Gymnasium and PyBullet envs: Problem with video capture

[nikisim]

Problem Description

I'm trying to train different models using CleanRL with a custom PyBullet environment. I couldn't use PyBullet directly due to a conflict with Gymnasium, so I installed pybullet_envs_gymnasium from this link: https://github.com/araffin/pybullet_envs_gymnasium/tree/master. Now I can train default bullet envs successfully, but without videos captured.

However, I'm facing an issue when trying to capture video: "pybullet.error: Not connected to physics server." Can you help me with this problem? Also, do you know when PyBullet environments will be available in CleanRL?

Thanks.

Checklist

• I have installed dependencies via poetry install (see CleanRL's installation guideline.
• I have checked that there is no similar issue in the repo.
• I have checked the documentation site and found not relevant information in GitHub issues.

Current Behavior

I can train PyBullet envs, but without video capturing. It starts to record video for 2 sec and then an error occurs.

Expected Behavior

I can train PyBullet envs with video capturing

Logs:

pybullet build time: Nov 28 2023 23:45:17
/home/user/.local/lib/python3.10/site-packages/wandb/sdk/lib/import_hooks.py:243: DeprecationWarning: Deprecated since Python 3.4 and slated for removal in Python 3.12; use importlib.util.find_spec() instead
  loader = importlib.find_loader(fullname, path)
argv[0]=
argv[0]=
Moviepy - Building video /home/user/cleanrl/videos/HopperBulletEnv-v0__sac_continuous_action__1__1709820664/rl-video-episode-0.mp4.
Moviepy - Writing video /home/user/cleanrl/videos/HopperBulletEnv-v0__sac_continuous_action__1__1709820664/rl-video-episode-0.mp4

Moviepy - Done !                                                                                                                                                               
Moviepy - video ready /home/nikisim/Mag_diplom/cleanrl/videos/HopperBulletEnv-v0__sac_continuous_action__1__1709820664/rl-video-episode-0.mp4
Traceback (most recent call last):
  File "/home/user/cleanrl/cleanrl/sac_continuous_action.py", line 227, in <module>
    next_obs, rewards, terminations, truncations, infos = envs.step(actions)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/vector/vector_env.py", line 203, in step
    return self.step_wait()
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/vector/sync_vector_env.py", line 153, in step_wait
    observation, info = env.reset()
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/wrappers/record_episode_statistics.py", line 73, in reset
    obs, info = super().reset(**kwargs)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/core.py", line 414, in reset
    return self.env.reset(seed=seed, options=options)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/wrappers/record_video.py", line 106, in reset
    observations = super().reset(**kwargs)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/core.py", line 414, in reset
    return self.env.reset(seed=seed, options=options)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/wrappers/time_limit.py", line 75, in reset
    return self.env.reset(**kwargs)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/wrappers/order_enforcing.py", line 61, in reset
    return self.env.reset(**kwargs)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/wrappers/env_checker.py", line 57, in reset
    return self.env.reset(**kwargs)
  File "/home/user/.local/lib/python3.10/site-packages/pybullet_envs_gymnasium/gym_locomotion_envs.py", line 43, in reset
    self._p.restoreState(self.stateId)
pybullet.error: Not connected to physics server.
Traceback (most recent call last):
  File "/home/user/cleanrl/cleanrl/sac_continuous_action.py", line 227, in <module>
    next_obs, rewards, terminations, truncations, infos = envs.step(actions)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/vector/vector_env.py", line 203, in step
    return self.step_wait()
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/vector/sync_vector_env.py", line 153, in step_wait
    observation, info = env.reset()
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/wrappers/record_episode_statistics.py", line 73, in reset
    obs, info = super().reset(**kwargs)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/core.py", line 414, in reset
    return self.env.reset(seed=seed, options=options)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/wrappers/record_video.py", line 106, in reset
    observations = super().reset(**kwargs)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/core.py", line 414, in reset
    return self.env.reset(seed=seed, options=options)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/wrappers/time_limit.py", line 75, in reset
    return self.env.reset(**kwargs)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/wrappers/order_enforcing.py", line 61, in reset
    return self.env.reset(**kwargs)
  File "/home/user/.local/lib/python3.10/site-packages/gymnasium/wrappers/env_checker.py", line 57, in reset
    return self.env.reset(**kwargs)
  File "/home/user/.local/lib/python3.10/site-packages/pybullet_envs_gymnasium/gym_locomotion_envs.py", line 43, in reset
    self._p.restoreState(self.stateId)
pybullet.error: Not connected to physics server.