Update gymnasium dependency and render_mode in gym.make (#806)

* Update gymnasium version and render mode in eval policy

* Fix error

Author: taufeeque9

setup.py

@@ -188,7 +188,7 @@ def get_local_version(version: "ScmVersion", time_format="%Y%m%d") -> str:
     #   encode only known incompatibilities here. This prevents nasty dependency issues
     #   for our users.
     install_requires=[
-        "gymnasium[classic-control]~=0.28.1",
+        "gymnasium[classic-control]~=0.29",
         "matplotlib",
         "numpy>=1.15",
         "torch>=1.4.0",
@@ -220,7 +220,7 @@ def get_local_version(version: "ScmVersion", time_format="%Y%m%d") -> str:
         "docs": DOCS_REQUIRE,
         "parallel": PARALLEL_REQUIRE,
         "mujoco": [
-            "gymnasium[classic-control,mujoco]~=0.28.1",
+            "gymnasium[classic-control,mujoco]~=0.29",
         ],
         "atari": ATARI_REQUIRE,
     },

src/imitation/scripts/eval_policy.py

@@ -95,7 +95,11 @@ def eval_policy(
     log_dir = logging_ingredient.make_log_dir()
     sample_until = rollout.make_sample_until(eval_n_timesteps, eval_n_episodes)
     post_wrappers = [video_wrapper_factory(log_dir, **video_kwargs)] if videos else None
-    with environment.make_venv(post_wrappers=post_wrappers) as venv:
+    render_mode = "rgb_array" if videos else None
+    with environment.make_venv(
+        post_wrappers=post_wrappers,
+        env_make_kwargs=dict(render_mode=render_mode),
+    ) as venv:
         if render:
             venv = InteractiveRender(venv, render_fps)