[pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

src/lerobot/configs/policies.py

@@ -124,13 +124,14 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
             if ft.type is FeatureType.STATE and ft_name == OBS_STATE:
                 return ft
         return None
-        
+
     @property
     def robot_state_feature_key(self) -> PolicyFeature | None:
         for key, ft in self.input_features.items():
             if ft.type is FeatureType.STATE:
                 return key
         return None
+
     @property
     def env_state_feature(self) -> PolicyFeature | None:
         for _, ft in self.input_features.items():

src/lerobot/envs/libero.py

@@ -14,7 +14,6 @@ from libero.libero.envs import OffScreenRenderEnv
 
 from lerobot.constants import (
     OBS_IMAGE,
-    OBS_IMAGE_2,
 )
 
 
@@ -238,13 +237,13 @@ class LiberoEnv(gym.Env):
         raw_obs = self._env.env._get_observations()
         image = self._format_raw_obs(raw_obs)["pixels"][OBS_IMAGE]
         return image
+
     def render(self):
         raw_obs = self._env.env._get_observations()
         formatted = self._format_raw_obs(raw_obs)
         # grab the "main" camera
         return formatted["pixels"]["image"]
 
-
     def _make_envs_task(self, task_suite, task_id: int = 0):
         task = task_suite.get_task(task_id)
         self.task = task.name

src/lerobot/envs/utils.py

@@ -26,6 +26,7 @@ from lerobot.configs.types import FeatureType, PolicyFeature
 from lerobot.envs.configs import EnvConfig
 from lerobot.utils.utils import get_channel_first_image_shape
 
+
 def preprocess_observation(
     observations: dict[str, np.ndarray], cfg: dict[str, Any] = None
 ) -> dict[str, Tensor]:
@@ -52,7 +53,7 @@ def preprocess_observation(
             imgs = {"pixels": observations["pixels"]}
 
         # build rename map env_key -> policy_key
-        rename_map = dict(zip(env_img_keys, policy_img_keys))
+        rename_map = dict(zip(env_img_keys, policy_img_keys, strict=False))
 
         for imgkey, img in imgs.items():
             target_key = rename_map.get(imgkey, imgkey)
@@ -83,6 +84,7 @@ def preprocess_observation(
 
     return return_observations
 
+
 def env_to_policy_features(env_cfg: EnvConfig) -> dict[str, PolicyFeature]:
     # TODO(aliberts, rcadene): remove this hardcoding of keys and just use the nested keys as is
     # (need to also refactor preprocess_observation and externalize normalization from policies)