text: # The following code is modified from hardmaru/estool (https://github.com/hardmaru/estool/) under the MIT License.
  
  # Modifications Copyright (c) 2019 Uber Technologies, Inc.
  
  
  from collections import namedtuple
  # import gym
  from .bipedal_walker_custom import BipedalWalkerCustom, Env_config  # noqa
  
  
  def make_env(env_name, seed, render_mode=False, env_config=None):
      if env_name.startswith("BipedalWalkerCustom"):
          assert env_config is not None
          env = BipedalWalkerCustom(env_config)
      else:
          # env = gym.make(env_name)
          raise Exception('Got env_name {}'.format(env_name))
      if render_mode and not env_name.startswith("Roboschool"):
          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
  
  
  Game = namedtuple('Game', ['env_name', 'time_factor', 'input_size',
                             'output_size', 'layers', 'activation', 'noise_bias',
                             'output_noise'])
  
  bipedhard_custom = Game(env_name='BipedalWalkerCustom-v0',
                          input_size=24,
                          output_size=4,
                          time_factor=0,
                          layers=[40, 40],
                          activation='tanh',
                          noise_bias=0.0,
                          output_noise=[False, False, False],
                          )
  