# Environments

Simulation environments are configured through [`EnvConfig`] and built by [`make_env`]. Each subclass
declares its `gym_kwargs` and how to construct the vectorised environments.

See [Environments from the Hub](../envhub) for using published environments and
[Adding a New Benchmark](../adding_benchmarks) for contributing one.

## EnvConfig

[[autodoc]] lerobot.envs.EnvConfig

## make_env

[[autodoc]] lerobot.envs.make_env

## make_env_config

[[autodoc]] lerobot.envs.make_env_config