Physics client closed during environment destruction

[qgallouedec]

Physics client closed during environment destruction

[louixp]

Thanks for the pointer. They are very helpful! I have created a PR to address this: #33

[qgallouedec]

In fact, I don't think the solution is to copy the environment, but to make it resettable.

Gym environment are, generally speaking, not resettable to a particular state (see openai/gym#402).
But I agree it could be a good enhancement to make panda_gym resettable. It could work like:

actions = [env.action_space.sample() for _ in range(10)]
sim_state = env.save_state()
for action in actions:
  env.load_state(state)
  obs, rew, done, info = env.step(action)
  # do stuff with the one step lookahead for each action

I don't know precisely how to do it, but the question has already been addressed here: https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=11972

I don't have time to work on this improvement, but if you do, I would welcome a PR.