Remove Mujoco assert on metadata render-mode (#1328)

Author: pseudo-rnd-thoughts

Diff for: gymnasium/envs/mujoco/mujoco_env.py

@@ -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"]

Diff for: tests/envs/mujoco/test_mujoco_rendering.py

@@ -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"]
 )