Suggest to use conda and miniforge instead of mamba and mambaforge

.github/workflows/ci.yml

@@ -13,12 +13,12 @@ on:
     types: [published]
   schedule:
   # * is a special character in YAML so you have to quote this string
-  # Execute a "nightly" build at 2 AM UTC 
+  # Execute a "nightly" build at 2 AM UTC
   - cron:  '0 2 * * *'
 
 
 jobs:
-  conda-build:    
+  conda-build:
     name: '[conda:Tags:${{ matrix.project_tags }}@${{ matrix.os }}@${{ matrix.build_type }}]'
     runs-on: ${{ matrix.os }}
     strategy:
@@ -39,25 +39,19 @@ jobs:
     - uses: actions/checkout@v4
 
     - uses: conda-incubator/setup-miniconda@v3
-      if: matrix.os != 'macos-14'
       with:
-        miniforge-variant: Mambaforge
+        miniforge-variant: Miniforge3
         miniforge-version: latest
 
-    - uses: conda-incubator/setup-miniconda@v3
-      if: matrix.os == 'macos-14'
-      with:
-        installer-url: https://github.com/conda-forge/miniforge/releases/download/23.11.0-0/Mambaforge-23.11.0-0-MacOSX-arm64.sh
-
     - name: Install files to enable compilation of mex files [Conda/Linux]
-      if: contains(matrix.os, 'ubuntu') 
+      if: contains(matrix.os, 'ubuntu')
       run: |
         curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip
         unzip msdk_R2020b_mexa64.zip
         rm msdk_R2020b_mexa64.zip
         echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV
         echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV
-                
+
     - name: Install files to enable compilation of mex files [Conda/macOS Intel]
       if: matrix.os == 'macos-12'
       run: |
@@ -77,7 +71,7 @@ jobs:
         echo "GHA_Matlab_MEX_EXTENSION=mexmaca64" >> $GITHUB_ENV
 
     - name: Install files to enable compilation of mex files [Conda/Windows]
-      if: contains(matrix.os, 'windows') 
+      if: contains(matrix.os, 'windows')
       shell: bash
       run: |
         curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip
@@ -91,37 +85,37 @@ jobs:
       shell: bash -l {0}
       run: |
         # Dependencies
-        mamba install ace
+        conda install ace
 
     - name: Dependencies [Conda]
       shell: bash -l {0}
       run: |
         # Dependencies
-        mamba install asio assimp boost eigen freetype gazebo gz-sim8 glew glfw glm graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib "ffmpeg==6.*" onnxruntime-cpp
-        # Python 
-        mamba install python numpy swig==4.1.0 pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad pyqtwebengine qtpy pyyaml
+        conda install asio assimp boost eigen freetype gazebo gz-sim8 glew glfw glm graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib "ffmpeg==6.*" onnxruntime-cpp
+        # Python
+        conda install python numpy swig==4.1.0 pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad pyqtwebengine qtpy pyyaml
 
     # Additional dependencies useful only on Linux
     - name: Dependencies [Conda/Linux]
-      if: contains(matrix.os, 'ubuntu') 
+      if: contains(matrix.os, 'ubuntu')
       shell: bash -l {0}
       run: |
         # Additional dependencies only useful on Linux
         # See https://github.com/robotology/robotology-superbuild/issues/477
-        mamba install bash-completion freeglut libdc1394 libi2c libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64 
+        conda install bash-completion freeglut libdc1394 libi2c libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64
 
     # Additional dependencies useful only on Windows
     - name: Dependencies [Conda/Windows]
-      if: contains(matrix.os, 'windows') 
+      if: contains(matrix.os, 'windows')
       shell: bash -l {0}
       run: |
         # Additional dependencies only useful on Windows
-        mamba install -c conda-forge -c robotology esdcan freeglut
+        conda install -c conda-forge -c robotology esdcan freeglut
 
     - name: Print used environment [Conda]
       shell: bash -l {0}
       run: |
-        mamba list
+        conda list
         env
 
     - name: Set CMake generator [Conda/Linux and macOs]
@@ -166,7 +160,7 @@ jobs:
       shell: bash -l {0}
       run: |
         rm -rf /c/Strawberry
-        
+
     - name: Build  [Conda]
       shell: bash -l {0}
       run: |
@@ -292,9 +286,9 @@ jobs:
             project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Custom -DROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE=${GITHUB_WORKSPACE}/releases/latest.releases.yaml"
     steps:
     - uses: actions/checkout@master
-    
+
     - name: Install files to enable compilation of mex files [Linux]
-      if: contains(matrix.os, 'ubuntu') 
+      if: contains(matrix.os, 'ubuntu')
       run: |
         curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip
         unzip msdk_R2020b_mexa64.zip
@@ -308,14 +302,14 @@ jobs:
       run: |
         ls /d/
         cp -r ${GITHUB_WORKSPACE} /c/
-        
-    - name: Define ROBOTOLOGY_SUPERBUILD_SOURCE_DIR 
+
+    - name: Define ROBOTOLOGY_SUPERBUILD_SOURCE_DIR
       if: contains(matrix.os, 'windows')
       shell: bash
       run: |
         echo "ROBOTOLOGY_SUPERBUILD_SOURCE_DIR=/c/robotology-superbuild" >> $GITHUB_ENV
 
-    - name: Define ROBOTOLOGY_SUPERBUILD_SOURCE_DIR 
+    - name: Define ROBOTOLOGY_SUPERBUILD_SOURCE_DIR
       if: contains(matrix.os, 'ubuntu')
       shell: bash
       run: |
@@ -365,7 +359,7 @@ jobs:
       if: contains(matrix.os, 'windows')
       run: |
         cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
-        # To avoid spending a huge time compiling vcpkg dependencies, we download an archive  that comes precompiled with all the ports that we need 
+        # To avoid spending a huge time compiling vcpkg dependencies, we download an archive  that comes precompiled with all the ports that we need
         choco install -y wget unzip
         # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same directory
         # that has been used to create the pre-compiled archive
@@ -423,7 +417,7 @@ jobs:
       shell: bash
       run: |
         cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
-        cd build    
+        cd build
         # Make sure that vcpkg's ace .dll are on the PATH
         source /c/robotology/scripts/setup-deps.sh
         cmake --build . --config Release
@@ -434,7 +428,7 @@ jobs:
       if: contains(matrix.os, 'windows')
       shell: bash
       run: |
-        cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR} 
+        cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}
         cd build
         # Make sure that vcpkg's ace .dll are on the PATH
         source /c/robotology/scripts/setup-deps.sh

.github/workflows/generate-conda-packages.yaml

@@ -63,9 +63,9 @@ jobs:
         steps:
         - uses: actions/checkout@v4
 
-        - uses: conda-incubator/setup-miniconda@v2
+        - uses: conda-incubator/setup-miniconda@v3
           with:
-            miniforge-variant: Mambaforge
+            miniforge-variant: Miniforge3
             miniforge-version: latest
 
         - name: Install files to enable compilation of mex files [Conda/Linux]
@@ -99,12 +99,12 @@ jobs:
         - name: Dependencies for conda recipes generation and upload
           shell: bash -l {0}
           run: |
-            mamba install pyyaml jinja2 conda-build ninja anaconda-client conda-forge-pinning mamba boa multisheller
+            conda install pyyaml jinja2 conda-build ninja anaconda-client conda-forge-pinning mamba boa multisheller
 
         - name: Print used environment
           shell: bash -l {0}
           run: |
-            mamba list
+            conda list
             env
 
         - name: Generate recipes [Linux&macOS]
@@ -163,35 +163,35 @@ jobs:
             cat */build.sh
             # We use the conda_build_config from conda-forge-pinning, and our local one
             # See https://docs.conda.io/projects/conda-build/en/latest/resources/variants.html#creating-conda-build-variant-config-files
-            # We manually specify the build order as conda build is too slow, and conda mambabuild does not support correctly multiple recipes
+            # We manually specify the build order as an old workaround for mambabuild, in theory this can be avoided, but it needs to be tested
             # see https://github.com/mamba-org/boa/issues/117
             # We also manually delete the recipe directory to avoid that it is built again,
             # specifically because we can't use --skip-existing as these packages are part of the robotology channel
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-contrib-common
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-contrib-common
             rm -rf icub-contrib-common
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-firmware-shared
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-firmware-shared
             rm -rf icub-firmware-shared
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml robots-configuration
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml robots-configuration
             rm -rf robots-configuration
             # icub-main needs robotology channel as it also depends on esdcan, and local to avoid that robotology packages are used instead of local built one
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology icub-main
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology icub-main
             rm -rf icub-main
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml wearables
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml wearables
             rm -rf wearables
             # Channels specified explicitly due to https://github.com/robotology/robotology-superbuild/issues/1140
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge human-dynamics-estimation
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge human-dynamics-estimation
             rm -rf human-dynamics-estimation
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml robot-log-visualizer
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml robot-log-visualizer
             rm -rf robot-log-visualizer
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml idyntree-matlab-bindings
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml idyntree-matlab-bindings
             rm -rf idyntree-matlab-bindings
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml blockfactory
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml blockfactory
             rm -rf blockfactory
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml yarp-matlab-bindings
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml yarp-matlab-bindings
             rm -rf yarp-matlab-bindings
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml wb-toolbox
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml wb-toolbox
             rm -rf wb-toolbox
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml blocktest
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml blocktest
             rm -rf blocktest
             conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml .
 
@@ -202,8 +202,8 @@ jobs:
             cd build/conda/generated_recipes_metapackages
              # Debug generated recipes
             cat */meta.yaml
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology robotology-distro
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology robotology-distro-all
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology robotology-distro
+            conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology robotology-distro-all
 
         - name: Upload conda packages
           shell: bash -l {0}

doc/cmake-options.md

@@ -357,7 +357,7 @@ sudo bash ./scripts/install_apt_python_dependencies.sh
 #### Conda
 To install python and the other required dependencies when using `conda-forge` provided dependencies, use:
 ~~~
-mamba install -c conda-forge python numpy swig==4.1.0 pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython
+conda install -c conda-forge python numpy swig==4.1.0 pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython
 ~~~
 
 ### Check the installation
@@ -380,7 +380,7 @@ The `ROBOTOLOGY_USES_ESDCAN` option is used to enable support for interacting wi
 
 ### System Dependencies
 To compile the software enabled by the `ROBOTOLOGY_USES_ESDCAN` option (such as the `icub-main`'s [`ecan`](http://www.icub.org/software_documentation/classyarp_1_1dev_1_1EsdCan.html) YARP driver) you need to install the esd CAN C library.
-To install this library in conda, just run `mamba install -c conda-forge -c robotology esdcan` inside your conda environment. If you installed `icub-main` from conda binary packages, the `ecan` YARP driver enabled by the `ROBOTOLOGY_USES_ESDCAN` option is already included.
+To install this library in conda, just run `conda install -c conda-forge -c robotology esdcan` inside your conda environment. If you installed `icub-main` from conda binary packages, the `ecan` YARP driver enabled by the `ROBOTOLOGY_USES_ESDCAN` option is already included.
 
 To actually run the software that uses the esd CAN devices, you also need to install the esd CAN Driver for your specific esd CAN device.
 The installers for the esd CAN Driver should have been provided by esd, so ask for them to who provided you with the esd CAN device you want to use.