pixi.toml

[workspace]
name = "mpc_tutorial"
version = "0.1.0"
description = "Optimal Control and MPC tutorial"
channels = ["conda-forge"]
platforms = ["linux-64", "osx-arm64", "osx-64"]

[dependencies]
python = ">=3.10,<3.13"
numpy = "<2"
scipy = "*"
matplotlib = "*"
crocoddyl = "*"
pinocchio = "*"
mim-solvers = "*"
osqp = "*"
ipython = "*"
jupyterlab = "*"
ffmpeg = "*"
pybullet = "*"
pip = "*"

[tasks]
setup-deps = "python -c 'import mim_robots' 2>/dev/null || pip install git+https://github.com/machines-in-motion/mim_robots.git --no-deps"
pendulum-ocp = { cmd = "python pendulum/pendulum_ocp.py", depends-on = ["setup-deps"] }
pendulum-bellman = { cmd = "python pendulum/pendulum_bellman.py", depends-on = ["setup-deps"] }
cartpole-ocp = { cmd = "python cartpole/cartpole_ocp.py", depends-on = ["setup-deps"] }
kuka-ocp = { cmd = "python kuka/ocp_kuka_reaching.py", depends-on = ["setup-deps"] }
kuka-mpc = { cmd = "python kuka/mpc_kuka_reaching.py", depends-on = ["setup-deps"] }
lab = { cmd = "jupyter lab notebooks/", depends-on = ["setup-deps"] }