text: import numpy as np
  import gym
  import pybullet as p
  import pybullet_envs
  import pybullet_envs.bullet.minitaur_gym_env as minitaur_gym_env
  import pybullet_envs.bullet.racecarGymEnv as racecarGymEnv
  import pybullet_envs.bullet.kukaGymEnv as kukaGymEnv
  from custom_envs.minitaur_duck import MinitaurDuckBulletEnv
  from custom_envs.minitaur_ball import MinitaurBallBulletEnv
  
  def make_env(env_name, seed=-1, render_mode=False):
    if (env_name.startswith("RacecarBulletEnv")):
      print("bullet_racecar_started")
      env = racecarGymEnv.RacecarGymEnv(isDiscrete=False, renders=render_mode)
    elif (env_name.startswith("AugmentBipedalWalker")):
      if (env_name.startswith("AugmentBipedalWalkerHardcore")):
        if (env_name.startswith("AugmentBipedalWalkerHardcoreSmallLegs")):
          from box2d.bipedal_walker import AugmentBipedalWalkerHardcoreSmallLegs
          env = AugmentBipedalWalkerHardcoreSmallLegs()
        else:
          from box2d.bipedal_walker import AugmentBipedalWalkerHardcore
          env = AugmentBipedalWalkerHardcore()
      elif (env_name.startswith("AugmentBipedalWalkerSmallLegs")):
        from box2d.bipedal_walker import AugmentBipedalWalkerSmallLegs
        env = AugmentBipedalWalkerSmallLegs()
      elif (env_name.startswith("AugmentBipedalWalkerTallLegs")):
        from box2d.bipedal_walker import AugmentBipedalWalkerTallLegs
        env = AugmentBipedalWalkerTallLegs()
      else:
        from box2d.bipedal_walker import AugmentBipedalWalker
        env = AugmentBipedalWalker()
    elif (env_name.startswith("MinitaurBulletEnv")):
      print("bullet_minitaur_started")
      env = minitaur_gym_env.MinitaurBulletEnv(render=render_mode)
    elif (env_name.startswith("MinitaurDuckBulletEnv")):
      print("bullet_minitaur_duck_started")
      env = MinitaurDuckBulletEnv(render=render_mode)
    elif (env_name.startswith("MinitaurBallBulletEnv")):
      print("bullet_minitaur_ball_started")
      env = MinitaurBallBulletEnv(render=render_mode)
    elif (env_name.startswith("KukaBulletEnv")):
      print("bullet_kuka_grasping started")
      env = kukaGymEnv.KukaGymEnv(renders=render_mode,isDiscrete=False)
    else:
      if env_name.startswith("Augment"):
        import robogym
      if env_name.startswith("AugmentAnt"):
        from robogym import AugmentAnt
        env = AugmentAnt()
      elif env_name.startswith("AugmentHopper"):
        from robogym import AugmentHopper
        env = AugmentHopper()
      elif env_name.startswith("AugmentHalfCheetah"):
        from robogym import AugmentHalfCheetah
        env = AugmentHalfCheetah()
      else:
        env = gym.make(env_name)
      if render_mode and not env_name.startswith("Augment"):
        env.render("human")
    if (seed >= 0):
      env.seed(seed)
    '''
    print("environment details")
    print("env.action_space", env.action_space)
    print("high, low", env.action_space.high, env.action_space.low)
    print("environment details")
    print("env.observation_space", env.observation_space)
    print("high, low", env.observation_space.high, env.observation_space.low)
    assert False
    '''
    return env
  