From e05cf3c7423204895e4879d267515b2efd0e7de4 Mon Sep 17 00:00:00 2001
From: Pepijn Kooijmans <pepijn@huggingface.co>
Date: Tue, 7 Apr 2026 20:00:22 +0200
Subject: [PATCH] docs: remove duplicate code blocks in env_processor.mdx

Made-with: Cursor
---
 docs/source/env_processor.mdx | 31 ++-----------------------------
 1 file changed, 2 insertions(+), 29 deletions(-)

diff --git a/docs/source/env_processor.mdx b/docs/source/env_processor.mdx
index c3563b5cc..c02f84224 100644
--- a/docs/source/env_processor.mdx
+++ b/docs/source/env_processor.mdx
@@ -96,20 +96,7 @@ smolvla_preprocessor, smolvla_postprocessor = make_pre_post_processors(smolvla_c
 # Or use ACT policy with the same LIBERO environment
 libero_preprocessor, libero_postprocessor = make_env_pre_post_processors(libero_cfg)
 act_preprocessor, act_postprocessor = make_pre_post_processors(act_cfg)
-```python
-# Use SmolVLA policy with LIBERO environment
-libero_preprocessor, libero_postprocessor = make_env_pre_post_processors(
-    env_cfg=libero_cfg,
-    policy_cfg=smolvla_cfg,
-)
-smolvla_preprocessor, smolvla_postprocessor = make_pre_post_processors(smolvla_cfg)
-
-# Or use ACT policy with the same LIBERO environment
-libero_preprocessor, libero_postprocessor = make_env_pre_post_processors(
-    env_cfg=libero_cfg,
-    policy_cfg=act_cfg,
-)
-act_preprocessor, act_postprocessor = make_pre_post_processors(act_cfg)
+````
 
 ### 3. **Easier Experimentation**
 
@@ -326,21 +313,6 @@ class MyEnvProcessorStep(ObservationProcessorStep):
 ### 2. Update the Factory
 
 ````python
-# In src/lerobot/envs/factory.py
-
-def make_env_pre_post_processors(env_cfg: EnvConfig):
-    if isinstance(env_cfg, LiberoEnv) or "libero" in env_cfg.type:
-        preprocessor = PolicyProcessorPipeline(steps=[LiberoProcessorStep()])
-    elif isinstance(env_cfg, MyEnvConfig) or "myenv" in env_cfg.type:
-        preprocessor = PolicyProcessorPipeline(steps=[MyEnvProcessorStep()])
-    else:
-        preprocessor = PolicyProcessorPipeline(steps=[])
-
-    postprocessor = PolicyProcessorPipeline(steps=[])
-    return preprocessor, postprocessor
-### 2. Update Your `EnvConfig` Subclass
-
-```python
 # In src/lerobot/envs/configs.py
 @EnvConfig.register_subclass("myenv")
 @dataclass
@@ -354,6 +326,7 @@ class MyEnvConfig(EnvConfig):
             PolicyProcessorPipeline(steps=[MyEnvProcessorStep()]),
             PolicyProcessorPipeline(steps=[]),
         )
+````
 
 ### 3. Use in Evaluation