docs: def configure(self, remotes=None,
                    client_id=None,
                    start_timeout=None, docker_image=None,
                    ignore_clock_skew=False, disable_action_probes=False,
                    vnc_driver=None, vnc_kwargs=None,
                    rewarder_driver=None,
                    replace_on_crash=False, allocate_sync=True,
                    observer=False, api_key=None,
                    record=False,
                    sample_env_ids=None,
      ):
          """Universe method to configure the environment.
  
          Args:
  
            ignore_clock_skew (bool): Assume remotes are on the same machine as us,
              for the purposes of diagnostics measurement.
  
              If true, we skip measuring the clock skew over the network,
              and skip generating diagnostics which rely on it.
  
              True when used by the rewarder to measure latency between
              the VNC frame and its calculation of reward for that
              frame.  In this case we share a common clock with the env
              generating the VNC frame, so we don't need to send/receive
              probes.  Clock skew is zero in this case.
  
              False when remotes are potentially different machines
              (such as an agent, or a demonstrator), and we will be
              sending probe keys and measuring network ping rountrip
              times to calculate clock skew.
          """
          if self._started:
              raise error.Error('{} has already been started; cannot change configuration now.'.format(self))
  
          universe.configure_logging()
  
          twisty.start_once()
  
          if self.spec is not None:
              runtime = registration.runtime_spec(self.spec.tags['runtime'])
              # Let the user manually set the docker_image version
              if docker_image:
                  # TODO: don't support this option?
                  runtime.image = docker_image
          else:
              runtime = None
  
          if remotes is None:
              remotes = os.environ.get('GYM_VNC_REMOTES', '1')
  
          if client_id is None:
              client_id = default_client_id()
  
          if vnc_kwargs is None:
              vnc_kwargs = {}
  
          self.remote_manager, self.n = remotes_module.build(
              client_id=client_id,
              remotes=remotes, runtime=runtime, start_timeout=start_timeout,
              api_key=api_key,
              use_recorder_ports=record,
          )
          self.connection_names = [None] * self.n
          self.connection_labels = [None] * self.n
          self.crashed = {}
  
          self.allow_reconnect = replace_on_crash and self.remote_manager.supports_reconnect
          if self.remote_manager.connect_vnc:
              cls = vnc_session(vnc_driver)
              vnc_kwargs.setdefault('start_timeout', self.remote_manager.start_timeout)
              if runtime == 'gym-core':
                  vnc_kwargs.setdefault('encoding', 'zrle')
              else:
                  vnc_kwargs.setdefault('encoding', 'tight')
                  vnc_kwargs.setdefault('fine_quality_level', 50)
                  vnc_kwargs.setdefault('subsample_level', 2)
              # Filter out None values, since some drivers may not handle them correctly
              vnc_kwargs = {k: v for k, v in vnc_kwargs.items() if v is not None}
              logger.info('Using VNCSession arguments: %s. (Customize by running "env.configure(vnc_kwargs={...})"', vnc_kwargs)
              self.vnc_kwargs = vnc_kwargs
              self.vnc_session = cls()
          else:
              self.vnc_session = None
  
          self._observer = observer
          if self.remote_manager.connect_rewarder:
              cls = rewarder_session(rewarder_driver)
              self.rewarder_session = cls()
          else:
              self.rewarder_session = None
  
          if ignore_clock_skew:
              logger.info('Printed stats will ignore clock skew. (This usually makes sense only when the environment and agent are on the same machine.)')
  
          if self.rewarder_session or ignore_clock_skew:
              # Don't need rewarder session if we're ignoring clock skew
              if self.spec is not None:
                  metadata_encoding = self.spec.tags.get('metadata_encoding')
              else:
                  metadata_encoding = None
              self.diagnostics = diagnostics.Diagnostics(self.n, self._probe_key, ignore_clock_skew, metadata_encoding=metadata_encoding, disable_action_probes=disable_action_probes)
          else:
              self.diagnostics = None
  
          self._sample_env_ids = sample_env_ids
  
          self._reset_mask()
          self._started = True
  
          self.remote_manager.allocate([str(i) for i in range(self.n)], initial=True)
          if allocate_sync:
              # Block until we've fulfilled n environments
              self._handle_connect(n=self.n)
          else:
              # Handle any backends which synchronously fufill their
              # allocation.
              self._handle_connect()