###Dependencies:

sudo apt install python3-pip libglfw3 libeigen3-dev libglfw3-dev git
sudo apt-get install google-perftools libgoogle-perftools-dev libdw-dev
pip3 install --user numpy pyopengl pyhull scipy gitpython glfw imgui[full] pyglm matplotlib pycollada sympy pyglm pytest cyglfw3
pip install qpsolvers

###Locally install contact_modes library:

cd python 
pip3 install --user -e .

###Locally install itbl library:

cd python 
pip3 install --user -e .

###Locally install this library: pip install plotly pip3 install --user -e .

install matlab engine for your conda env

sudo update-alternatives --install /usr/bin/python python ~/anaconda3/envs/py37planning/bin/python 2
cd "matlabroot\extern\engines\python"
python setup.py install

install mpt toolbox for matlab

follow the instructions on https://www.mpt3.org/Main/Installation