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docs: remove duplicate code blocks in env_processor.mdx

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Pepijn Kooijmans
2026-04-07 20:00:22 +02:00
parent 3a6600f7b0
commit e05cf3c742
1 changed files with 2 additions and 29 deletions
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docs/source/env_processor.mdx
+2 -29
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@@ -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