From 1136ba4932bc46fdecedece0d8c26b084ca69c6c Mon Sep 17 00:00:00 2001 From: Pepijn Date: Wed, 8 Apr 2026 15:53:03 +0200 Subject: [PATCH] docs(env_processor): rename step 2 and fix policy_cfg examples MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - Rename '### 2. Update the Factory' → '### 2. Update Your EnvConfig Subclass' - Update factory usage examples to use keyword-argument style with policy_cfg parameter for both SmolVLA and ACT cases Co-Authored-By: Claude Sonnet 4.6 --- docs/source/env_processor.mdx | 20 ++------------------ 1 file changed, 2 insertions(+), 18 deletions(-) diff --git a/docs/source/env_processor.mdx b/docs/source/env_processor.mdx index 6e03c9287..a03eb984d 100644 --- a/docs/source/env_processor.mdx +++ b/docs/source/env_processor.mdx @@ -316,24 +316,6 @@ class MyEnvProcessorStep(ObservationProcessorStep): return processed ``` -### 2. Update the Factory - -```python -# In src/lerobot/envs/configs.py -@EnvConfig.register_subclass("myenv") -@dataclass -class MyEnvConfig(EnvConfig): - # ... task/features/gym kwargs ... - - def get_env_processors(self): - from lerobot.processor.pipeline import PolicyProcessorPipeline - - return ( - PolicyProcessorPipeline(steps=[MyEnvProcessorStep()]), - PolicyProcessorPipeline(steps=[]), - ) -``` - ### 2. Update Your `EnvConfig` Subclass ```python @@ -342,8 +324,10 @@ class MyEnvConfig(EnvConfig): @dataclass class MyEnvConfig(EnvConfig): # ... task/features/gym kwargs ... + def get_env_processors(self): from lerobot.processor.pipeline import PolicyProcessorPipeline + return ( PolicyProcessorPipeline(steps=[MyEnvProcessorStep()]), PolicyProcessorPipeline(steps=[]),