From fa64806bdaacfe2fefd5bf7c285dc1ea62a6e1f9 Mon Sep 17 00:00:00 2001
From: Jiuguang Wang <jw@theaiinstitute.com>
Date: Sun, 29 Oct 2023 14:34:32 -0400
Subject: [PATCH] Update pre-commit hook versions

---
 .pre-commit-config.yaml                                | 10 +++++-----
 pyproject.toml                                         | 10 +++++-----
 test/test_setup.py                                     |  2 +-
 test/test_visualization.py                             |  2 +-
 .../utils/non_habitat_policy/rnn_state_encoder.py      |  5 ++++-
 vlfm/utils/geometry_utils.py                           |  3 +--
 6 files changed, 17 insertions(+), 15 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 13392d6..ea0613d 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,14 +1,14 @@
-# Copyright [2023] Boston Dynamics AI Institute, Inc.
+# Copyright (c) 2023 Boston Dynamics AI Institute LLC. All rights reserved.
 
 repos:
 -   repo: https://github.com/charliermarsh/ruff-pre-commit
-    rev: 'v0.0.263'
+    rev: 'v0.1.0'
     hooks:
     -   id: ruff
         args: ['--fix', '--config', 'pyproject.toml']
 
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v4.4.0
+  rev: v4.5.0
   hooks:
   -   id: check-yaml
       args: ['--unsafe']
@@ -21,7 +21,7 @@ repos:
   -   id: check-shebang-scripts-are-executable
 
 -   repo: https://github.com/psf/black
-    rev: 23.3.0
+    rev: 23.10.0
     hooks:
     -   id: black
         language_version: python3.9
@@ -29,7 +29,7 @@ repos:
         verbose: true
 
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.2.0
+    rev: v1.6.1
     hooks:
     -   id: mypy
         pass_filenames: false
diff --git a/pyproject.toml b/pyproject.toml
index 1074931..37006be 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -29,9 +29,9 @@ dependencies = [
 
 [project.optional-dependencies]
 dev = [
-    "pre-commit >= 3.1.1",
-    "pytest >= 7.2.1",
-    "pytest-cov >= 4.0.0",
+    "pre-commit >= 3.5.0",
+    "pytest >= 7.3.1",
+    "pytest-cov >= 4.1.0",
 ]
 habitat = [
     "habitat-sim @ git+https://github.com/facebookresearch/habitat-sim.git@v0.2.4",
@@ -118,7 +118,7 @@ preview = true
 
 # mypy configuration
 [tool.mypy]
-python_version = "3.9"
+python_version = "3.10"
 disallow_untyped_defs = true
 ignore_missing_imports = true
 explicit_package_bases = true
@@ -127,5 +127,5 @@ strict_equality = true
 warn_unreachable = true
 warn_redundant_casts = true
 no_implicit_optional = true
-files = ['vlfm']
+files = ['vlfm', 'test']
 exclude = '^(docker|.*external|.*thirdparty|.*install|.*build|.*_experimental)/'
diff --git a/test/test_setup.py b/test/test_setup.py
index 3847d66..c4126d2 100644
--- a/test/test_setup.py
+++ b/test/test_setup.py
@@ -7,7 +7,7 @@
 from vlfm.utils.generate_dummy_policy import save_dummy_policy
 
 
-def test_load_and_save_config():
+def test_load_and_save_config() -> None:
     if not os.path.exists("data"):
         os.makedirs("data")
 
diff --git a/test/test_visualization.py b/test/test_visualization.py
index cb0c969..e984058 100644
--- a/test/test_visualization.py
+++ b/test/test_visualization.py
@@ -7,7 +7,7 @@
 from vlfm.utils.visualization import generate_text_image
 
 
-def test_visualization():
+def test_visualization() -> None:
     if not os.path.exists("build"):
         os.makedirs("build")
 
diff --git a/vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py b/vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py
index 30e0ea2..2c7b4f1 100755
--- a/vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py
+++ b/vlfm/policy/utils/non_habitat_policy/rnn_state_encoder.py
@@ -141,7 +141,10 @@ def build_rnn_inputs(
     rnn_states: torch.Tensor,
     not_dones: torch.Tensor,
     rnn_build_seq_info: Dict[str, torch.Tensor],
-) -> Tuple[PackedSequence, torch.Tensor,]:
+) -> Tuple[
+    PackedSequence,
+    torch.Tensor,
+]:
     r"""Create a PackedSequence input for an RNN such that each
     set of steps that are part of the same episode are all part of
     a batch in the PackedSequence.
diff --git a/vlfm/utils/geometry_utils.py b/vlfm/utils/geometry_utils.py
index e03e7e9..7c06fbe 100644
--- a/vlfm/utils/geometry_utils.py
+++ b/vlfm/utils/geometry_utils.py
@@ -83,8 +83,7 @@ def calculate_vfov(hfov: float, width: int, height: int) -> float:
     """
     # Calculate the diagonal field of view (DFOV)
     dfov = 2 * math.atan(
-        math.tan(hfov / 2)
-        * math.sqrt((width**2 + height**2) / (width**2 + height**2))
+        math.tan(hfov / 2) * math.sqrt((width**2 + height**2) / (width**2 + height**2))
     )
 
     # Calculate the vertical field of view (VFOV)