code: def make_robotics_env(env_id, seed, rank=0):
      
      set_global_seeds(seed)
      env = gym.make(env_id)
      env = FlattenDictWrapper(env, ['observation', 'desired_goal'])
      env = Monitor(
          env, logger.get_dir() and os.path.join(logger.get_dir(), str(rank)),
          info_keywords=('is_success',))
      env.seed(seed)
      return env
docs: Create a wrapped, monitored gym.Env for MuJoCo.