From f8c9a48ce566c0334b250cf72534a3a34b4e7d9a Mon Sep 17 00:00:00 2001
From: Gabriele <gabriele.nava@iit.it>
Date: Mon, 5 Feb 2024 19:01:11 +0100
Subject: [PATCH 1/4] adding prototype of CI

---
 .github/workflows/ci_wbc.yml | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)
 create mode 100644 .github/workflows/ci_wbc.yml

diff --git a/.github/workflows/ci_wbc.yml b/.github/workflows/ci_wbc.yml
new file mode 100644
index 0000000..efdec32
--- /dev/null
+++ b/.github/workflows/ci_wbc.yml
@@ -0,0 +1,24 @@
+name: CI_WBC
+
+on:
+  push:
+    branches: [ gabrielenava-add-ci ]
+  pull_request:
+    branches: [ gabrielenava-add-ci ]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+  
+      - name: Configure and build
+        run: |
+          mkdir build
+          cd build
+          cmake ..
+          make install
+

From fce15b1e2f332e159c7b41528523f869158dc6ec Mon Sep 17 00:00:00 2001
From: Gabriele Nava <gabriele.nava@iit.it>
Date: Mon, 5 Feb 2024 19:05:15 +0100
Subject: [PATCH 2/4] Update README.md

---
 README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/README.md b/README.md
index f3c0da8..50ef978 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # whole-body-controllers
 
+[![CI_WBC](https://github.com/robotology/whole-body-controllers/actions/workflows/ci_wbc.yml/badge.svg)](https://github.com/robotology/whole-body-controllers/actions/workflows/ci_wbc.yml)
+
 **Warning! This repository contains reseach material and therefore is under active development. In future releases, `master` branch may break compatibility with older versions of WBC. If you are interested in retrieving a `stable` version of this repo, `fork the repository` or refer to the following releases:**
 
 - [WBC v2.5](https://github.com/robotology/whole-body-controllers/releases/tag/v2.5)

From a1f3f907f804da11da76225bb06c430b25fb32b0 Mon Sep 17 00:00:00 2001
From: Gabriele Nava <gabriele.nava@iit.it>
Date: Mon, 12 Feb 2024 18:50:01 +0100
Subject: [PATCH 3/4] Update ci_wbc.yml

---
 .github/workflows/ci_wbc.yml | 50 ++++++++++++++++++++++++------------
 1 file changed, 34 insertions(+), 16 deletions(-)

diff --git a/.github/workflows/ci_wbc.yml b/.github/workflows/ci_wbc.yml
index efdec32..a97f0f5 100644
--- a/.github/workflows/ci_wbc.yml
+++ b/.github/workflows/ci_wbc.yml
@@ -1,24 +1,42 @@
-name: CI_WBC
+name: CI_wbc
 
 on:
-  push:
-    branches: [ gabrielenava-add-ci ]
   pull_request:
-    branches: [ gabrielenava-add-ci ]
-
+  push:
+    branches:
+      - master
+        
 jobs:
   build:
-
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
     runs-on: ubuntu-latest
-
+    strategy:
+      matrix:
+        build_type: [Debug]
+        
     steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-  
-      - name: Configure and build
-        run: |
-          mkdir build
-          cd build
-          cmake ..
-          make install
+    - uses: actions/checkout@v3
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+        channels: conda-forge, robotology
+        channel-priority: true
+
+    - name: Install dependencies
+      run: |
+        conda config --remove channels defaults
+        mamba install cmake compilers make ninja pkg-config
+        mamba install mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 # CDT packages needed for linking against libGL (https://conda-forge.org/docs/maintainer/knowledge_base.html#libgl)
+        mamba install git ruby libxml2 lxml yaml pyyaml=5.4.1 catkin_pkg ycm-cmake-modules 
+        mamba install yarp
+        echo $CONDA_PREFIX
 
+    # Compile project and run tests
+    - name: Build and Test
+      run: |
+        mkdir -p build
+        cd build
+        cmake -DCMAKE_INSTALL_PREFIX=./install ..
+        cmake --build . --config ${{ matrix.build_type }} 
+        make install

From c9b5be3ab5143e5bef6b77a6be093ec8a61b6a6d Mon Sep 17 00:00:00 2001
From: Gabriele Nava <gabriele.nava@iit.it>
Date: Mon, 12 Feb 2024 18:50:23 +0100
Subject: [PATCH 4/4] Update ci_wbc.yml

---
 .github/workflows/ci_wbc.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci_wbc.yml b/.github/workflows/ci_wbc.yml
index a97f0f5..6885aca 100644
--- a/.github/workflows/ci_wbc.yml
+++ b/.github/workflows/ci_wbc.yml
@@ -4,7 +4,7 @@ on:
   pull_request:
   push:
     branches:
-      - master
+      - gabrielenava-add-ci
         
 jobs:
   build: