user@computer RL_Teaching % conda create --name controlonly
Retrieving notices: ...working... done
Collecting package metadata (current_repodata.json): done
Solving environment: done

## Package Plan ##

  environment location: /opt/homebrew/Caskroom/miniforge/base/envs/controlonly



Proceed ([y]/n)? y

Preparing transaction: done
Verifying transaction: done
Executing transaction: done
#
# To activate this environment, use
#
#     $ conda activate controlonly
#
# To deactivate an active environment, use
#
#     $ conda deactivate

user@computer RL_Teaching % conda list
# packages in environment at /opt/homebrew/Caskroom/miniforge/base:
#
# Name                    Version                   Build  Channel
absl-py                   1.4.0                    pypi_0    pypi
anyio                     3.7.1              pyhd8ed1ab_0    conda-forge
appnope                   0.1.3              pyhd8ed1ab_0    conda-forge
argon2-cffi               23.1.0             pyhd8ed1ab_0    conda-forge
argon2-cffi-bindings      21.2.0           py39h02fc5c5_3    conda-forge
arrow                     1.2.3              pyhd8ed1ab_0    conda-forge
asttokens                 2.2.1              pyhd8ed1ab_0    conda-forge
astunparse                1.6.3                    pypi_0    pypi
async-lru                 2.0.4              pyhd8ed1ab_0    conda-forge
attrs                     23.1.0             pyh71513ae_1    conda-forge
babel                     2.12.1             pyhd8ed1ab_1    conda-forge
backcall                  0.2.0              pyh9f0ad1d_0    conda-forge
backports                 1.0                pyhd8ed1ab_3    conda-forge
backports.functools_lru_cache 1.6.5              pyhd8ed1ab_0    conda-forge
beautifulsoup4            4.12.2             pyha770c72_0    conda-forge
bleach                    6.0.0              pyhd8ed1ab_0    conda-forge
boltons                   23.0.0             pyhd8ed1ab_0    conda-forge
brotli-python             1.0.9            py39h23fbdae_9    conda-forge
bzip2                     1.0.8                h3422bc3_4    conda-forge
c-ares                    1.19.1               hb547adb_0    conda-forge
ca-certificates           2023.7.22            hf0a4a13_0    conda-forge
cached-property           1.5.2                hd8ed1ab_1    conda-forge
cached_property           1.5.2              pyha770c72_1    conda-forge
cachetools                5.3.0                    pypi_0    pypi
certifi                   2023.7.22          pyhd8ed1ab_0    conda-forge
cffi                      1.15.1           py39h7e6b969_3    conda-forge
charset-normalizer        3.2.0              pyhd8ed1ab_0    conda-forge
colorama                  0.4.6              pyhd8ed1ab_0    conda-forge
comm                      0.1.4              pyhd8ed1ab_0    conda-forge
conda                     23.7.3           py39h2804cbe_0    conda-forge
conda-package-handling    2.2.0              pyh38be061_0    conda-forge
conda-package-streaming   0.9.0              pyhd8ed1ab_0    conda-forge
cryptography              41.0.3           py39had97604_0    conda-forge
debugpy                   1.6.8            py39hb198ff7_0    conda-forge
decorator                 5.1.1              pyhd8ed1ab_0    conda-forge
defusedxml                0.7.1              pyhd8ed1ab_0    conda-forge
entrypoints               0.4                pyhd8ed1ab_0    conda-forge
exceptiongroup            1.1.3              pyhd8ed1ab_0    conda-forge
executing                 1.2.0              pyhd8ed1ab_0    conda-forge
flatbuffers               1.12                     pypi_0    pypi
fmt                       9.1.0                hffc8910_0    conda-forge
fqdn                      1.5.1              pyhd8ed1ab_0    conda-forge
gast                      0.4.0                    pypi_0    pypi
google-auth               2.16.2                   pypi_0    pypi
google-auth-oauthlib      0.4.6                    pypi_0    pypi
google-pasta              0.2.0                    pypi_0    pypi
grpcio                    1.51.3                   pypi_0    pypi
h5py                      3.8.0                    pypi_0    pypi
icu                       72.1                 he12128b_0    conda-forge
idna                      3.4                pyhd8ed1ab_0    conda-forge
importlib-metadata        6.0.0                    pypi_0    pypi
importlib_metadata        6.8.0                hd8ed1ab_0    conda-forge
importlib_resources       6.0.1              pyhd8ed1ab_0    conda-forge
ipykernel                 6.25.1             pyh5fb750a_0    conda-forge
ipython                   8.14.0             pyhd1c38e8_0    conda-forge
isoduration               20.11.0            pyhd8ed1ab_0    conda-forge
jedi                      0.19.0             pyhd8ed1ab_0    conda-forge
jinja2                    3.1.2              pyhd8ed1ab_1    conda-forge
json5                     0.9.14             pyhd8ed1ab_0    conda-forge
jsonpatch                 1.32               pyhd8ed1ab_0    conda-forge
jsonpointer               2.0                        py_0    conda-forge
jsonschema                4.19.0             pyhd8ed1ab_1    conda-forge
jsonschema-specifications 2023.7.1           pyhd8ed1ab_0    conda-forge
jsonschema-with-format-nongpl 4.19.0             pyhd8ed1ab_1    conda-forge
jupyter-lsp               2.2.0              pyhd8ed1ab_0    conda-forge
jupyter_client            8.3.0              pyhd8ed1ab_0    conda-forge
jupyter_core              5.3.1            py39h2804cbe_0    conda-forge
jupyter_events            0.7.0              pyhd8ed1ab_2    conda-forge
jupyter_server            2.7.1              pyhd8ed1ab_0    conda-forge
jupyter_server_terminals  0.4.4              pyhd8ed1ab_1    conda-forge
jupyterlab                4.0.0              pyhd8ed1ab_1    conda-forge
jupyterlab_pygments       0.2.2              pyhd8ed1ab_0    conda-forge
jupyterlab_server         2.24.0             pyhd8ed1ab_0    conda-forge
keras                     2.9.0                    pypi_0    pypi
keras-preprocessing       1.1.2                    pypi_0    pypi
krb5                      1.21.2               h92f50d5_0    conda-forge
libarchive                3.6.2                h82b9b87_1    conda-forge
libclang                  15.0.6.1                 pypi_0    pypi
libcurl                   8.2.1                hc52a3a8_0    conda-forge
libcxx                    16.0.6               h4653b0c_0    conda-forge
libedit                   3.1.20191231         hc8eb9b7_2    conda-forge
libev                     4.33                 h642e427_1    conda-forge
libffi                    3.4.2                h3422bc3_5    conda-forge
libiconv                  1.17                 he4db4b2_0    conda-forge
libmamba                  1.4.5                h4fa9c85_0    conda-forge
libmambapy                1.4.5            py39h5eb7fa6_0    conda-forge
libnghttp2                1.52.0               hae82a92_0    conda-forge
libsodium                 1.0.18               h27ca646_1    conda-forge
libsolv                   0.7.24               ha614eb4_3    conda-forge
libsqlite                 3.42.0               hb31c410_0    conda-forge
libssh2                   1.11.0               h7a5bd25_0    conda-forge
libxml2                   2.11.5               he3bdae6_0    conda-forge
libzlib                   1.2.13               h53f4e23_5    conda-forge
lz4-c                     1.9.4                hb7217d7_0    conda-forge
lzo                       2.10              h642e427_1000    conda-forge
mamba                     1.4.5            py39ha55b623_0    conda-forge
markdown                  3.4.1                    pypi_0    pypi
markupsafe                2.1.3            py39h0f82c59_0    conda-forge
matplotlib-inline         0.1.6              pyhd8ed1ab_0    conda-forge
mistune                   3.0.1              pyhd8ed1ab_0    conda-forge
nbclient                  0.8.0              pyhd8ed1ab_0    conda-forge
nbconvert-core            7.7.4              pyhd8ed1ab_0    conda-forge
nbformat                  5.9.2              pyhd8ed1ab_0    conda-forge
ncurses                   6.4                  h7ea286d_0    conda-forge
nest-asyncio              1.5.6              pyhd8ed1ab_0    conda-forge
notebook-shim             0.2.3              pyhd8ed1ab_0    conda-forge
numpy                     1.24.2                   pypi_0    pypi
oauthlib                  3.2.2                    pypi_0    pypi
openssl                   3.1.2                h53f4e23_0    conda-forge
opt-einsum                3.3.0                    pypi_0    pypi
overrides                 7.4.0              pyhd8ed1ab_0    conda-forge
packaging                 23.0                     pypi_0    pypi
pandocfilters             1.5.0              pyhd8ed1ab_0    conda-forge
parso                     0.8.3              pyhd8ed1ab_0    conda-forge
pexpect                   4.8.0              pyh1a96a4e_2    conda-forge
pickleshare               0.7.5                   py_1003    conda-forge
pip                       21.3.1             pyhd8ed1ab_0    conda-forge
pkgutil-resolve-name      1.3.10             pyhd8ed1ab_0    conda-forge
platformdirs              3.10.0             pyhd8ed1ab_0    conda-forge
pluggy                    1.2.0              pyhd8ed1ab_0    conda-forge
prometheus_client         0.17.1             pyhd8ed1ab_0    conda-forge
prompt-toolkit            3.0.39             pyha770c72_0    conda-forge
prompt_toolkit            3.0.39               hd8ed1ab_0    conda-forge
protobuf                  3.19.6                   pypi_0    pypi
psutil                    5.9.5            py39h02fc5c5_0    conda-forge
ptyprocess                0.7.0              pyhd3deb0d_0    conda-forge
pure_eval                 0.2.2              pyhd8ed1ab_0    conda-forge
pyasn1                    0.4.8                    pypi_0    pypi
pyasn1-modules            0.2.8                    pypi_0    pypi
pybind11-abi              4                    hd8ed1ab_3    conda-forge
pycosat                   0.6.4            py39h02fc5c5_1    conda-forge
pycparser                 2.21               pyhd8ed1ab_0    conda-forge
pygments                  2.16.1             pyhd8ed1ab_0    conda-forge
pyobjc-core               9.2              py39h4d1a642_0    conda-forge
pyobjc-framework-cocoa    9.2              py39h4d1a642_0    conda-forge
pyopenssl                 23.2.0             pyhd8ed1ab_1    conda-forge
pysocks                   1.7.1              pyha2e5f31_6    conda-forge
python                    3.9.16          hea58f1e_0_cpython    conda-forge
python-dateutil           2.8.2              pyhd8ed1ab_0    conda-forge
python-fastjsonschema     2.18.0             pyhd8ed1ab_0    conda-forge
python-json-logger        2.0.7              pyhd8ed1ab_0    conda-forge
python_abi                3.9                      3_cp39    conda-forge
pytz                      2023.3             pyhd8ed1ab_0    conda-forge
pyyaml                    6.0.1            py39h0f82c59_0    conda-forge
pyzmq                     25.1.1           py39h1e134f0_0    conda-forge
readline                  8.2                  h92ec313_1    conda-forge
referencing               0.30.2             pyhd8ed1ab_0    conda-forge
reproc                    14.2.4               h1a8c8d9_0    conda-forge
reproc-cpp                14.2.4               hb7217d7_0    conda-forge
requests                  2.31.0             pyhd8ed1ab_0    conda-forge
requests-oauthlib         1.3.1                    pypi_0    pypi
rfc3339-validator         0.1.4              pyhd8ed1ab_0    conda-forge
rfc3986-validator         0.1.1              pyh9f0ad1d_0    conda-forge
rpds-py                   0.9.2            py39haff01fd_0    conda-forge
rsa                       4.9                      pypi_0    pypi
ruamel.yaml               0.17.32          py39h0f82c59_0    conda-forge
ruamel.yaml.clib          0.2.7            py39h02fc5c5_1    conda-forge
send2trash                1.8.2              pyhd1c38e8_0    conda-forge
setuptools                68.1.2             pyhd8ed1ab_0    conda-forge
six                       1.15.0                   pypi_0    pypi
sniffio                   1.3.0              pyhd8ed1ab_0    conda-forge
soupsieve                 2.3.2.post1        pyhd8ed1ab_0    conda-forge
stack_data                0.6.2              pyhd8ed1ab_0    conda-forge
tensorboard               2.9.1                    pypi_0    pypi
tensorboard-data-server   0.6.1                    pypi_0    pypi
tensorboard-plugin-wit    1.8.1                    pypi_0    pypi
tensorflow-estimator      2.9.0                    pypi_0    pypi
tensorflow-macos          2.9.2                    pypi_0    pypi
tensorflow-metal          0.5.0                    pypi_0    pypi
termcolor                 2.2.0                    pypi_0    pypi
terminado                 0.17.1             pyhd1c38e8_0    conda-forge
tinycss2                  1.2.1              pyhd8ed1ab_0    conda-forge
tk                        8.6.12               he1e0b03_0    conda-forge
tomli                     2.0.1              pyhd8ed1ab_0    conda-forge
toolz                     0.12.0             pyhd8ed1ab_0    conda-forge
tornado                   6.3.3            py39h0f82c59_0    conda-forge
tqdm                      4.66.1             pyhd8ed1ab_0    conda-forge
traitlets                 5.9.0              pyhd8ed1ab_0    conda-forge
typing-extensions         4.7.1                hd8ed1ab_0    conda-forge
typing_extensions         4.7.1              pyha770c72_0    conda-forge
typing_utils              0.1.0              pyhd8ed1ab_0    conda-forge
tzdata                    2023c                h71feb2d_0    conda-forge
uri-template              1.3.0              pyhd8ed1ab_0    conda-forge
urllib3                   2.0.4              pyhd8ed1ab_0    conda-forge
wcwidth                   0.2.6              pyhd8ed1ab_0    conda-forge
webcolors                 1.13               pyhd8ed1ab_0    conda-forge
webencodings              0.5.1                      py_1    conda-forge
websocket-client          1.6.2              pyhd8ed1ab_0    conda-forge
werkzeug                  2.2.3                    pypi_0    pypi
wheel                     0.41.2             pyhd8ed1ab_0    conda-forge
wrapt                     1.15.0                   pypi_0    pypi
xz                        5.2.6                h57fd34a_0    conda-forge
yaml                      0.2.5                h3422bc3_2    conda-forge
yaml-cpp                  0.7.0                hb7217d7_2    conda-forge
zeromq                    4.3.4                hbdafb3b_1    conda-forge
zipp                      3.16.2             pyhd8ed1ab_0    conda-forge
zstandard                 0.19.0           py39haf70649_2    conda-forge
zstd                      1.5.2                h4f39d0f_7    conda-forge
user@computer RL_Teaching % conda env list 
# conda environments:
#
base                     /opt/homebrew/Caskroom/miniforge/base
cab420                   /opt/homebrew/Caskroom/miniforge/base/envs/cab420
controlonly              /opt/homebrew/Caskroom/miniforge/base/envs/controlonly
enn582                   /opt/homebrew/Caskroom/miniforge/base/envs/enn582
enn582test               /opt/homebrew/Caskroom/miniforge/base/envs/enn582test
myenv                    /opt/homebrew/Caskroom/miniforge/base/envs/myenv
myenv2                   /opt/homebrew/Caskroom/miniforge/base/envs/myenv2
myenv3                   /opt/homebrew/Caskroom/miniforge/base/envs/myenv3
testControl              /opt/homebrew/Caskroom/miniforge/base/envs/testControl

user@computer RL_Teaching % conda activate controlonly
(controlonly) user@computer RL_Teaching % conda list
# packages in environment at /opt/homebrew/Caskroom/miniforge/base/envs/controlonly:
#
# Name                    Version                   Build  Channel
(controlonly) user@computer RL_Teaching % conda install control
Collecting package metadata (current_repodata.json): done
Solving environment: done

## Package Plan ##

  environment location: /opt/homebrew/Caskroom/miniforge/base/envs/controlonly

  added / updated specs:
    - control


The following packages will be downloaded:

    package                    |            build
    ---------------------------|-----------------
    brotli-1.1.0               |       hb547adb_0          19 KB  conda-forge
    brotli-bin-1.1.0           |       hb547adb_0          17 KB  conda-forge
    brotli-python-1.1.0        |  py311ha891d26_0         335 KB  conda-forge
    libbrotlicommon-1.1.0      |       hb547adb_0          67 KB  conda-forge
    libbrotlidec-1.1.0         |       hb547adb_0          28 KB  conda-forge
    libbrotlienc-1.1.0         |       hb547adb_0         274 KB  conda-forge
    python-3.11.5              |h47c9636_0_cpython        14.0 MB  conda-forge
    zstd-1.5.5                 |       h4f39d0f_0         391 KB  conda-forge
    ------------------------------------------------------------
                                           Total:        15.1 MB

The following NEW packages will be INSTALLED:

  brotli             conda-forge/osx-arm64::brotli-1.1.0-hb547adb_0 
  brotli-bin         conda-forge/osx-arm64::brotli-bin-1.1.0-hb547adb_0 
  brotli-python      conda-forge/osx-arm64::brotli-python-1.1.0-py311ha891d26_0 
  bzip2              conda-forge/osx-arm64::bzip2-1.0.8-h3422bc3_4 
  ca-certificates    conda-forge/osx-arm64::ca-certificates-2023.7.22-hf0a4a13_0 
  certifi            conda-forge/noarch::certifi-2023.7.22-pyhd8ed1ab_0 
  charset-normalizer conda-forge/noarch::charset-normalizer-3.2.0-pyhd8ed1ab_0 
  contourpy          conda-forge/osx-arm64::contourpy-1.1.0-py311he4fd1f5_0 
  control            conda-forge/noarch::control-0.9.4-pyhd8ed1ab_0 
  cycler             conda-forge/noarch::cycler-0.11.0-pyhd8ed1ab_0 
  fonttools          conda-forge/osx-arm64::fonttools-4.42.1-py311heffc1b2_0 
  freetype           conda-forge/osx-arm64::freetype-2.12.1-hd633e50_1 
  idna               conda-forge/noarch::idna-3.4-pyhd8ed1ab_0 
  kiwisolver         conda-forge/osx-arm64::kiwisolver-1.4.5-py311he4fd1f5_0 
  lcms2              conda-forge/osx-arm64::lcms2-2.15-hd835a16_1 
  lerc               conda-forge/osx-arm64::lerc-4.0.0-h9a09cb3_0 
  libblas            conda-forge/osx-arm64::libblas-3.9.0-17_osxarm64_openblas 
  libbrotlicommon    conda-forge/osx-arm64::libbrotlicommon-1.1.0-hb547adb_0 
  libbrotlidec       conda-forge/osx-arm64::libbrotlidec-1.1.0-hb547adb_0 
  libbrotlienc       conda-forge/osx-arm64::libbrotlienc-1.1.0-hb547adb_0 
  libcblas           conda-forge/osx-arm64::libcblas-3.9.0-17_osxarm64_openblas 
  libcxx             conda-forge/osx-arm64::libcxx-16.0.6-h4653b0c_0 
  libdeflate         conda-forge/osx-arm64::libdeflate-1.18-h1a8c8d9_0 
  libexpat           conda-forge/osx-arm64::libexpat-2.5.0-hb7217d7_1 
  libffi             conda-forge/osx-arm64::libffi-3.4.2-h3422bc3_5 
  libgfortran        conda-forge/osx-arm64::libgfortran-5.0.0-12_3_0_hd922786_1 
  libgfortran5       conda-forge/osx-arm64::libgfortran5-12.3.0-ha3a6a3e_1 
  libjpeg-turbo      conda-forge/osx-arm64::libjpeg-turbo-2.1.5.1-h1a8c8d9_0 
  liblapack          conda-forge/osx-arm64::liblapack-3.9.0-17_osxarm64_openblas 
  libopenblas        conda-forge/osx-arm64::libopenblas-0.3.23-openmp_hc731615_0 
  libpng             conda-forge/osx-arm64::libpng-1.6.39-h76d750c_0 
  libsqlite          conda-forge/osx-arm64::libsqlite-3.43.0-hb31c410_0 
  libtiff            conda-forge/osx-arm64::libtiff-4.5.1-h23a1a89_1 
  libwebp-base       conda-forge/osx-arm64::libwebp-base-1.3.1-hb547adb_0 
  libxcb             conda-forge/osx-arm64::libxcb-1.15-hf346824_0 
  libzlib            conda-forge/osx-arm64::libzlib-1.2.13-h53f4e23_5 
  llvm-openmp        conda-forge/osx-arm64::llvm-openmp-16.0.6-h1c12783_0 
  matplotlib-base    conda-forge/osx-arm64::matplotlib-base-3.7.2-py311h3bc9839_0 
  munkres            conda-forge/noarch::munkres-1.1.4-pyh9f0ad1d_0 
  ncurses            conda-forge/osx-arm64::ncurses-6.4-h7ea286d_0 
  numpy              conda-forge/osx-arm64::numpy-1.25.2-py311hb8f3215_0 
  openjpeg           conda-forge/osx-arm64::openjpeg-2.5.0-hbc2ba62_2 
  openssl            conda-forge/osx-arm64::openssl-3.1.2-h53f4e23_0 
  packaging          conda-forge/noarch::packaging-23.1-pyhd8ed1ab_0 
  pillow             conda-forge/osx-arm64::pillow-10.0.0-py311h095fde6_0 
  pip                conda-forge/noarch::pip-23.2.1-pyhd8ed1ab_0 
  platformdirs       conda-forge/noarch::platformdirs-3.10.0-pyhd8ed1ab_0 
  pooch              conda-forge/noarch::pooch-1.7.0-pyha770c72_3 
  pthread-stubs      conda-forge/osx-arm64::pthread-stubs-0.4-h27ca646_1001 
  pyparsing          conda-forge/noarch::pyparsing-3.0.9-pyhd8ed1ab_0 
  pysocks            conda-forge/noarch::pysocks-1.7.1-pyha2e5f31_6 
  python             conda-forge/osx-arm64::python-3.11.5-h47c9636_0_cpython 
  python-dateutil    conda-forge/noarch::python-dateutil-2.8.2-pyhd8ed1ab_0 
  python_abi         conda-forge/osx-arm64::python_abi-3.11-3_cp311 
  readline           conda-forge/osx-arm64::readline-8.2-h92ec313_1 
  requests           conda-forge/noarch::requests-2.31.0-pyhd8ed1ab_0 
  scipy              conda-forge/osx-arm64::scipy-1.11.2-py311h93d07a4_0 
  setuptools         conda-forge/noarch::setuptools-68.1.2-pyhd8ed1ab_0 
  six                conda-forge/noarch::six-1.16.0-pyh6c4a22f_0 
  slycot             conda-forge/osx-arm64::slycot-0.5.4-py311h0f072a5_0 
  tk                 conda-forge/osx-arm64::tk-8.6.12-he1e0b03_0 
  typing-extensions  conda-forge/noarch::typing-extensions-4.7.1-hd8ed1ab_0 
  typing_extensions  conda-forge/noarch::typing_extensions-4.7.1-pyha770c72_0 
  tzdata             conda-forge/noarch::tzdata-2023c-h71feb2d_0 
  urllib3            conda-forge/noarch::urllib3-2.0.4-pyhd8ed1ab_0 
  wheel              conda-forge/noarch::wheel-0.41.2-pyhd8ed1ab_0 
  xorg-libxau        conda-forge/osx-arm64::xorg-libxau-1.0.11-hb547adb_0 
  xorg-libxdmcp      conda-forge/osx-arm64::xorg-libxdmcp-1.1.3-h27ca646_0 
  xz                 conda-forge/osx-arm64::xz-5.2.6-h57fd34a_0 
  zstd               conda-forge/osx-arm64::zstd-1.5.5-h4f39d0f_0 


Proceed ([y]/n)? y


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(controlonly) user@computer RL_Teaching % conda list
# packages in environment at /opt/homebrew/Caskroom/miniforge/base/envs/controlonly:
#
# Name                    Version                   Build  Channel
brotli                    1.1.0                hb547adb_0    conda-forge
brotli-bin                1.1.0                hb547adb_0    conda-forge
brotli-python             1.1.0           py311ha891d26_0    conda-forge
bzip2                     1.0.8                h3422bc3_4    conda-forge
ca-certificates           2023.7.22            hf0a4a13_0    conda-forge
certifi                   2023.7.22          pyhd8ed1ab_0    conda-forge
charset-normalizer        3.2.0              pyhd8ed1ab_0    conda-forge
contourpy                 1.1.0           py311he4fd1f5_0    conda-forge
control                   0.9.4              pyhd8ed1ab_0    conda-forge
cycler                    0.11.0             pyhd8ed1ab_0    conda-forge
fonttools                 4.42.1          py311heffc1b2_0    conda-forge
freetype                  2.12.1               hd633e50_1    conda-forge
idna                      3.4                pyhd8ed1ab_0    conda-forge
kiwisolver                1.4.5           py311he4fd1f5_0    conda-forge
lcms2                     2.15                 hd835a16_1    conda-forge
lerc                      4.0.0                h9a09cb3_0    conda-forge
libblas                   3.9.0           17_osxarm64_openblas    conda-forge
libbrotlicommon           1.1.0                hb547adb_0    conda-forge
libbrotlidec              1.1.0                hb547adb_0    conda-forge
libbrotlienc              1.1.0                hb547adb_0    conda-forge
libcblas                  3.9.0           17_osxarm64_openblas    conda-forge
libcxx                    16.0.6               h4653b0c_0    conda-forge
libdeflate                1.18                 h1a8c8d9_0    conda-forge
libexpat                  2.5.0                hb7217d7_1    conda-forge
libffi                    3.4.2                h3422bc3_5    conda-forge
libgfortran               5.0.0           12_3_0_hd922786_1    conda-forge
libgfortran5              12.3.0               ha3a6a3e_1    conda-forge
libjpeg-turbo             2.1.5.1              h1a8c8d9_0    conda-forge
liblapack                 3.9.0           17_osxarm64_openblas    conda-forge
libopenblas               0.3.23          openmp_hc731615_0    conda-forge
libpng                    1.6.39               h76d750c_0    conda-forge
libsqlite                 3.43.0               hb31c410_0    conda-forge
libtiff                   4.5.1                h23a1a89_1    conda-forge
libwebp-base              1.3.1                hb547adb_0    conda-forge
libxcb                    1.15                 hf346824_0    conda-forge
libzlib                   1.2.13               h53f4e23_5    conda-forge
llvm-openmp               16.0.6               h1c12783_0    conda-forge
matplotlib-base           3.7.2           py311h3bc9839_0    conda-forge
munkres                   1.1.4              pyh9f0ad1d_0    conda-forge
ncurses                   6.4                  h7ea286d_0    conda-forge
numpy                     1.25.2          py311hb8f3215_0    conda-forge
openjpeg                  2.5.0                hbc2ba62_2    conda-forge
openssl                   3.1.2                h53f4e23_0    conda-forge
packaging                 23.1               pyhd8ed1ab_0    conda-forge
pillow                    10.0.0          py311h095fde6_0    conda-forge
pip                       23.2.1             pyhd8ed1ab_0    conda-forge
platformdirs              3.10.0             pyhd8ed1ab_0    conda-forge
pooch                     1.7.0              pyha770c72_3    conda-forge
pthread-stubs             0.4               h27ca646_1001    conda-forge
pyparsing                 3.0.9              pyhd8ed1ab_0    conda-forge
pysocks                   1.7.1              pyha2e5f31_6    conda-forge
python                    3.11.5          h47c9636_0_cpython    conda-forge
python-dateutil           2.8.2              pyhd8ed1ab_0    conda-forge
python_abi                3.11                    3_cp311    conda-forge
readline                  8.2                  h92ec313_1    conda-forge
requests                  2.31.0             pyhd8ed1ab_0    conda-forge
scipy                     1.11.2          py311h93d07a4_0    conda-forge
setuptools                68.1.2             pyhd8ed1ab_0    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
slycot                    0.5.4           py311h0f072a5_0    conda-forge
tk                        8.6.12               he1e0b03_0    conda-forge
typing-extensions         4.7.1                hd8ed1ab_0    conda-forge
typing_extensions         4.7.1              pyha770c72_0    conda-forge
tzdata                    2023c                h71feb2d_0    conda-forge
urllib3                   2.0.4              pyhd8ed1ab_0    conda-forge
wheel                     0.41.2             pyhd8ed1ab_0    conda-forge
xorg-libxau               1.0.11               hb547adb_0    conda-forge
xorg-libxdmcp             1.1.3                h27ca646_0    conda-forge
xz                        5.2.6                h57fd34a_0    conda-forge
zstd                      1.5.5                h4f39d0f_0    conda-forge
(controlonly) user@computer RL_Teaching % python practical_1_mpc_plain.py 
Summary statistics:
* Cost function calls: 105
* Constraint calls: 126
* System simulations: 215
* Final cost: 568.2949584276911
 message: Optimization terminated successfully
 success: True
  status: 0
     fun: 568.2949584276911
       x: [ 8.085e-01  1.464e-02  4.912e-01  7.621e-01  5.672e-01
            5.080e-01  4.151e-01  2.398e-01  0.000e+00  0.000e+00]
     nit: 9
     jac: [-3.049e+00 -4.285e+00 -1.991e+00 -2.022e-03 -9.003e-04
            1.045e-03 -8.469e-04  1.541e-03  0.000e+00  0.000e+00]
    nfev: 105
    njev: 9
 problem: <control.optimal.OptimalControlProblem object at 0x1304342d0>
    cost: 568.2949584276911
    time: [ 0.000e+00  1.000e-01  2.000e-01  3.000e-01  4.000e-01
            5.000e-01  6.000e-01  7.000e-01  8.000e-01  9.000e-01]
  inputs: [ 8.085e-01  1.464e-02  4.912e-01  7.621e-01  5.672e-01
            5.080e-01  4.151e-01  2.398e-01  0.000e+00  0.000e+00]
  states: [[ 2.000e+00  2.010e+00 ...  2.216e+00  2.261e+00]
           [ 0.000e+00  1.856e-01 ...  4.615e-01  4.397e-01]
           [ 0.000e+00 -4.623e-02 ... -1.408e-02  1.761e-02]
           [ 0.000e+00 -8.497e-01 ...  2.412e-01  3.458e-01]]
/opt/homebrew/Caskroom/miniforge/base/envs/controlonly/lib/python3.11/site-packages/control/optimal.py:928: UserWarning: unable to solve optimal control problem
scipy.optimize.minimize returned Positive directional derivative for linesearch
  warnings.warn(
/opt/homebrew/Caskroom/miniforge/base/envs/controlonly/lib/python3.11/site-packages/control/optimal.py:928: UserWarning: unable to solve optimal control problem
scipy.optimize.minimize returned Iteration limit reached
  warnings.warn(
Computation time = 56.8475 seconds
(controlonly) user@computer RL_Teaching % python practical_1_mpc_plain.py 
Summary statistics:
* Cost function calls: 105
* Constraint calls: 126
* System simulations: 215
* Final cost: 568.2949584276911
 message: Optimization terminated successfully
 success: True
  status: 0
     fun: 568.2949584276911
       x: [ 8.085e-01  1.464e-02  4.912e-01  7.621e-01  5.672e-01
            5.080e-01  4.151e-01  2.398e-01  0.000e+00  0.000e+00]
     nit: 9
     jac: [-3.049e+00 -4.285e+00 -1.991e+00 -2.022e-03 -9.003e-04
            1.045e-03 -8.469e-04  1.541e-03  0.000e+00  0.000e+00]
    nfev: 105
    njev: 9
 problem: <control.optimal.OptimalControlProblem object at 0x1304342d0>
    cost: 568.2949584276911
    time: [ 0.000e+00  1.000e-01  2.000e-01  3.000e-01  4.000e-01
            5.000e-01  6.000e-01  7.000e-01  8.000e-01  9.000e-01]
  inputs: [ 8.085e-01  1.464e-02  4.912e-01  7.621e-01  5.672e-01
            5.080e-01  4.151e-01  2.398e-01  0.000e+00  0.000e+00]
  states: [[ 2.000e+00  2.010e+00 ...  2.216e+00  2.261e+00]
           [ 0.000e+00  1.856e-01 ...  4.615e-01  4.397e-01]
           [ 0.000e+00 -4.623e-02 ... -1.408e-02  1.761e-02]
           [ 0.000e+00 -8.497e-01 ...  2.412e-01  3.458e-01]]
/opt/homebrew/Caskroom/miniforge/base/envs/controlonly/lib/python3.11/site-packages/control/optimal.py:928: UserWarning: unable to solve optimal control problem
scipy.optimize.minimize returned Positive directional derivative for linesearch
  warnings.warn(
/opt/homebrew/Caskroom/miniforge/base/envs/controlonly/lib/python3.11/site-packages/control/optimal.py:928: UserWarning: unable to solve optimal control problem
scipy.optimize.minimize returned Iteration limit reached
  warnings.warn(
Computation time = 56.8475 seconds