Swtich CI from miniconda to micromamba

.github/workflows/ci.yml

@@ -40,15 +40,11 @@ jobs:
         # Clone the repository in $GITHUB_WORKSPACE
         - uses: actions/checkout@master  
 
-        # Use conda for Windows dependencies
-        - uses: conda-incubator/setup-miniconda@v2
+        # Use mamba for Windows dependencies
+        - uses: mamba-org/setup-micromamba@v1
           if: contains(matrix.os, 'windows')
           with:
-            mamba-version: "*"
-            channels: conda-forge,robotology,defaults
-            channel-priority: true
-            environment: human-dynamics-estimation
-            python-version: 3.8
+            environment-file: ci_env.yml
 
         # Print the environment variables to simplify development and debugging
         - name: Environment Variables
@@ -89,15 +85,6 @@ jobs:
             path: ${{ github.workspace }}/install/deps
             # Including ${{ runner.temp }} is a workaround for https://github.com/robotology/whole-body-estimators/issues/60
             key: source-deps-${{runner.os}}-${{runner.temp}}-vcpkg-robotology-${{env.vcpkg_robotology_TAG}}-ycm-${{env.YCM_TAG}}-yarp-${{env.YARP_TAG}}-iDynTree-${{env.iDynTree_TAG}}-wearables-${{env.wearables_TAG}}-icub_main-${{env.icub_main_TAG}}-OsqpEigen-${{env.OsqpEigen_TAG}}-matioCpp-${{env.matioCpp_TAG}}-robometry-${{env.robometry_TAG}}
-
-        - name: Dependencies (using conda) [Windows]
-          if: steps.cache-source-deps.outputs.cache-hit != 'true' && contains(matrix.os, 'windows')
-          shell: bash -l {0}
-          run: |
-            # Compilation related dependencies 
-            mamba install cmake compilers make ninja pkg-config
-            # Actual dependencies
-            mamba install yarp icub-main wearables idyntree matio-cpp robometry osqp-eigen
 
         - name: Source-based Dependencies [Ubuntu/macOS]
           if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest')

ci_env.yml

@@ -0,0 +1,16 @@
+name: human-dynamics-estimation
+channels:
+  - conda-forge
+dependencies:
+  - cmake 
+  - compilers
+  - make 
+  - ninja
+  - pkg-config 
+  - yarp
+  - icub-main 
+  - wearables 
+  - idyntree 
+  - matio-cpp 
+  - robometry 
+  - osqp-eigen