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Remove Mujoco assert on metadata render-mode #1328

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merged 2 commits into from
Mar 6, 2025
Merged

Remove Mujoco assert on metadata render-mode #1328

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50d356b
Remove Mujoco assert on metadata render-mode
pseudo-rnd-thoughts Mar 6, 2025
cbab230
remove v3 testing
pseudo-rnd-thoughts Mar 6, 2025
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6 changes: 0 additions & 6 deletions gymnasium/envs/mujoco/mujoco_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -82,12 +82,6 @@ def __init__(

self.frame_skip = frame_skip

assert self.metadata["render_modes"] == [
"human",
"rgb_array",
"depth_array",
"rgbd_tuple",
], self.metadata["render_modes"]
if "render_fps" in self.metadata:
assert (
int(np.round(1.0 / self.dt)) == self.metadata["render_fps"]
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30 changes: 30 additions & 0 deletions tests/envs/mujoco/test_mujoco_rendering.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,36 @@ def test_offscreen_viewer_custom_dimensions(
viewer.close()


@pytest.mark.parametrize(
"env_id",
[
"Ant",
"HalfCheetah",
"Hopper",
"Humanoid",
"HumanoidStandup",
"InvertedDoublePendulum",
"InvertedPendulum",
"Pusher",
"Reacher",
"Swimmer",
"Walker2d",
],
)
@pytest.mark.parametrize("version", ["v4", "v5"])
def test_mujoco_metadata_render_modes(env_id, version):
if env_id == "Pusher" and version == "v4":
pytest.skip()
env = gymnasium.make(f"{env_id}-{version}")
assert env.metadata["render_modes"] == [
"human",
"rgb_array",
"depth_array",
"rgbd_tuple",
]
env.close()


@pytest.mark.parametrize(
"render_mode", ["human", "rgb_array", "depth_array", "rgbd_tuple"]
)
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