[HIL-SERL] Migrate threading to multiprocessing (#759)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

lerobot/scripts/server/maniskill_manipulator.py

@@ -5,9 +5,8 @@ import torch
 
 from omegaconf import DictConfig
 from typing import Any
-
-"""Make ManiSkill3 gym environment"""
 from mani_skill.vector.wrappers.gymnasium import ManiSkillVectorEnv
+from mani_skill.utils.wrappers.record import RecordEpisode
 
 
 def preprocess_maniskill_observation(
@@ -143,6 +142,15 @@ def make_maniskill(
         num_envs=n_envs,
     )
 
+    if cfg.env.video_record.enabled:
+        env = RecordEpisode(
+            env,
+            output_dir=cfg.env.video_record.record_dir,
+            save_trajectory=True,
+            trajectory_name=cfg.env.video_record.trajectory_name,
+            save_video=True,
+            video_fps=30,
+        )
     env = ManiSkillObservationWrapper(env, device=cfg.env.device)
     env = ManiSkillVectorEnv(env, ignore_terminations=True, auto_reset=False)
     env._max_episode_steps = env.max_episode_steps = (