Open the covers beneath each pedal so that the lens can turn

The lens is attached by "bayonet" hooks and should easily rotate a few mm counter-clockwise and lift off easily

If the lens is stuck, use finesse, don't pound on the lens to break it free. I found mechanical interference at the hinge pin and needed to slide the pin over

The lens should rotate and the bayonet should disconnect, by applying a heel-strike to the right-hand side of the upper pad.