From 2cdef0987a3c3fb91de39ab30a6cde2a9d5e62ef Mon Sep 17 00:00:00 2001
From: Pascal Roth <roth.pascal@outlook.de>
Date: Mon, 8 Sep 2025 14:40:03 +0200
Subject: [PATCH 1/3] fix mem leak in video recorder

---
 scripts/benchmarks/benchmark_non_rl.py        |  3 +-
 scripts/benchmarks/benchmark_rlgames.py       |  3 +-
 scripts/benchmarks/benchmark_rsl_rl.py        |  3 +-
 .../reinforcement_learning/rl_games/play.py   |  3 +-
 .../reinforcement_learning/rl_games/train.py  |  3 +-
 scripts/reinforcement_learning/rsl_rl/play.py |  3 +-
 .../reinforcement_learning/rsl_rl/train.py    |  3 +-
 scripts/reinforcement_learning/sb3/play.py    |  3 +-
 scripts/reinforcement_learning/sb3/train.py   |  3 +-
 scripts/reinforcement_learning/skrl/play.py   |  3 +-
 scripts/reinforcement_learning/skrl/train.py  |  3 +-
 source/isaaclab/config/extension.toml         |  2 +-
 source/isaaclab/docs/CHANGELOG.rst            |  9 +++++
 source/isaaclab/isaaclab/utils/recorder.py    | 40 +++++++++++++++++++
 .../isaaclab_tasks/test/test_record_video.py  |  4 +-
 15 files changed, 75 insertions(+), 13 deletions(-)
 create mode 100644 source/isaaclab/isaaclab/utils/recorder.py

diff --git a/scripts/benchmarks/benchmark_non_rl.py b/scripts/benchmarks/benchmark_non_rl.py
index 295436e75f3..861fac7ee7b 100644
--- a/scripts/benchmarks/benchmark_non_rl.py
+++ b/scripts/benchmarks/benchmark_non_rl.py
@@ -84,6 +84,7 @@
 
 from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.utils.dict import print_dict
+from isaaclab.utils.recorder import RecordVideo
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
@@ -138,7 +139,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
 
     task_startup_time_end = time.perf_counter_ns()
 
diff --git a/scripts/benchmarks/benchmark_rlgames.py b/scripts/benchmarks/benchmark_rlgames.py
index 2394228efc9..c0647d4963d 100644
--- a/scripts/benchmarks/benchmark_rlgames.py
+++ b/scripts/benchmarks/benchmark_rlgames.py
@@ -76,6 +76,7 @@
 from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
+from isaaclab.utils.recorder import RecordVideo
 
 from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
@@ -190,7 +191,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
 
     # wrap around environment for rl-games
     env = RlGamesVecEnvWrapper(env, rl_device, clip_obs, clip_actions)
diff --git a/scripts/benchmarks/benchmark_rsl_rl.py b/scripts/benchmarks/benchmark_rsl_rl.py
index 56207f4fe82..26d3e49fd83 100644
--- a/scripts/benchmarks/benchmark_rsl_rl.py
+++ b/scripts/benchmarks/benchmark_rsl_rl.py
@@ -76,6 +76,7 @@
 from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
+from isaaclab.utils.recorder import RecordVideo
 
 from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
 
@@ -183,7 +184,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
     # wrap around environment for rsl-rl
     env = RslRlVecEnvWrapper(env)
 
diff --git a/scripts/reinforcement_learning/rl_games/play.py b/scripts/reinforcement_learning/rl_games/play.py
index dd2185b82b0..e9280afcc17 100644
--- a/scripts/reinforcement_learning/rl_games/play.py
+++ b/scripts/reinforcement_learning/rl_games/play.py
@@ -75,6 +75,7 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
+from isaaclab.utils.recorder import RecordVideo
 
 from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
@@ -154,7 +155,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
 
     # wrap around environment for rl-games
     env = RlGamesVecEnvWrapper(env, rl_device, clip_obs, clip_actions, obs_groups, concate_obs_groups)
diff --git a/scripts/reinforcement_learning/rl_games/train.py b/scripts/reinforcement_learning/rl_games/train.py
index cc1e54b1756..c5a008f7166 100644
--- a/scripts/reinforcement_learning/rl_games/train.py
+++ b/scripts/reinforcement_learning/rl_games/train.py
@@ -80,6 +80,7 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
+from isaaclab.utils.recorder import RecordVideo
 
 from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
@@ -177,7 +178,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
 
     # wrap around environment for rl-games
     env = RlGamesVecEnvWrapper(env, rl_device, clip_obs, clip_actions, obs_groups, concate_obs_groups)
diff --git a/scripts/reinforcement_learning/rsl_rl/play.py b/scripts/reinforcement_learning/rsl_rl/play.py
index 9e89c6ff318..be50e7fae47 100644
--- a/scripts/reinforcement_learning/rsl_rl/play.py
+++ b/scripts/reinforcement_learning/rsl_rl/play.py
@@ -70,6 +70,7 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
+from isaaclab.utils.recorder import RecordVideo
 
 from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper, export_policy_as_jit, export_policy_as_onnx
 
@@ -129,7 +130,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
 
     # wrap around environment for rsl-rl
     env = RslRlVecEnvWrapper(env, clip_actions=agent_cfg.clip_actions)
diff --git a/scripts/reinforcement_learning/rsl_rl/train.py b/scripts/reinforcement_learning/rsl_rl/train.py
index 33bfc9f63d4..9c07f0e1f5f 100644
--- a/scripts/reinforcement_learning/rsl_rl/train.py
+++ b/scripts/reinforcement_learning/rsl_rl/train.py
@@ -89,6 +89,7 @@
 )
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
+from isaaclab.utils.recorder import RecordVideo
 
 from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper
 
@@ -171,7 +172,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
 
     # wrap around environment for rsl-rl
     env = RslRlVecEnvWrapper(env, clip_actions=agent_cfg.clip_actions)
diff --git a/scripts/reinforcement_learning/sb3/play.py b/scripts/reinforcement_learning/sb3/play.py
index 05c52390749..d27bb8b704a 100644
--- a/scripts/reinforcement_learning/sb3/play.py
+++ b/scripts/reinforcement_learning/sb3/play.py
@@ -79,6 +79,7 @@
 )
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
+from isaaclab.utils.recorder import RecordVideo
 
 from isaaclab_rl.sb3 import Sb3VecEnvWrapper, process_sb3_cfg
 
@@ -147,7 +148,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
     # wrap around environment for stable baselines
     env = Sb3VecEnvWrapper(env, fast_variant=not args_cli.keep_all_info)
 
diff --git a/scripts/reinforcement_learning/sb3/train.py b/scripts/reinforcement_learning/sb3/train.py
index ba45398f108..30791721958 100644
--- a/scripts/reinforcement_learning/sb3/train.py
+++ b/scripts/reinforcement_learning/sb3/train.py
@@ -92,6 +92,7 @@ def cleanup_pbar(*args):
 )
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
+from isaaclab.utils.recorder import RecordVideo
 
 from isaaclab_rl.sb3 import Sb3VecEnvWrapper, process_sb3_cfg
 
@@ -169,7 +170,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
 
     # wrap around environment for stable baselines
     env = Sb3VecEnvWrapper(env, fast_variant=not args_cli.keep_all_info)
diff --git a/scripts/reinforcement_learning/skrl/play.py b/scripts/reinforcement_learning/skrl/play.py
index 990ef5b558d..fd24022c1fd 100644
--- a/scripts/reinforcement_learning/skrl/play.py
+++ b/scripts/reinforcement_learning/skrl/play.py
@@ -106,6 +106,7 @@
 )
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
+from isaaclab.utils.recorder import RecordVideo
 
 from isaaclab_rl.skrl import SkrlVecEnvWrapper
 
@@ -188,7 +189,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, expe
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
 
     # wrap around environment for skrl
     env = SkrlVecEnvWrapper(env, ml_framework=args_cli.ml_framework)  # same as: `wrap_env(env, wrapper="auto")`
diff --git a/scripts/reinforcement_learning/skrl/train.py b/scripts/reinforcement_learning/skrl/train.py
index e3399f204b5..201874c23a2 100644
--- a/scripts/reinforcement_learning/skrl/train.py
+++ b/scripts/reinforcement_learning/skrl/train.py
@@ -105,6 +105,7 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
+from isaaclab.utils.recorder import RecordVideo
 
 from isaaclab_rl.skrl import SkrlVecEnvWrapper
 
@@ -199,7 +200,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
         }
         print("[INFO] Recording videos during training.")
         print_dict(video_kwargs, nesting=4)
-        env = gym.wrappers.RecordVideo(env, **video_kwargs)
+        env = RecordVideo(env, **video_kwargs)
 
     # wrap around environment for skrl
     env = SkrlVecEnvWrapper(env, ml_framework=args_cli.ml_framework)  # same as: `wrap_env(env, wrapper="auto")`
diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
index 792634e1052..8b426e2d302 100644
--- a/source/isaaclab/config/extension.toml
+++ b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.45.12"
+version = "0.45.13"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
index 1578f89be9d..73a0d23e8aa 100644
--- a/source/isaaclab/docs/CHANGELOG.rst
+++ b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,15 @@
 Changelog
 ---------
 
+0.45.13 (2025-09-08)
+~~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed memory leak of gymnasium video recording wrapper in the :class:`~isaaclab.utils.recorder.RecordVideo` class.
+
+
 0.45.12 (2025-09-05)
 ~~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab/isaaclab/utils/recorder.py b/source/isaaclab/isaaclab/utils/recorder.py
new file mode 100644
index 00000000000..e39ea016bd4
--- /dev/null
+++ b/source/isaaclab/isaaclab/utils/recorder.py
@@ -0,0 +1,40 @@
+from __future__ import annotations
+
+import gc
+import os
+
+import gymnasium as gym
+from gymnasium import error, logger
+
+
+class RecordVideo(gym.wrappers.RecordVideo):
+    """Fix gym wrapper to avoid memory leaks."""
+
+    def stop_recording(self):
+        """Stop current recording and saves the video."""
+        assert self.recording, "stop_recording was called, but no recording was started"
+
+        if len(self.recorded_frames) == 0:
+            logger.warn("Ignored saving a video as there were zero frames to save.")
+        else:
+            try:
+                from moviepy.video.io.ImageSequenceClip import ImageSequenceClip
+            except ImportError as e:
+                raise error.DependencyNotInstalled(
+                    'MoviePy is not installed, run `pip install "gymnasium[other]"`'
+                ) from e
+
+            clip = ImageSequenceClip(self.recorded_frames, fps=self.frames_per_sec)
+            moviepy_logger = None if self.disable_logger else "bar"
+            path = os.path.join(self.video_folder, f"{self._video_name}.mp4")
+            clip.write_videofile(path, logger=moviepy_logger)
+            
+            del clip
+
+        del self.recorded_frames
+        self.recorded_frames = []
+        self.recording = False
+        self._video_name = None
+
+        if self.gc_trigger and self.gc_trigger(self.episode_id):
+            gc.collect()
diff --git a/source/isaaclab_tasks/test/test_record_video.py b/source/isaaclab_tasks/test/test_record_video.py
index 9258fd2119f..a6cdde144d4 100644
--- a/source/isaaclab_tasks/test/test_record_video.py
+++ b/source/isaaclab_tasks/test/test_record_video.py
@@ -21,6 +21,8 @@
 import pytest
 from env_test_utils import setup_environment
 
+from isaaclab.utils.recorder import RecordVideo
+
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils import parse_env_cfg
 
@@ -53,7 +55,7 @@ def test_record_video(task_name, setup_video_params):
     # directory to save videos
     task_videos_dir = os.path.join(videos_dir, task_name)
     # wrap environment to record videos
-    env = gym.wrappers.RecordVideo(
+    env = RecordVideo(
         env,
         task_videos_dir,
         step_trigger=step_trigger,

From f9e3846a2e28e0bf5bc39d7611435f8bd95ef7cc Mon Sep 17 00:00:00 2001
From: Pascal Roth <roth.pascal@outlook.de>
Date: Mon, 8 Sep 2025 15:27:38 +0200
Subject: [PATCH 2/3] formatter

---
 source/isaaclab/isaaclab/utils/recorder.py | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/source/isaaclab/isaaclab/utils/recorder.py b/source/isaaclab/isaaclab/utils/recorder.py
index e39ea016bd4..7b943240116 100644
--- a/source/isaaclab/isaaclab/utils/recorder.py
+++ b/source/isaaclab/isaaclab/utils/recorder.py
@@ -1,9 +1,13 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
 from __future__ import annotations
 
 import gc
-import os
-
 import gymnasium as gym
+import os
 from gymnasium import error, logger
 
 
@@ -28,7 +32,7 @@ def stop_recording(self):
             moviepy_logger = None if self.disable_logger else "bar"
             path = os.path.join(self.video_folder, f"{self._video_name}.mp4")
             clip.write_videofile(path, logger=moviepy_logger)
-            
+
             del clip
 
         del self.recorded_frames

From 90faa244a9bd9fe2c41de9d2419ccdfbfc8eac45 Mon Sep 17 00:00:00 2001
From: Pascal Roth <roth.pascal@outlook.de>
Date: Tue, 9 Sep 2025 09:14:54 +0200
Subject: [PATCH 3/3] change to monkey patch

---
 scripts/benchmarks/benchmark_non_rl.py        |  6 ++-
 scripts/benchmarks/benchmark_rlgames.py       |  7 ++-
 scripts/benchmarks/benchmark_rsl_rl.py        |  7 ++-
 .../reinforcement_learning/rl_games/play.py   |  6 ++-
 .../reinforcement_learning/rl_games/train.py  |  6 ++-
 scripts/reinforcement_learning/rsl_rl/play.py |  6 ++-
 .../reinforcement_learning/rsl_rl/train.py    |  6 ++-
 scripts/reinforcement_learning/sb3/play.py    |  6 ++-
 scripts/reinforcement_learning/sb3/train.py   |  6 ++-
 scripts/reinforcement_learning/skrl/play.py   |  7 ++-
 scripts/reinforcement_learning/skrl/train.py  |  7 ++-
 source/isaaclab/docs/CHANGELOG.rst            |  2 +-
 source/isaaclab/isaaclab/utils/recorder.py    | 52 +++++++++----------
 .../isaaclab_tasks/test/test_record_video.py  |  6 ++-
 14 files changed, 90 insertions(+), 40 deletions(-)

diff --git a/scripts/benchmarks/benchmark_non_rl.py b/scripts/benchmarks/benchmark_non_rl.py
index 861fac7ee7b..8d146ae3b16 100644
--- a/scripts/benchmarks/benchmark_non_rl.py
+++ b/scripts/benchmarks/benchmark_non_rl.py
@@ -81,14 +81,18 @@
 import os
 import torch
 from datetime import datetime
+from gymnasium.wrappers import RecordVideo
 
 from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.utils.dict import print_dict
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 imports_time_end = time.perf_counter_ns()
 
 
diff --git a/scripts/benchmarks/benchmark_rlgames.py b/scripts/benchmarks/benchmark_rlgames.py
index c0647d4963d..e5eb7264bfe 100644
--- a/scripts/benchmarks/benchmark_rlgames.py
+++ b/scripts/benchmarks/benchmark_rlgames.py
@@ -68,6 +68,7 @@
 import random
 import torch
 from datetime import datetime
+from gymnasium.wrappers import RecordVideo
 
 from rl_games.common import env_configurations, vecenv
 from rl_games.common.algo_observer import IsaacAlgoObserver
@@ -76,7 +77,7 @@
 from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
@@ -87,6 +88,7 @@
 
 sys.path.append(os.path.join(os.path.dirname(os.path.abspath(__file__)), "../.."))
 
+
 from isaaclab.utils.timer import Timer
 from scripts.benchmarks.utils import (
     log_app_start_time,
@@ -101,6 +103,9 @@
     parse_tf_logs,
 )
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 torch.backends.cuda.matmul.allow_tf32 = True
 torch.backends.cudnn.allow_tf32 = True
 torch.backends.cudnn.deterministic = False
diff --git a/scripts/benchmarks/benchmark_rsl_rl.py b/scripts/benchmarks/benchmark_rsl_rl.py
index 26d3e49fd83..8ea3baaaa35 100644
--- a/scripts/benchmarks/benchmark_rsl_rl.py
+++ b/scripts/benchmarks/benchmark_rsl_rl.py
@@ -70,13 +70,14 @@
 import numpy as np
 import torch
 from datetime import datetime
+from gymnasium.wrappers import RecordVideo
 
 from rsl_rl.runners import OnPolicyRunner
 
 from isaaclab.envs import DirectMARLEnvCfg, DirectRLEnvCfg, ManagerBasedRLEnvCfg
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlVecEnvWrapper
 
@@ -89,6 +90,7 @@
 from isaacsim.core.utils.extensions import enable_extension
 
 enable_extension("isaacsim.benchmark.services")
+
 from isaacsim.benchmark.services import BaseIsaacBenchmark
 
 from isaaclab.utils.timer import Timer
@@ -105,6 +107,9 @@
     parse_tf_logs,
 )
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 torch.backends.cuda.matmul.allow_tf32 = True
 torch.backends.cudnn.allow_tf32 = True
 torch.backends.cudnn.deterministic = False
diff --git a/scripts/reinforcement_learning/rl_games/play.py b/scripts/reinforcement_learning/rl_games/play.py
index e9280afcc17..3795607b1c7 100644
--- a/scripts/reinforcement_learning/rl_games/play.py
+++ b/scripts/reinforcement_learning/rl_games/play.py
@@ -60,6 +60,7 @@
 import random
 import time
 import torch
+from gymnasium.wrappers import RecordVideo
 
 from rl_games.common import env_configurations, vecenv
 from rl_games.common.player import BasePlayer
@@ -75,7 +76,7 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
@@ -83,6 +84,9 @@
 from isaaclab_tasks.utils import get_checkpoint_path
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 
diff --git a/scripts/reinforcement_learning/rl_games/train.py b/scripts/reinforcement_learning/rl_games/train.py
index c5a008f7166..25b4ffd2004 100644
--- a/scripts/reinforcement_learning/rl_games/train.py
+++ b/scripts/reinforcement_learning/rl_games/train.py
@@ -64,6 +64,7 @@
 import os
 import random
 from datetime import datetime
+from gymnasium.wrappers import RecordVideo
 
 import omni
 from rl_games.common import env_configurations, vecenv
@@ -80,13 +81,16 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 from isaaclab_rl.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 
diff --git a/scripts/reinforcement_learning/rsl_rl/play.py b/scripts/reinforcement_learning/rsl_rl/play.py
index be50e7fae47..eb862458da7 100644
--- a/scripts/reinforcement_learning/rsl_rl/play.py
+++ b/scripts/reinforcement_learning/rsl_rl/play.py
@@ -57,6 +57,7 @@
 import os
 import time
 import torch
+from gymnasium.wrappers import RecordVideo
 
 from rsl_rl.runners import DistillationRunner, OnPolicyRunner
 
@@ -70,7 +71,7 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper, export_policy_as_jit, export_policy_as_onnx
 
@@ -78,6 +79,9 @@
 from isaaclab_tasks.utils import get_checkpoint_path
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 
diff --git a/scripts/reinforcement_learning/rsl_rl/train.py b/scripts/reinforcement_learning/rsl_rl/train.py
index 9c07f0e1f5f..15e45fd9dbc 100644
--- a/scripts/reinforcement_learning/rsl_rl/train.py
+++ b/scripts/reinforcement_learning/rsl_rl/train.py
@@ -76,6 +76,7 @@
 import os
 import torch
 from datetime import datetime
+from gymnasium.wrappers import RecordVideo
 
 import omni
 from rsl_rl.runners import DistillationRunner, OnPolicyRunner
@@ -89,7 +90,7 @@
 )
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 from isaaclab_rl.rsl_rl import RslRlBaseRunnerCfg, RslRlVecEnvWrapper
 
@@ -97,6 +98,9 @@
 from isaaclab_tasks.utils import get_checkpoint_path
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 torch.backends.cuda.matmul.allow_tf32 = True
diff --git a/scripts/reinforcement_learning/sb3/play.py b/scripts/reinforcement_learning/sb3/play.py
index d27bb8b704a..dd53fed7059 100644
--- a/scripts/reinforcement_learning/sb3/play.py
+++ b/scripts/reinforcement_learning/sb3/play.py
@@ -66,6 +66,7 @@
 import random
 import time
 import torch
+from gymnasium.wrappers import RecordVideo
 
 from stable_baselines3 import PPO
 from stable_baselines3.common.vec_env import VecNormalize
@@ -79,7 +80,7 @@
 )
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 from isaaclab_rl.sb3 import Sb3VecEnvWrapper, process_sb3_cfg
 
@@ -87,6 +88,9 @@
 from isaaclab_tasks.utils.hydra import hydra_task_config
 from isaaclab_tasks.utils.parse_cfg import get_checkpoint_path
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 
diff --git a/scripts/reinforcement_learning/sb3/train.py b/scripts/reinforcement_learning/sb3/train.py
index 30791721958..0186aa9954a 100644
--- a/scripts/reinforcement_learning/sb3/train.py
+++ b/scripts/reinforcement_learning/sb3/train.py
@@ -77,6 +77,7 @@ def cleanup_pbar(*args):
 import os
 import random
 from datetime import datetime
+from gymnasium.wrappers import RecordVideo
 
 import omni
 from stable_baselines3 import PPO
@@ -92,13 +93,16 @@ def cleanup_pbar(*args):
 )
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 from isaaclab_rl.sb3 import Sb3VecEnvWrapper, process_sb3_cfg
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 
diff --git a/scripts/reinforcement_learning/skrl/play.py b/scripts/reinforcement_learning/skrl/play.py
index fd24022c1fd..e12e9f7d8f3 100644
--- a/scripts/reinforcement_learning/skrl/play.py
+++ b/scripts/reinforcement_learning/skrl/play.py
@@ -79,6 +79,7 @@
 import random
 import time
 import torch
+from gymnasium.wrappers import RecordVideo
 
 import skrl
 from packaging import version
@@ -97,6 +98,7 @@
 elif args_cli.ml_framework.startswith("jax"):
     from skrl.utils.runner.jax import Runner
 
+
 from isaaclab.envs import (
     DirectMARLEnv,
     DirectMARLEnvCfg,
@@ -106,7 +108,7 @@
 )
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkpoint
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 from isaaclab_rl.skrl import SkrlVecEnvWrapper
 
@@ -114,6 +116,9 @@
 from isaaclab_tasks.utils import get_checkpoint_path
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 # config shortcuts
diff --git a/scripts/reinforcement_learning/skrl/train.py b/scripts/reinforcement_learning/skrl/train.py
index 201874c23a2..ad3bdf6d7e2 100644
--- a/scripts/reinforcement_learning/skrl/train.py
+++ b/scripts/reinforcement_learning/skrl/train.py
@@ -76,6 +76,7 @@
 import os
 import random
 from datetime import datetime
+from gymnasium.wrappers import RecordVideo
 
 import omni
 import skrl
@@ -95,6 +96,7 @@
 elif args_cli.ml_framework.startswith("jax"):
     from skrl.utils.runner.jax import Runner
 
+
 from isaaclab.envs import (
     DirectMARLEnv,
     DirectMARLEnvCfg,
@@ -105,13 +107,16 @@
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_pickle, dump_yaml
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 from isaaclab_rl.skrl import SkrlVecEnvWrapper
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 # config shortcuts
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
index 73a0d23e8aa..fd00a5b645c 100644
--- a/source/isaaclab/docs/CHANGELOG.rst
+++ b/source/isaaclab/docs/CHANGELOG.rst
@@ -7,7 +7,7 @@ Changelog
 Fixed
 ^^^^^
 
-* Fixed memory leak of gymnasium video recording wrapper in the :class:`~isaaclab.utils.recorder.RecordVideo` class.
+* Fixed memory leak of gymnasium video recording wrapper by overwriting the :func:`~isaaclab.utils.recorder.RecordVideo` class.
 
 
 0.45.12 (2025-09-05)
diff --git a/source/isaaclab/isaaclab/utils/recorder.py b/source/isaaclab/isaaclab/utils/recorder.py
index 7b943240116..6c2576348a1 100644
--- a/source/isaaclab/isaaclab/utils/recorder.py
+++ b/source/isaaclab/isaaclab/utils/recorder.py
@@ -3,42 +3,40 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+"""Mokey-patch function to fix memory leak in gymnasium video recording wrapper.
+
+Should replace the stop_recording function in :class:`gymnasium.wrappers.RecordVideo` class."""
+
 from __future__ import annotations
 
 import gc
-import gymnasium as gym
 import os
 from gymnasium import error, logger
 
 
-class RecordVideo(gym.wrappers.RecordVideo):
-    """Fix gym wrapper to avoid memory leaks."""
-
-    def stop_recording(self):
-        """Stop current recording and saves the video."""
-        assert self.recording, "stop_recording was called, but no recording was started"
+def stop_recording(self):
+    """Stop current recording and saves the video."""
+    assert self.recording, "stop_recording was called, but no recording was started"
 
-        if len(self.recorded_frames) == 0:
-            logger.warn("Ignored saving a video as there were zero frames to save.")
-        else:
-            try:
-                from moviepy.video.io.ImageSequenceClip import ImageSequenceClip
-            except ImportError as e:
-                raise error.DependencyNotInstalled(
-                    'MoviePy is not installed, run `pip install "gymnasium[other]"`'
-                ) from e
+    if len(self.recorded_frames) == 0:
+        logger.warn("Ignored saving a video as there were zero frames to save.")
+    else:
+        try:
+            from moviepy.video.io.ImageSequenceClip import ImageSequenceClip
+        except ImportError as e:
+            raise error.DependencyNotInstalled('MoviePy is not installed, run `pip install "gymnasium[other]"`') from e
 
-            clip = ImageSequenceClip(self.recorded_frames, fps=self.frames_per_sec)
-            moviepy_logger = None if self.disable_logger else "bar"
-            path = os.path.join(self.video_folder, f"{self._video_name}.mp4")
-            clip.write_videofile(path, logger=moviepy_logger)
+        clip = ImageSequenceClip(self.recorded_frames, fps=self.frames_per_sec)
+        moviepy_logger = None if self.disable_logger else "bar"
+        path = os.path.join(self.video_folder, f"{self._video_name}.mp4")
+        clip.write_videofile(path, logger=moviepy_logger)
 
-            del clip
+        del clip
 
-        del self.recorded_frames
-        self.recorded_frames = []
-        self.recording = False
-        self._video_name = None
+    del self.recorded_frames
+    self.recorded_frames = []
+    self.recording = False
+    self._video_name = None
 
-        if self.gc_trigger and self.gc_trigger(self.episode_id):
-            gc.collect()
+    if self.gc_trigger and self.gc_trigger(self.episode_id):
+        gc.collect()
diff --git a/source/isaaclab_tasks/test/test_record_video.py b/source/isaaclab_tasks/test/test_record_video.py
index a6cdde144d4..a4188c7c719 100644
--- a/source/isaaclab_tasks/test/test_record_video.py
+++ b/source/isaaclab_tasks/test/test_record_video.py
@@ -16,16 +16,20 @@
 import gymnasium as gym
 import os
 import torch
+from gymnasium.wrappers import RecordVideo
 
 import omni.usd
 import pytest
 from env_test_utils import setup_environment
 
-from isaaclab.utils.recorder import RecordVideo
+from isaaclab.utils.recorder import stop_recording
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils import parse_env_cfg
 
+# monkey-patch the stop_recording function to fix memory leak error (see https://github.com/Farama-Foundation/Gymnasium/pull/1444)
+RecordVideo.stop_recording = stop_recording
+
 
 @pytest.fixture(scope="function")
 def setup_video_params():