Update readme to remove colcon & vcs install and remove deprecated old file (since pixi)

Author: EtienneAr

README.md

@@ -15,72 +15,28 @@ The **Simple-mpc** library provides:
 ## Installation
 
 ### Build from source (devel)
+0. Install Pixi (from prefix.dev) : see https://pixi.sh/latest/installation/
 
 1. Clone repo.
 ```bash
-mkdir -p simple-mpc_ws/src
-cd simple-mpc_ws/src
 git clone git@github.com:Simple-Robotics/simple-mpc.git --recursive
+cd simple-mpc
 ```
 
-2. Create conda environment.
-(It is recommended to use `mamba` instead of `conda` for faster/better dependencies solving)
+2. Build
 ```bash
-mamba env create -f simple-mpc/environment-devel.yaml
-mamba activate simple-mpc-devel
-```
-
-3. Clone some dependencies
-(Some dependencies are not available on conda, or not with adequate versions)
-(vcs allow for cloning and managing multiple repo at once)
-```bash
-vcs import --recursive < simple-mpc/devel-git-deps.yaml
-```
-
-4. Build all dependencies of simple-mpc:
-(Due to a renaming issue, you may need to rename hpp-fcl into coal in the package.xml file of the Pinocchio library)
-```bash
-export MAKEFLAGS="-j4" # It is recommended to reduce the number of jobs as you ram might get full easily with the default number.
-cd ..
-colcon build --event-handlers console_direct+ --packages-ignore simple-mpc --cmake-args \
--DCMAKE_BUILD_TYPE=Release             \
--DCMAKE_PREFIX_PATH=$CONDA_PREFIX      \
--DPYTHON_EXECUTABLE=$(which python)    \
--DCMAKE_CXX_COMPILER_LAUNCHER='ccache' \
--DBUILD_TESTING=OFF                    \
--DBUILD_DOCUMENTATION=OFF              \
--DBUILD_EXAMPLES=OFF                   \
--DBUILD_BENCHMARK=OFF                  \
--DBUILD_BENCHMARKS=OFF                 \
--DBUILD_WITH_COLLISION_SUPPORT=ON      \
--DGENERATE_PYTHON_STUBS=OFF            \
--DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON
-```
-
-5. Source the environment and install simple-mpc:
-```bash
-source install/setup.bash
-colcon build --packages-select simple-mpc
-```
-
-6. Source the environment one more time
-(This step needs to be repeated every time a new shell is opened. It can be put in your ~/.bashrc)
-```bash
-mamba activate simple-mpc-devel # If not already done
-source install/setup.bash
+pixi run build
 ```
 
 #### Dependencies
 
-* [proxsuite](https://github.com/Simple-Robotics/proxsuite.git)
-* [Eigen3](https://eigen.tuxfamily.org) >= 3.3.7
-* [Boost](https://www.boost.org) >= 1.71.0
-* OpenMP
-* [hpp-fcl](https://github.com/humanoid-path-planner/hpp-fcl)
+* [Aligator](https://github.com/edantec/aligator) | [conda](https://anaconda.org/conda-forge/aligator)
+* [proxsuite](https://github.com/Simple-Robotics/proxsuite.git) | [conda](https://anaconda.org/conda-forge/proxsuite)
 * [Pinocchio](https://github.com/stack-of-tasks/pinocchio) | [conda](https://anaconda.org/conda-forge/pinocchio)
-* [Aligator](https://github.com/edantec/aligator) temporary_fix branch
-* [example-robot-data](https://github.com/Gepetto/example-robot-data)
+* [hpp-fcl (renamed coal)](https://github.com/humanoid-path-planner/hpp-fcl) | [conda](https://anaconda.org/conda-forge/coal)
+* [tsid](https://github.com/stack-of-tasks/tsid) >= 1.9.0 | [conda](https://anaconda.org/conda-forge/tsid)
 * [ndcurves](https://github.com/loco-3d/ndcurves)
-* [tsid](https://github.com/stack-of-tasks/tsid)
-* (optional) [eigenpy](https://github.com/stack-of-tasks/eigenpy)>=3.9.0 (Python bindings)
-* (optional) [bullet](https://github.com/bulletphysics/bullet3) (Simulation examples)
+* [Eigen3](https://eigen.tuxfamily.org) >= 3.3.7
+* [eigenpy](https://github.com/stack-of-tasks/eigenpy) >=3.9.0 (Python bindings)
+* (optional) [example-robot-data](https://github.com/Gepetto/example-robot-data) (for tests, benchmarks and examples | [conda](https://anaconda.org/conda-forge/example-robot-data)
+* (optional) [pybullet](https://github.com/bulletphysics/bullet3) (Simulation examples) | [conda](https://anaconda.org/conda-forge/pybullet)