Add mode to NormalizeTransform with mean_std or min_max (Not fully tested)

lerobot/common/envs/factory.py

@@ -1,7 +1,5 @@
 from torchrl.envs.transforms import StepCounter, TransformedEnv
 
-from lerobot.common.envs.transforms import Prod
-
 
 def make_env(cfg, transform=None):
     kwargs = {
@@ -28,12 +26,8 @@ def make_env(cfg, transform=None):
     # limit rollout to max_steps
     env = TransformedEnv(env, StepCounter(max_steps=cfg.env.episode_length))
 
-    if cfg.env.name == "pusht":
-        # to ensure pusht is in [0,255] like simxarm
-        env.append_transform(Prod(in_keys=[("observation", "image")], prod=255.0))
-
     if transform is not None:
-        # useful to add mean and std normalization
+        # useful to add normalization
         env.append_transform(transform)
 
     return env