Flake8 comprehensions update (#1774)

* --fix flake8 complaints; refactor a few expensive self-accesses in loops * --update pre-commit-config.yaml to match pypi version used by CI * --address bugs in conversion - generator, not list comp * update machine image for clang-tidy job Co-authored-by: John Turner <[email protected]>
facebookresearch · Jun 1, 2022 · 7a1e9c8 · 7a1e9c8
1 parent a776e4f
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Showing 6 changed files with 51 additions and 42 deletions.
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -327,7 +327,7 @@ jobs:
     machine:
       # Available images:
       # https://circleci.com/docs/2.0/configuration-reference/#available-linux-gpu-images
-      image: ubuntu-1604:202104-01
+      image: ubuntu-2004:202201-02
     resource_class: xlarge
     steps:
       - checkout:
@@ -340,7 +340,7 @@ jobs:
           name: Install clang-tidy
           command: |
               # Bellow is only needed for Ubuntu 20
-              # sudo apt-key adv --fetch-keys "https://apt.llvm.org/llvm-snapshot.gpg.key"
+              sudo apt-key adv --fetch-keys "https://apt.llvm.org/llvm-snapshot.gpg.key"
               sudo add-apt-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-12 main"
               sudo apt-get update -y || true
               sudo apt-get install -y clang-tidy-12

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -75,7 +75,7 @@ repos:
         additional_dependencies: &flake8_dependencies
         - flake8-bugbear==22.1.11
         - flake8-builtins==1.5.3
-        - flake8-comprehensions==3.8.0
+        - flake8-comprehensions==3.10.0
         - flake8-return==1.1.3
         - flake8-simplify==0.17.0
 

diff --git a/conda-build/common/delete_old_night_packages.py b/conda-build/common/delete_old_night_packages.py
@@ -40,15 +40,14 @@
 )
 # Using len(versions) - MAX_NUMBER_OF_VERSIONS to support MAX_NUMBER_OF_VERSIONS == 0
 remove_versions = versions[: len(versions) - MAX_NUMBER_OF_VERSIONS]
-print(
-    f"anaconda remove {' '.join(list(map(lambda x: f'aihabitat-nightly/habitat-sim/{x}', remove_versions)))}"
-)
+remove_versions_list = [f"aihabitat-nightly/habitat-sim/{x}" for x in remove_versions]
+print(f"anaconda remove {' '.join(remove_versions_list)}")
 result_remove = subprocess.run(
     [
         "anaconda",
         "remove",
         "-f",
-        *list(map(lambda x: f"aihabitat-nightly/habitat-sim/{x}", remove_versions)),
+        *remove_versions_list,
     ],
     stderr=subprocess.PIPE,
     stdout=subprocess.PIPE,

diff --git a/src_python/habitat_sim/nav/greedy_geodesic_follower.py b/src_python/habitat_sim/nav/greedy_geodesic_follower.py
@@ -188,7 +188,7 @@ def find_path(self, goal_pos: np.ndarray) -> List[Any]:
         if len(path) == 0:
             raise errors.GreedyFollowerError()
 
-        path = list(map(lambda v: self.action_mapping[v], path))
+        path = [self.action_mapping[v] for v in path]
 
         return path
 

diff --git a/src_python/habitat_sim/robots/mobile_manipulator.py b/src_python/habitat_sim/robots/mobile_manipulator.py
@@ -274,15 +274,17 @@ def reset(self) -> None:
     @property
     def arm_joint_limits(self) -> Tuple[np.ndarray, np.ndarray]:
         """Get the arm joint limits in radians"""
-        arm_pos_indices = list(
-            map(lambda x: self.joint_pos_indices[x], self.params.arm_joints)
-        )
 
+        # deref self vars to cut access in half
+        joint_pos_indices = self.joint_pos_indices
+        lower_joints_limits, upper_joint_limits = self.joint_limits
+        arm_joints = self.params.arm_joints
+        arm_pos_indices = [joint_pos_indices[x] for x in arm_joints]
         lower_lims = np.array(
-            [self.joint_limits[0][i] for i in arm_pos_indices], dtype=np.float32
+            [lower_joints_limits[i] for i in arm_pos_indices], dtype=np.float32
         )
         upper_lims = np.array(
-            [self.joint_limits[1][i] for i in arm_pos_indices], dtype=np.float32
+            [upper_joint_limits[i] for i in arm_pos_indices], dtype=np.float32
         )
         return lower_lims, upper_lims
 
@@ -327,11 +329,15 @@ def ee_transform(self) -> mn.Matrix4:
     @property
     def gripper_joint_pos(self) -> np.ndarray:
         """Get the current gripper joint positions."""
-        gripper_pos_indices = map(
-            lambda x: self.joint_pos_indices[x], self.params.gripper_joints
-        )
+
+        # deref self vars to cut access in half
+        joint_pos_indices = self.joint_pos_indices
+        gripper_joints = self.params.gripper_joints
+        sim_obj_joint_pos = self.sim_obj.joint_positions
+
+        gripper_pos_indices = (joint_pos_indices[x] for x in gripper_joints)
         return np.array(
-            [self.sim_obj.joint_positions[i] for i in gripper_pos_indices],
+            [sim_obj_joint_pos[i] for i in gripper_pos_indices],
             dtype=np.float32,
         )
 
@@ -388,11 +394,15 @@ def is_gripper_closed(self) -> bool:
     @property
     def arm_joint_pos(self) -> np.ndarray:
         """Get the current arm joint positions."""
-        arm_pos_indices = map(
-            lambda x: self.joint_pos_indices[x], self.params.arm_joints
-        )
+
+        # deref self vars to cut access in half
+        joint_pos_indices = self.joint_pos_indices
+        arm_joints = self.params.arm_joints
+        sim_obj_joint_pos = self.sim_obj.joint_positions
+
+        arm_pos_indices = (joint_pos_indices[x] for x in arm_joints)
         return np.array(
-            [self.sim_obj.joint_positions[i] for i in arm_pos_indices], dtype=np.float32
+            [sim_obj_joint_pos[i] for i in arm_pos_indices], dtype=np.float32
         )
 
     @arm_joint_pos.setter
@@ -429,11 +439,15 @@ def set_fixed_arm_joint_pos(self, fix_arm_joint_pos):
     @property
     def arm_velocity(self) -> np.ndarray:
         """Get the velocity of the arm joints."""
-        arm_dof_indices = map(
-            lambda x: self.joint_dof_indices[x], self.params.arm_joints
-        )
+
+        # deref self vars to cut access in half
+        joint_dof_indices = self.joint_dof_indices
+        arm_joints = self.params.arm_joints
+        sim_obj_joint_vel = self.sim_obj.joint_velocities
+
+        arm_dof_indices = (joint_dof_indices[x] for x in arm_joints)
         return np.array(
-            [self.sim_obj.joint_velocities[i] for i in arm_dof_indices],
+            [sim_obj_joint_vel[i] for i in arm_dof_indices],
             dtype=np.float32,
         )
 

diff --git a/src_python/habitat_sim/simulator.py b/src_python/habitat_sim/simulator.py
@@ -90,29 +90,25 @@ def _sanitize_config(config: Configuration) -> None:
             )
 
         config.sim_cfg.create_renderer = any(
-            map(lambda cfg: len(cfg.sensor_specifications) > 0, config.agents)
+            (len(cfg.sensor_specifications) > 0 for cfg in config.agents)
         )
         config.sim_cfg.load_semantic_mesh = any(
-            map(
-                lambda cfg: any(
-                    map(
-                        lambda sens_spec: sens_spec.sensor_type == SensorType.SEMANTIC,
-                        cfg.sensor_specifications,
-                    )
-                ),
-                config.agents,
+            (
+                any(
+                    sens_spec.sensor_type == SensorType.SEMANTIC
+                    for sens_spec in cfg.sensor_specifications
+                )
+                for cfg in config.agents
             )
         )
 
         config.sim_cfg.requires_textures = any(
-            map(
-                lambda cfg: any(
-                    map(
-                        lambda sens_spec: sens_spec.sensor_type == SensorType.COLOR,
-                        cfg.sensor_specifications,
-                    )
-                ),
-                config.agents,
+            (
+                any(
+                    sens_spec.sensor_type == SensorType.COLOR
+                    for sens_spec in cfg.sensor_specifications
+                )
+                for cfg in config.agents
             )
         )