module moplayground.envs.create

---

function create_environment

create_environment(
    env_name,
    env_params,
    backend='jnp',
    gaitlib_path=None,
    **env_kwargs
)

Instantiate a MO-Playground environment.

Constructs one of the registered multi-objective environments (MOCheetah, MOHopper, MOAnt, MOWalker, MOHumanoid, NaviGait).

Args:

• env_name: Registered environment name, e.g. 'MOCheetah'.
• env_params: ConfigDict of environment parameters (the env_config section of a run config).
• backend: 'jnp' (JAX, for training) or 'np' (NumPy, for evaluation/rollout).
• gaitlib_path: Gait library path. Required for NaviGait.
• **env_kwargs: Extra keyword arguments forwarded to the environment constructor. Currently only consumed by NaviGait (Bruce).

Returns: Tuple (env, env_params) where env is the constructed environment instance and env_params is the ConfigDict of environment parameters passed in.

Raises:

• Exception: If env_name does not match a registered environment.