3"
 source = { git = "https://github.com/commaai/metadrive?rev=opencv_headless#9b6ddb791919249effa0573883076681514787e4" }
 dependencies = [
-    { name = "filelock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "geopandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "gymnasium", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "lxml", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "matplotlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "opencv-python-headless", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "panda3d", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "panda3d-gltf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pillow", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "progressbar", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pygame", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pygments", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pytest", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "scipy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "seaborn", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "shapely", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "yapf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "filelock" },
+    { name = "geopandas" },
+    { name = "gymnasium" },
+    { name = "lxml" },
+    { name = "matplotlib" },
+    { name = "numpy" },
+    { name = "opencv-python-headless" },
+    { name = "panda3d" },
+    { name = "panda3d-gltf" },
+    { name = "pandas" },
+    { name = "pillow" },
+    { name = "progressbar" },
+    { name = "psutil" },
+    { name = "pygame" },
+    { name = "pygments" },
+    { name = "pytest" },
+    { name = "requests" },
+    { name = "scipy" },
+    { name = "seaborn" },
+    { name = "shapely" },
+    { name = "tqdm" },
+    { name = "yapf" },
 ]
 
 [[distribution]]
@@ -1169,7 +1140,6 @@ version = "1.30.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyjwt", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pyjwt", extra = ["crypto"] },
     { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
@@ -1271,15 +1241,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ef/82/7a9d0550484a62c6da82858ee9419f3dd1ccc9aa1c26a1e43da3ecd20b0d/natsort-8.4.0-py3-none-any.whl", hash = "sha256:4732914fb471f56b5cce04d7bae6f164a592c7712e1c85f9ef585e197299521c", size = 38268 },
 ]
 
-[[distribution]]
-name = "nodeenv"
-version = "1.9.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/43/16/fc88b08840de0e0a72a2f9d8c6bae36be573e475a6326ae854bcc549fc45/nodeenv-1.9.1.tar.gz", hash = "sha256:6ec12890a2dab7946721edbfbcd91f3319c6ccc9aec47be7c7e6b7011ee6645f", size = 47437 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d2/1d/1b658dbd2b9fa9c4c9f32accbfc0205d532c8c6194dc0f2a4c0428e7128a/nodeenv-1.9.1-py2.py3-none-any.whl", hash = "sha256:ba11c9782d29c27c70ffbdda2d7415098754709be8a7056d79a737cd901155c9", size = 22314 },
-]
-
 [[distribution]]
 name = "numpy"
 version = "1.26.4"
@@ -1404,8 +1365,8 @@ dependencies = [
     { name = "libusb1", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "onnx", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
-    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
+    { name = "onnxruntime", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')" },
     { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pyaudio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pycapnp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
@@ -1419,7 +1380,7 @@ dependencies = [
     { name = "setuptools", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "smbus2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "sounddevice", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "spidev", marker = "platform_system == 'Linux'" },
+    { name = "spidev", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" },
     { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "websocket-client", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
@@ -1428,49 +1389,49 @@ dependencies = [
 
 [distribution.optional-dependencies]
 dev = [
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-    { name = "azure-identity", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "azure-storage-blob", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "dictdiffer", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "flaky", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "inputs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "lru-dict", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "matplotlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "av" },
+    { name = "azure-identity" },
+    { name = "azure-storage-blob" },
+    { name = "dictdiffer" },
+    { name = "flaky" },
+    { name = "inputs" },
+    { name = "lru-dict" },
+    { name = "matplotlib" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
-    { name = "parameterized", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyautogui", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "parameterized" },
+    { name = "pyautogui" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
-    { name = "pyprof2calltree", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyprof2calltree" },
     { name = "pyqt5", marker = "platform_machine == 'x86_64'" },
     { name = "pytools", marker = "platform_machine != 'aarch64'" },
-    { name = "pywinctl", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "rerun-sdk", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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-    { name = "types-requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "types-tabulate", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pywinctl" },
+    { name = "rerun-sdk" },
+    { name = "tabulate" },
+    { name = "types-requests" },
+    { name = "types-tabulate" },
 ]
 docs = [
-    { name = "jinja2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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+    { name = "jinja2" },
+    { name = "mkdocs" },
+    { name = "natsort" },
 ]
 testing = [
-    { name = "coverage", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "hypothesis", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "import-linter", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "mypy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pre-commit", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-asyncio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-cov", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-cpp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-mock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-randomly", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-repeat", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-subtests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-timeout", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-xdist", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "ruff", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "codespell" },
+    { name = "coverage" },
+    { name = "hypothesis" },
+    { name = "import-linter" },
+    { name = "mypy" },
+    { name = "pytest" },
+    { name = "pytest-asyncio" },
+    { name = "pytest-cov" },
+    { name = "pytest-cpp" },
+    { name = "pytest-mock" },
+    { name = "pytest-randomly" },
+    { name = "pytest-repeat" },
+    { name = "pytest-subtests" },
+    { name = "pytest-timeout" },
+    { name = "pytest-xdist" },
+    { name = "ruff" },
 ]
 
 [[distribution]]
@@ -1643,22 +1604,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9b/fb/a70a4214956182e0d7a9099ab17d50bfcba1056188e9b14f35b9e2b62a0d/portalocker-2.10.1-py3-none-any.whl", hash = "sha256:53a5984ebc86a025552264b459b46a2086e269b21823cb572f8f28ee759e45bf", size = 18423 },
 ]
 
-[[distribution]]
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-version = "3.8.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
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-    { name = "nodeenv", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyyaml", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "virtualenv", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/64/10/97ee2fa54dff1e9da9badbc5e35d0bbaef0776271ea5907eccf64140f72f/pre_commit-3.8.0.tar.gz", hash = "sha256:8bb6494d4a20423842e198980c9ecf9f96607a07ea29549e180eef9ae80fe7af", size = 177815 }
-wheels = [
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-]
-
 [[distribution]]
 name = "progressbar"
 version = "2.5"
@@ -5170,20 +5115,6 @@ wheels = [
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 ]
 
-[[distribution]]
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-version = "20.26.3"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
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-    { name = "filelock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "platformdirs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
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-sdist = { url = "https://files.pythonhosted.org/packages/68/60/db9f95e6ad456f1872486769c55628c7901fb4de5a72c2f7bdd912abf0c1/virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a", size = 9057588 }
-wheels = [
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-
 [[distribution]]
 name = "watchdog"
 version = "4.0.1"