Update pre-commit config and clear errors (#12)

* Updated pre-commit config to match `bdai` repo
* Did `chmod -x` on a few files with shebang but not marked as
executable
* Various other auto-formatting. 
* Updated CI to use large runners and fixed minor bug from previous PR.

.github/workflows/test.yml

@@ -7,9 +7,15 @@ on:
     branches:
       - main
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+
 jobs:
   vlfm_main_build:
-    runs-on: ubuntu-latest
+    runs-on:
+      group: bdai-gh-large-runners
     defaults:
       run:
         shell: bash
@@ -19,4 +25,5 @@ jobs:
     - uses: actions/checkout@v3
     - name: Pytest
       run: |
+        pip install -e .[habitat]
         pytest

.pre-commit-config.yaml

@@ -7,14 +7,18 @@ repos:
     -   id: ruff
         args: ['--fix', '--config', 'pyproject.toml']
 
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
-    hooks:
-    -   id: end-of-file-fixer
-    -   id: trailing-whitespace
-    -   id: check-yaml
-    -   id: check-added-large-files
-    -   id: check-toml
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.4.0
+  hooks:
+  -   id: check-yaml
+      args: ['--unsafe']
+  -   id: check-added-large-files
+      args: ['--enforce-all', '--maxkb', '200']
+  -   id: check-toml
+  -   id: end-of-file-fixer
+  -   id: check-merge-conflict
+  -   id: check-executables-have-shebangs
+  -   id: check-shebang-scripts-are-executable
 
 -   repo: https://github.com/psf/black
     rev: 23.3.0
@@ -37,3 +41,8 @@ repos:
         - types-PyYAML
         - types-toml
         - types-six
+
+- repo: https://github.com/jumanjihouse/pre-commit-hooks
+  rev: 3.0.0
+  hooks:
+  -  id: forbid-binary

vlfm/mapping/obstacle_map.py

@@ -1,8 +1,8 @@
 import cv2
 import numpy as np
-
 from frontier_exploration.frontier_detection import detect_frontier_waypoints
 from frontier_exploration.utils.fog_of_war import reveal_fog_of_war
+
 from vlfm.mapping.base_map import BaseMap
 from vlfm.utils.geometry_utils import extract_yaw, get_point_cloud, transform_points
 from vlfm.utils.img_utils import fill_small_holes

vlfm/policy/habitat_policies.py

@@ -4,6 +4,7 @@
 import numpy as np
 import torch
 from depth_camera_filtering import filter_depth
+from frontier_exploration.base_explorer import BaseExplorer
 from habitat.tasks.nav.object_nav_task import ObjectGoalSensor
 from habitat_baselines.common.baseline_registry import baseline_registry
 from habitat_baselines.common.tensor_dict import TensorDict
@@ -15,7 +16,6 @@
 from omegaconf import DictConfig
 from torch import Tensor
 
-from frontier_exploration.base_explorer import BaseExplorer
 from vlfm.utils.geometry_utils import xyz_yaw_to_tf_matrix
 from vlfm.vlm.grounding_dino import ObjectDetections
 

vlfm/run.py

@@ -1,5 +1,12 @@
 import os
 
+# The following imports require habitat to be installed, and despite not being used by
+# this script itself, will register several classes and make them discoverable by Hydra.
+# This run.py script is expected to only be used when habitat is installed, thus they
+# are hidden here instead of in an __init__.py file. This avoids import errors when used
+# in an environment without habitat, such as when doing real-world deployment. noqa is
+# used to suppress the unused import and unsorted import warnings by ruff.
+import frontier_exploration  # noqa
 import hydra  # noqa
 from habitat import get_config  # noqa
 from habitat.config import read_write
@@ -10,13 +17,6 @@
 from hydra.plugins.search_path_plugin import SearchPathPlugin
 from omegaconf import DictConfig
 
-# The following imports require habitat to be installed, and despite not being used by
-# this script itself, will register several classes and make them discoverable by Hydra.
-# This run.py script is expected to only be used when habitat is installed, thus they
-# are hidden here instead of in an __init__.py file. This avoids import errors when used
-# in an environment without habitat, such as when doing real-world deployment. noqa is
-# used to suppress the unused import and unsorted import warnings by ruff.
-import frontier_exploration  # noqa
 import vlfm.measurements.traveled_stairs  # noqa: F401
 import vlfm.obs_transformers.resize  # noqa: F401
 import vlfm.policy.action_replay_policy  # noqa: F401

vlfm/utils/episode_stats_logger.py

@@ -3,8 +3,8 @@
 
 import cv2
 import numpy as np
-
 from frontier_exploration.utils.general_utils import xyz_to_habitat
+
 from vlfm.utils.geometry_utils import transform_points
 from vlfm.utils.habitat_visualizer import sim_xy_to_grid_xy
 from vlfm.utils.log_saver import log_episode

vlfm/utils/habitat_visualizer.py

@@ -2,12 +2,12 @@
 
 import cv2
 import numpy as np
+from frontier_exploration.utils.general_utils import xyz_to_habitat
 from habitat.utils.visualizations import maps
 from habitat.utils.visualizations.maps import MAP_TARGET_POINT_INDICATOR
 from habitat.utils.visualizations.utils import overlay_frame
 from habitat_baselines.common.tensor_dict import TensorDict
 
-from frontier_exploration.utils.general_utils import xyz_to_habitat
 from vlfm.utils.geometry_utils import transform_points
 from vlfm.utils.img_utils import (
     reorient_rescale_map,