[gym/rllib] Add option to forward keyword arguments to 'ray.init'. (#436

) Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>
duburcqa · Nov 4, 2021 · 63d5589 · 63d5589
1 parent 1cb3cc5
commit 63d5589
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/core/src/engine/EngineMultiRobot.cc b/core/src/engine/EngineMultiRobot.cc
@@ -3789,7 +3789,7 @@ namespace jiminy
             // Update lagrangian multipliers associated with the constraint
             constraintIdx = 0U;
             systemData.constraintsHolder.foreach(
-                [&lambda_c = const_cast<vectorN_t &>(data.lambda_c),  // std::as_const is not supported by gcc<7.3
+                [&lambda_c = const_cast<vectorN_t const &>(data.lambda_c),  // std::as_const is not supported by gcc<7.3
                  &constraintIdx](
                     std::shared_ptr<AbstractConstraintBase> const & constraint,
                     constraintsHolderType_t const & /* holderType */)
@@ -3808,7 +3808,7 @@ namespace jiminy
                 constraintsHolderType_t::BOUNDS_JOINTS,
                 [&u = systemData.state.u,
                  &uInternal = systemData.state.uInternal,
-                 &joints = const_cast<pinocchio::Model::JointModelVector &>(model.joints)](
+                 &joints = const_cast<pinocchio::Model::JointModelVector const &>(model.joints)](
                     std::shared_ptr<AbstractConstraintBase> & constraint,
                     constraintsHolderType_t const & /* holderType */)
                 {

diff --git a/python/gym_jiminy/rllib/gym_jiminy/rllib/utilities.py b/python/gym_jiminy/rllib/gym_jiminy/rllib/utilities.py
@@ -70,7 +70,8 @@ def initialize(num_cpus: int,
                logger_cls: type = TBXLogger,
                launch_tensorboard: bool = True,
                debug: bool = False,
-               verbose: bool = True) -> Callable[[Dict[str, Any]], Logger]:
+               verbose: bool = True,
+               **ray_init_kwargs: Any) -> Callable[[Dict[str, Any]], Logger]:
     """Initialize Ray and Tensorboard daemons.
 
     It will be used later for almost everything from dashboard, remote/client
@@ -153,18 +154,17 @@ def initialize(num_cpus: int,
                 num_cpus=num_cpus,
                 # Number of GPUs assigned to each raylet
                 num_gpus=num_gpus,
-                # Enable object eviction in LRU order under memory pressure
-                _lru_evict=False,
                 # Whether or not to execute the code serially (for debugging)
                 local_mode=debug,
                 # Logging level
                 logging_level=logging.DEBUG if debug else logging.ERROR,
                 # Whether to redirect outputs from every worker to the driver
-                log_to_driver=debug,
-                # Whether to start Ray dashboard, to monitor cluster's status
-                include_dashboard=True,
-                # The host to bind the dashboard server to
-                dashboard_host="0.0.0.0")
+                log_to_driver=debug, **{**dict(
+                    # Whether to start Ray dashboard to monitor cluster status
+                    include_dashboard=debug,
+                    # The host to bind the dashboard server to
+                    dashboard_host="0.0.0.0"
+                ), **ray_init_kwargs})
         else:
             # Connect to existing Ray cluster
             ray.init(