work

.github/workflows/code.yml

@@ -14,6 +14,9 @@ jobs:
         exclude:
           - os: "macos-14"
             python-version: "3.8"
+        exclude:
+          - os: "macos-13"
+            python-version: "3.13" # 'torch' unavailable
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
@@ -26,7 +29,7 @@ jobs:
           channels: conda-forge,defaults
           use-only-tar-bz2: true
 
-      - name: Activate conda environment
+      - name: Activate conda environment (non-Windows)
         shell: bash -l {0}
         run: |
           conda create -n workshop_dirac python=${{ matrix.python-version }} -y --channel=defaults --override-channels
@@ -35,7 +38,7 @@ jobs:
           echo "Conda environment activated"
         if: "!contains(matrix.os, 'windows')"
 
-      - name: Activate conda environment
+      - name: Activate conda environment (Windows)
         shell: bash -l {0}
         run: |
           conda create -n workshop_dirac python=${{ matrix.python-version }} -y --channel=defaults --override-channels

NN_MPC/nnmpc_tutorial.py

@@ -26,6 +26,10 @@
 import rockit
 import impact
 
+import rockit
+
+rockit.GlobalOptions.set_cmake_flags(['-G','Ninja','-DCMAKE_C_COMPILER=clang','-DCMAKE_CXX_COMPILER=clang'])
+
 import Controllers
 import Utility
 importlib.reload(Controllers)
@@ -57,7 +61,7 @@
 # Options
 generate_mpc_data = True            # generate new MPC data, if False load saved ones
 train_nn          = True            # train new NNMPC, if False load saved one
-save_outputs      = True           # save outputs simulations and NN model
+save_outputs      = False           # save outputs simulations and NN model
 
 # parameters for mass-spring-damper
 model_name = 'spring_mass_damper'       # name of the model (corresponding yaml file must be in the models folder)
@@ -84,6 +88,7 @@
 # Init
 sims_path = "results/"+model_name+"_MPC_sims.npz"
 NN_path = "results/"+model_name+"_NNMPC"
+os.makedirs("results",exist_ok=True)
 
 mpc = Controllers.MPC()
 model = mpc.add_model(model_name, "models/"+model_name+".yaml")

requirements.txt

@@ -1,7 +1,9 @@
+# Tutorial on Impact 
 casadi>=3.6.7
 rockit-meco==0.6.0
 impact-meco==0.4.1
 
+# NN-MPC
 pandas
 torch
 plotly