[misc] Cleanup linux build from source script.

.github/workflows/linux.yml

@@ -90,6 +90,7 @@ jobs:
         cd "${RootDir}/build"
         cmake "${RootDir}" -Wdev \
               -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
+              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${{ (matrix.BUILD_TYPE == 'Debug' && 'OFF') || 'ON' }} \
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE -DBoost_USE_STATIC_LIBS=ON \
               -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \

build_tools/build_install_deps_unix.sh

@@ -42,7 +42,7 @@ if [ -z ${CXX_COMPILER} ]; then
 fi
 
 ### Set common CMAKE_C/CXX_FLAGS
-CXX_FLAGS="${CXX_FLAGS} -Wno-enum-constexpr-conversion"
+CXX_FLAGS="${CXX_FLAGS} -Wno-unknown-warning-option -Wno-enum-constexpr-conversion"
 if [ "${BUILD_TYPE}" == "Release" ]; then
   CXX_FLAGS="${CXX_FLAGS} -DNDEBUG -O3"
 elif [ "${BUILD_TYPE}" == "Debug" ]; then
@@ -94,19 +94,17 @@ unset Boost_ROOT
 #   - Boost >= 1.75 is required to compile ouf-of-the-box on MacOS for intel and Apple Silicon
 #   - Boost < 1.77 causes compilation failure with gcc-12 if not patched
 #   - Boost >= 1.77 affects the memory layout to improve alignment, breaking retro-compatibility
-#   - Boost.Python == 1.87 fixes memory alignment issues (commit 4fc3afa3ac1a1edb61a92fccd31d305ba38213f8)
+#   - Boost.Python == 1.87 fixes memory alignment issues
 if [ ! -d "${RootDir}/boost" ]; then
   git clone --depth 1 https://github.com/boostorg/boost.git "${RootDir}/boost"
 fi
 rm -rf "${RootDir}/boost/build"
 mkdir -p "${RootDir}/boost/build"
 cd "${RootDir}/boost"
 git reset --hard
-git fetch origin "boost-1.86.0" && git checkout --force FETCH_HEAD || true
+git fetch origin "boost-1.87.0" && git checkout --force FETCH_HEAD || true
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
-cd "${RootDir}/boost/libs/python"
-git fetch origin 4fc3afa3ac1a1edb61a92fccd31d305ba38213f8 && git checkout --force FETCH_HEAD || true
 
 ### Checkout eigen3
 if [ ! -d "${RootDir}/eigen3" ]; then
@@ -245,7 +243,9 @@ PATH="${PATH}:$(dirname -- ${C_COMPILER})"
 
 ### Build and install the build tool b2 (build-ception !)
 cd "${RootDir}/boost"
-./bootstrap.sh --prefix="${InstallDir}" --with-python="${PYTHON_EXECUTABLE}"
+./bootstrap.sh --with-toolset="$(basename -- ${C_COMPILER})" \
+               --prefix="${InstallDir}" \
+               --with-python="${PYTHON_EXECUTABLE}"
 
 ### File "project-config.jam" create by bootstrap must be edited manually
 #   to specify Python include dir manually, since it is not detected
@@ -258,6 +258,9 @@ ${PYTHON_CONFIG_JAM}
 
 ### Build and install and install boost
 #   (Replace -d0 option by -d1 and remove -q option to check compilation errors)
+if [[ ${OSX_ARCHITECTURES} == *";"* ]] ; then
+  ArchB2="combined"
+fi
 if [ "${BUILD_TYPE}" == "Release" ]; then
   BuildTypeB2="release"
 elif [ "${BUILD_TYPE}" == "Debug" ]; then
@@ -281,7 +284,7 @@ fi
 ./b2 --prefix="$InstallDir" --build-dir="$RootDir/boost/build" \
      --debug-configuration \
      --clean-all \
-     architecture= address-model=64 \
+     architecture="$ArchB2" address-model=64 \
      variant="$BuildTypeB2"
 
 # Compiling everything with static linkage except Boost::Python
@@ -290,7 +293,7 @@ mkdir -p "${RootDir}/boost/build"
      --with-chrono --with-timer --with-date_time --with-system --with-test \
      --with-filesystem --with-atomic --with-serialization --with-thread \
      --build-type=minimal --layout=system --lto=on \
-     architecture= address-model=64 $DebugOptionsB2 \
+     architecture="$ArchB2" address-model=64 $DebugOptionsB2 \
      threading=single link=static runtime-link=static \
      cxxflags="${CXX_FLAGS} ${CXX_FLAGS_B2}" \
      linkflags="${LINKER_FLAGS} ${CXX_FLAGS_B2}" \
@@ -302,7 +305,7 @@ mkdir -p "${RootDir}/boost/build"
 ./b2 --prefix="${InstallDir}" --build-dir="${RootDir}/boost/build" \
      --with-python \
      --build-type=minimal --layout=system --lto=on \
-     architecture= address-model=64 $DebugOptionsB2 \
+     architecture="$ArchB2" address-model=64 $DebugOptionsB2 \
      threading=single link=shared runtime-link=shared \
      cxxflags="${CXX_FLAGS} ${CXX_FLAGS_B2} -DNDEBUG" \
      linkflags="${LINKER_FLAGS} ${CXX_FLAGS_B2} " \
@@ -450,7 +453,7 @@ cmake "${RootDir}/hpp-fcl" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF -DENABLE_PYTHON_DOXYGEN_AUTODOC=OFF \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS} $(
       ) -Wno-unused-parameter -Wno-class-memaccess -Wno-sign-compare-Wno-conversion -Wno-ignored-qualifiers $(
-      ) -Wno-uninitialized -Wno-maybe-uninitialized -Wno-deprecated-copy -Wno-unknown-warning-option $(
+      ) -Wno-uninitialized -Wno-maybe-uninitialized -Wno-deprecated-copy $(
       ) -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
 make install -j4
 
@@ -472,7 +475,7 @@ cmake "${RootDir}/pinocchio" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DBUILD_WITH_OPENMP_SUPPORT=OFF -DGENERATE_PYTHON_STUBS=OFF -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS} -DBOOST_BIND_GLOBAL_PLACEHOLDERS $(
       ) -Wno-uninitialized -Wno-type-limits -Wno-unused-local-typedefs -Wno-extra $(
-      ) -Wno-unknown-warning-option -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
+      ) -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
 make install -j4
 
 # Copy cmake configuration files for cppad and cppadcodegen

build_tools/build_install_deps_windows.ps1

@@ -103,14 +103,10 @@ if (Test-Path -PathType Container "$RootDir/boost/build") {
 New-Item -ItemType "directory" -Force -Path "$RootDir/boost/build"
 Push-Location -Path "$RootDir/boost"
 git reset --hard
-git fetch origin "boost-1.86.0"
+git fetch origin "boost-1.87.0"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
-Push-Location -Path "$RootDir/boost/libs/python"
-git fetch origin 4fc3afa3ac1a1edb61a92fccd31d305ba38213f8
-git checkout --force FETCH_HEAD
-Pop-Location
 
 ### Checkout eigen3
 #   A specific commit from Aug 25, 2021 (post 3.4.0) fixes CXX STANDARD detection with MSVC

python/gym_jiminy/rllib/gym_jiminy/rllib/utilities.py

@@ -897,9 +897,11 @@ def _sample_one_episode_and_collect_metrics(worker: EnvRunner) -> Tuple[
     for env in worker.env.envs:
         env.unwrapped.log_path = None
 
-    # Run a single episode and extract the path of the log file.
+    # Run a single episode.
     # Note that episodes are sorted by environment indices by design.
     episodes = worker.sample(num_episodes=1, random_actions=False)
+
+    # Extract the path of the log files
     log_paths: Tuple[str, ...] = tuple(
         filter(None, worker.env.get_attr('log_path')))
 
@@ -1218,8 +1220,8 @@ def evaluate_from_algo(algo: Algorithm,
         _pretty_print_episode_metrics(all_episodes, step_dt)
 
     # Backup only the log file corresponding to the best and worst trial
-    all_returns = np.array([
-        episode.get_return() for episode in all_episodes])
+    all_returns = [
+        episode.get_return() for episode in all_episodes]
     idx_worst, idx_best = np.argsort(all_returns)[[0, -1]]
     log_labels, log_paths = [], []
     for label, idx in (