Code:

import gymimport pybullet_envsimport numpy as npenv1 = gym.make("HopperBulletEnv-v0")env2 = gym.make("HopperBulletEnv-v0")env1.reset()env2.reset()# get the pybullet connectionsp1 = env1.env._pp2 = env2.env._p# step the envs randomly for a bitfor _ in range(5):    env1.step(np.random.uniform(low=-1,high=1,size=3))    env2.step(np.random.uniform(low=-1,high=1,size=3))    # get the state of env1base_po = [] # position and orientation of base for each bodybase_v = [] # velocity of base for each bodyjoint_states = [] # joint states for each bodyfor i in range(p1.getNumBodies()):    base_po.append(p1.getBasePositionAndOrientation(i))    base_v.append(p1.getBaseVelocity(i))    joint_states.append([p1.getJointState(i,j) for j in range(p1.getNumJoints(i))])# reset env2 to the current state of env1for i in range(p2.getNumBodies()):    p2.resetBasePositionAndOrientation(i,*base_po[i])    p2.resetBaseVelocity(i,*base_v[i])    for j in range(p2.getNumJoints(i)):        p2.resetJointState(i,j,*joint_states[i][j][:2])# check that they now follow the same trajectoryfor _ in range(5):    act = np.random.uniform(low=-1,high=1,size=3)    out1 = env1.step(act)    out2 = env2.step(act)    print(np.allclose(out1[0],out2[0]))