source-installation-using-the-robotology-conda-packages.md

Source Installation using the Dependencies from the Conda Robotology Channel

1. If you are not already using the conda package manager, install the conda miniforge distribution following https://github.com/robotology/robotology-superbuild/blob/master/doc/install-miniforge.md#linux. Remember to restart your shell session or run source ~/.bashrc (~/.bash_profile on MacOS) for the conda init command to take effect.
2. Install Mamba, create a new environment and install the robotology dependency binaries:

   conda install mamba
   conda create -n robotologyenv
   conda activate robotologyenv
   mamba install -c robotology yarp-matlab-bindings idyntree qpoases icub-models wb-toolbox
   

   To read more about installing robotology-superbuild package binaries refer to https://github.com/robotology/robotology-superbuild/blob/master/doc/conda-forge.md#binary-installation.
3. Check the MATLABPATH environment variable. It should now have...

   <user-home-dir>/miniforge3/envs/robotologyenv/mex: <user-home-dir>/miniforge3/envs/robotologyenv/share/WBToolbox: <user-home-dir>/miniforge3/envs/robotologyenv/share/WBToolbox/images
   

   Check the mex and Simulink libraries in the folder <user-home-dir>/miniforge3/envs/robotologyenv/mex. It should contain:

   +iDynTree               BlockFactory.mexmaci64      mwbs_lib.slx
   +iDynTreeWrappers       BlockFactory.tlc            mwbs_robotDynamicsWithContacts_lib.slx
   +yarp                   iDynTreeMEX.mexmaci64       mwbs_robotSensors_lib.slx
                           yarpMEX.mexmaci64           mwbs_visualizers_lib.slx
   

4. Clone the repository matlab-whole-body-simulators

   git clone https://github.com/dic-iit/matlab-whole-body-simulator.git
   

5. Open MATLAB and Add the path <matlab-whole-body-simulators-dir>/lib to the top of the MATLAB path (done automatically after you open and compile the test model test_matlab_system_2020b.mdl).
6. The Matla Whole Body Simulator library, along with the sub-libraries robotDynamicsWithContacts, robotSensors and visualizers should be visible in the Simulink Library Browser (press F5 to refresh the Library Browser if otherwise). They can be drag and dropped into any open Simulink model.