From 4d2d60a84a6246617228e05981f4ab51d66d19c8 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Fri, 29 Nov 2024 10:34:58 +0100
Subject: [PATCH] Add support for running the simulation with pixi, optionally
 with the ma97 linear solver (#1)

---
 .gitattributes                                |    2 +
 .gitignore                                    |    6 +
 README.md                                     |   49 +-
 coinhsl_src/.gitignore                        |    3 +
 pixi.lock                                     | 9124 +++++++++++++++++
 pixi.toml                                     |  483 +
 run_simulation.sh                             |   15 +-
 scripts/pixi/check_and_extract_coinhsl.py     |   40 +
 scripts/pixi/replace_mumps_with_coinhsl.py    |   31 +
 .../{world => world_rtf_0_1}                  |    0
 .../dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_5   |   64 +
 11 files changed, 9813 insertions(+), 4 deletions(-)
 create mode 100644 .gitattributes
 create mode 100644 coinhsl_src/.gitignore
 create mode 100644 pixi.lock
 create mode 100644 pixi.toml
 create mode 100644 scripts/pixi/check_and_extract_coinhsl.py
 create mode 100644 scripts/pixi/replace_mumps_with_coinhsl.py
 rename worlds/dnn_mpc_ergoCubGazeboV1_1/{world => world_rtf_0_1} (100%)
 create mode 100644 worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_5

diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000..8f61a8e
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,2 @@
+# SCM syntax highlighting
+pixi.lock linguist-language=YAML linguist-generated=true
diff --git a/.gitignore b/.gitignore
index da942d0..c8a676c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,7 @@
 # build folders
 build*
+.build*
+.pixi_install_prefix
 
 # emacs
 *~
@@ -159,3 +161,7 @@ cython_debug/
 scripts/plotting/animations/**
 scripts/plotting/figures/**
 scripts/generate_animation_meshcat/website/**
+
+# pixi environments
+.pixi
+*.egg-info
diff --git a/README.md b/README.md
index 0be9ffb..99b04d6 100644
--- a/README.md
+++ b/README.md
@@ -31,23 +31,28 @@ https://github.com/user-attachments/assets/404c9af8-528e-43c2-abd2-138a98adfc04
 
 ## Reproducing the Experiments
 
+You can reprocue the experiments in two ways: either with conda or pixi.
+
+### Conda
+
+
 To reproduce the experiments, we provide a conda environment for easy setup. Follow the steps below:
 
-### 1. Install the Environment
+#### 1. Install the Environment
 Run the following command to create the conda environment:
 
 ```bash
 conda env create -f environment.yml
 ```
 
-### 2. Activate the Environment
+#### 2. Activate the Environment
 Activate the newly created environment:
 
 ```bash
 conda activate dnn-mpc-env
 ```
 
-### 3. Run the Simulation
+#### 3. Run the Simulation
 Start the experiment with:
 
 ```bash
@@ -63,6 +68,44 @@ When prompted, type `y` and press `Enter` to start the simulation. The humanoid
 
 ⚠️ **Known Issue:** The Gazebo real-time factor is scaled by a factor of 10. This is due to the use of the MUMPS linear solver in the IPOPT docker image. Alternative solvers (e.g., MA27) are available but cannot be redistributed.
 
+
+### Pixi
+
+To run the experiments with pixi on Linux, just download the repo and run:
+
+~~~
+git clone https://github.com/ami-iit/paper_romualdi_viceconte_2024_humanoids_dnn-mpc-walking
+cd paper_romualdi_viceconte_2024_humanoids_dnn-mpc-walking
+pixi run -e default run_simulation
+~~~
+
+This command will install all the dependencies, compiled the code and run the simulation. At that point, when prompted, type `y` and press `Enter` to start the simulation. The humanoid robot will begin walking, and you can observe its behavior in the Gazebo simulator.
+
+⚠️ **Known Issue:** The Gazebo real-time factor is scaled by a factor of 10. This is due to the use of the MUMPS linear solver in the IPOPT docker image. If you have have access to a Coin-HSL license, you can use it following the instructions in the following, to reduce the Gazebo real-time factor scaling from 10 to 2.
+
+To run the simulation using the Coin-HSL's `ma97` solver, follow the following steps:
+
+1. Go to https://licences.stfc.ac.uk/product/coin-hsl, and:
+   - If you already have a license for Coin-HSL:
+     - Go to https://licences.stfc.ac.uk/account/orders and find the coin-hsl order.
+     - Download the coinhsl-2023.11.17.zip file and place it in the './coinhsl_src' folder of this repository.
+   - If you do not have a license for Coin-HSL:
+     - If you are an academic, request a license at https://licences.stfc.ac.uk/product/coin-hsl.
+     - If you are not an academic, purchase a license at https://licences.stfc.ac.uk/product/coin-hsl.
+     - Once your order is approved, download the coinhsl-2023.11.17.zip file and place it in the './coinhsl_src' folder.
+
+Once the `coinhsl-2023.11.17.zip` archive is in the './coinhsl_src' folder, just run:
+
+~~~
+pixi run -e coinhsl run_simulation
+~~~
+
+This will execute the same steps of running `pixi run -e default run_simulation`, but additionally it will:
+* compile `coinhsl` to be able to use the `ma97` linear solver,
+* it will modify the configuration files to use `ma97`
+* use a different Gazebo world model, to ensure a faster simulation.
+
+
 ---
 
 ## Maintainers
diff --git a/coinhsl_src/.gitignore b/coinhsl_src/.gitignore
new file mode 100644
index 0000000..da716c0
--- /dev/null
+++ b/coinhsl_src/.gitignore
@@ -0,0 +1,3 @@
+# We do not want to accidentally push the non-distributable source files
+# to the repo, so we add it in the .gitignore
+coinhsl-2023.11.17.zip
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 0000000..71d769c
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,9124 @@
+version: 5
+environments:
+  coinhsl:
+    channels:
+    - url: https://conda.anaconda.org/robotology/
+    - url: https://conda.anaconda.org/conda-forge/
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/_x86_64-microarch-level-1-2_x86_64.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ace-8.0.1-he02047a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/aiohappyeyeballs-2.4.3-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.11.4-py312h178313f_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/aiosignal-1.3.1-pyhd8ed1ab_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.13-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-mp-3.1.0-h2cc385e_1006.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.1-h166bdaf_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-24.2.0-pyh71513ae_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-auth-0.8.0-hcd8ed7f_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-cal-0.8.0-he70792b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-common-0.10.0-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-compression-0.3.0-hba2fe39_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-event-stream-0.5.0-h127f702_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-http-0.9.0-h8a7d7e2_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-io-0.15.1-h2a50c78_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-mqtt-0.11.0-hd25e75f_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-s3-0.7.0-h858c4ad_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-sdkutils-0.2.1-hba2fe39_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-checksums-0.2.0-hba2fe39_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-crt-cpp-0.29.3-hbc793f2_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-sdk-cpp-1.11.407-h5cd358a_9.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-core-cpp-1.14.0-h5cfcd09_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-identity-cpp-1.10.0-h113e628_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-storage-blobs-cpp-12.13.0-h3cf044e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-storage-common-cpp-12.8.0-h736e048_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bash-completion-2.11-ha770c72_1.tar.bz2
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.3-heb4867d_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cppad-20240000.7-h5888daf_1.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/dartsim-cpp-6.14.5-h198e952_8.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/double-conversion-3.3.0-h59595ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h00ab1b0_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ergocub-software-0.7.5-ha770c72_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.6.4-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fcl-0.7.0-hadc09e8_4.conda
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+  license_family: MIT
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+  license_family: MIT
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diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 0000000..ff3c6cd
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,483 @@
+[project]
+authors = ["Silvio <silvio.traversaro@iit.it>"]
+channels = ["robotology", "conda-forge"]
+description = "Add a short description here"
+name = "dnn-mpc-env"
+platforms = ["linux-64"]
+version = "0.1.0"
+
+[target.unix.activation.env]
+PATH = "$PATH:$PIXI_PROJECT_ROOT/.pixi_install_prefix/bin"
+
+[feature.mumps.activation.env]
+DNNMPC_LINEAR_SOLVER = "default"
+
+[feature.coinhsl.activation.env]
+DNNMPC_LINEAR_SOLVER = "coinhsl"
+
+[tasks]
+install = { cmd = "cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING:BOOL=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -GNinja -S. -B.build-default  && cmake --build .build-default --config Release && cmake --install .build-default --config Release", outputs=["./.pixi/envs/default/bin/dnn-mpc-walking"] }
+uninstall = { cmd = ["cmake", "--build", ".build", "--target", "uninstall"]}
+run_simulation = { cmd = "bash run_simulation.sh", depends_on = ["install"] }
+
+[feature.coinhsl.tasks]
+# This is duplicated as apparently pixi output get confused between the two caches and two build directories
+install = { cmd = "cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING:BOOL=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -GNinja -S. -B.build-coinhsl  && cmake --build .build-coinhsl --config Release && cmake --install .build-coinhsl --config Release", outputs=["./.pixi/envs/coinhsl/bin/dnn-mpc-walking"] }
+install_coinhsl = { cmd = "python $PIXI_PROJECT_ROOT/scripts/pixi/check_and_extract_coinhsl.py && meson setup ./.build-coinhsl/coinhsl-2023.11.17-build/ ./.build-coinhsl/coinhsl-2023.11.17 --buildtype=release -Dlibdir=lib --prefix=$CONDA_PREFIX -Dmodules=false && meson compile -C ./.build-coinhsl/coinhsl-2023.11.17-build/ && meson install -C ./.build-coinhsl/coinhsl-2023.11.17-build/ && cp ./.pixi/envs/coinhsl/lib/libcoinhsl.so ./.pixi/envs/coinhsl/lib/libhsl.so" , outputs=["./.pixi/envs/coinhsl/lib/libhsl.so"] }
+install_with_coinhsl = { cmd = "python $PIXI_PROJECT_ROOT/scripts/pixi/replace_mumps_with_coinhsl.py", depends_on = ["install"] }
+run_simulation = { cmd = "bash run_simulation.sh", depends_on = ["install_with_coinhsl", "install_coinhsl"] }
+
+
+[environments]
+
+# The default environment uses mumps as linear solver
+default = {features = ["mumps"], solve-group = "common-solve-group"}
+
+# If a user has access to the coinhsl-2023.11.17 tarball, the coinhsl
+# environmemnt can be used for faster walking
+coinhsl = {features = [ "coinhsl"], solve-group = "common-solve-group"}
+
+
+# Dependencies added only in pixi.toml
+[feature.coinhsl.dependencies]
+meson = "*"
+
+# Dependencies generated via pixi init . --import environment.yml
+[dependencies]
+_libgcc_mutex = { version = "==0.1", build = "conda_forge" }
+_openmp_mutex = { version = "==4.5", build = "2_gnu" }
+_x86_64-microarch-level = { version = "==1", build = "2_x86_64" }
+ace = { version = "==8.0.1", build = "he02047a_0" }
+aiohappyeyeballs = { version = "==2.4.3", build = "pyhd8ed1ab_0" }
+aiohttp = { version = "==3.11.4", build = "py312h178313f_1" }
+aiosignal = { version = "==1.3.1", build = "pyhd8ed1ab_0" }
+alsa-lib = { version = "==1.2.13", build = "hb9d3cd8_0" }
+ampl-mp = { version = "==3.1.0", build = "h2cc385e_1006" }
+aom = { version = "==3.9.1", build = "hac33072_0" }
+assimp = { version = "==5.4.3", build = "h8943939_0" }
+"atk-1.0" = { version = "==2.38.0", build = "h04ea711_2" }
+attr = { version = "==2.5.1", build = "h166bdaf_1" }
+attrs = { version = "==24.2.0", build = "pyh71513ae_0" }
+aws-c-auth = { version = "==0.8.0", build = "hcd8ed7f_7" }
+aws-c-cal = { version = "==0.8.0", build = "he70792b_1" }
+aws-c-common = { version = "==0.10.0", build = "hb9d3cd8_0" }
+aws-c-compression = { version = "==0.3.0", build = "hba2fe39_1" }
+aws-c-event-stream = { version = "==0.5.0", build = "h127f702_4" }
+aws-c-http = { version = "==0.9.0", build = "h8a7d7e2_5" }
+aws-c-io = { version = "==0.15.1", build = "h2a50c78_1" }
+aws-c-mqtt = { version = "==0.11.0", build = "hd25e75f_5" }
+aws-c-s3 = { version = "==0.7.0", build = "h858c4ad_7" }
+aws-c-sdkutils = { version = "==0.2.1", build = "hba2fe39_0" }
+aws-checksums = { version = "==0.2.0", build = "hba2fe39_1" }
+aws-crt-cpp = { version = "==0.29.3", build = "hbc793f2_2" }
+aws-sdk-cpp = { version = "==1.11.407", build = "h5cd358a_9" }
+azure-core-cpp = { version = "==1.14.0", build = "h5cfcd09_0" }
+azure-identity-cpp = { version = "==1.10.0", build = "h113e628_0" }
+azure-storage-blobs-cpp = { version = "==12.13.0", build = "h3cf044e_1" }
+azure-storage-common-cpp = { version = "==12.8.0", build = "h736e048_1" }
+bash-completion = { version = "==2.11", build = "ha770c72_1" }
+binutils = { version = "==2.43", build = "h4852527_2" }
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+make = { version = "==4.4.1", build = "hb9d3cd8_2" }
+manif = { version = "==0.0.5", build = "h5888daf_2" }
+manifpy = { version = "==0.0.5", build = "py312h39a7861_2" }
+mesa-khr-devel-cos7-x86_64 = { version = "==18.3.4", build = "ha675448_1106" }
+mesa-libgl-cos7-x86_64 = { version = "==18.3.4", build = "ha675448_1106" }
+mesa-libgl-devel-cos7-x86_64 = { version = "==18.3.4", build = "ha675448_1106" }
+mesa-libglapi-cos7-x86_64 = { version = "==18.3.4", build = "ha675448_1106" }
+metis = { version = "==5.1.0", build = "hd0bcaf9_1007" }
+minizip = { version = "==4.0.7", build = "h401b404_0" }
+mpg123 = { version = "==1.32.9", build = "hc50e24c_0" }
+msgpack-python = { version = "==1.1.0", build = "py312h68727a3_0" }
+multidict = { version = "==6.1.0", build = "py312h178313f_1" }
+mumps-include = { version = "==5.7.3", build = "ha770c72_5" }
+mumps-seq = { version = "==5.7.3", build = "h27a6a8b_0" }
+mysql-common = { version = "==9.0.1", build = "h266115a_2" }
+mysql-libs = { version = "==9.0.1", build = "he0572af_2" }
+ncurses = { version = "==6.5", build = "he02047a_1" }
+ninja = { version = "==1.12.1", build = "h297d8ca_0" }
+nlohmann_json = { version = "==3.11.3", build = "he02047a_1" }
+nlopt = { version = "==2.8.0", build = "py312h69683c5_2" }
+nspr = { version = "==4.36", build = "h5888daf_0" }
+nss = { version = "==3.106", build = "hdf54f9c_0" }
+numpy = { version = "==1.26.4", build = "py312heda63a1_0" }
+ocl-icd = { version = "==2.3.2", build = "hd590300_1" }
+octomap = { version = "==1.9.8", build = "h924138e_0" }
+ogre = { version = "==1.10.12.1", build = "hfa30d70_3" }
+onnxruntime-cpp = { version = "==1.18.1", build = "h641f3bf_1_cpu" }
+openal-soft = { version = "==1.23.1", build = "h00ab1b0_0" }
+openexr = { version = "==3.2.2", build = "h04e0de5_2" }
+openh264 = { version = "==2.4.1", build = "h59595ed_0" }
+openjpeg = { version = "==2.5.2", build = "h488ebb8_0" }
+openscenegraph = { version = "==3.6.5", build = "h6fe4003_20" }
+openssl = { version = "==3.4.0", build = "hb9d3cd8_0" }
+osqp-eigen = { version = "==0.8.1", build = "hdd734ac_1" }
+packaging = { version = "==24.2", build = "pyhff2d567_1" }
+pagmo = { version = "==2.19.1", build = "h4fefe70_3" }
+pango = { version = "==1.54.0", build = "h4c5309f_1" }
+pcl = { version = "==1.14.1", build = "hd932182_6" }
+pcre = { version = "==8.45", build = "h9c3ff4c_0" }
+pcre2 = { version = "==10.44", build = "hba22ea6_2" }
+pip = { version = "==24.3.1", build = "pyh8b19718_0" }
+pixman = { version = "==0.43.2", build = "h59595ed_0" }
+pkg-config = { version = "==0.29.2", build = "h4bc722e_1009" }
+poppler = { version = "==24.8.0", build = "h47131b8_1" }
+poppler-data = { version = "==0.4.12", build = "hd8ed1ab_0" }
+portaudio = { version = "==19.6.0", build = "h7c63dc7_9" }
+postgresql = { version = "==16.5", build = "hb2eb5c0_0" }
+proj = { version = "==9.5.0", build = "h12925eb_0" }
+propcache = { version = "==0.2.0", build = "py312h66e93f0_2" }
+proxsuite = { version = "==0.6.7", build = "py312h68727a3_1" }
+pthread-stubs = { version = "==0.4", build = "hb9d3cd8_1002" }
+pugixml = { version = "==1.14", build = "h59595ed_0" }
+pulseaudio-client = { version = "==17.0", build = "hb77b528_0" }
+pybind11-abi = { version = "==4", build = "hd8ed1ab_3" }
+python = { version = "==3.12.7", build = "hc5c86c4_0_cpython" }
+python_abi = { version = "==3.12", build = "5_cp312" }
+qhull = { version = "==2020.2", build = "h434a139_5" }
+qt-main = { version = "==5.15.15", build = "h374914d_0" }
+qt6-main = { version = "==6.7.3", build = "h20baabe_0" }
+qwt = { version = "==6.3.0", build = "h7c222af_0" }
+re2 = { version = "==2024.7.2", build = "h77b4e00_1" }
+readline = { version = "==8.2", build = "h8228510_1" }
+rhash = { version = "==1.4.5", build = "hb9d3cd8_0" }
+robot-testing-framework = { version = "==2.0.1", build = "hcb278e6_1" }
+ruby = { version = "==3.3.6", build = "he7af4c9_0" }
+s2n = { version = "==1.5.7", build = "hd3e8b83_0" }
+scipy = { version = "==1.14.1", build = "py312h62794b6_1" }
+sdl = { version = "==1.2.68", build = "h293081c_0" }
+sdl2 = { version = "==2.30.7", build = "h3ed165c_0" }
+setuptools = { version = "==75.5.0", build = "pyhff2d567_0" }
+simbody = { version = "==3.7", build = "h64f3f5a_3" }
+simde = { version = "==0.8.2", build = "h84d6215_0" }
+snappy = { version = "==1.2.1", build = "ha2e4443_0" }
+soxr = { version = "==0.1.3", build = "h0b41bf4_3" }
+spdlog = { version = "==1.14.1", build = "hed91bc2_1" }
+sqlite = { version = "==3.47.0", build = "h9eae976_1" }
+svt-av1 = { version = "==2.3.0", build = "h5888daf_0" }
+swig = { version = "==4.3.0", build = "heed6a68_0" }
+sysroot_linux-64 = { version = "==2.17", build = "h4a8ded7_18" }
+tbb = { version = "==2022.0.0", build = "hceb3a55_0" }
+tbb-devel = { version = "==2022.0.0", build = "h1f99690_0" }
+tiledb = { version = "==2.26.2", build = "h7fa2733_6" }
+tiny-process-library = { version = "==2.0.4", build = "h5888daf_2" }
+tinyxml = { version = "==2.6.2", build = "h4bd325d_2" }
+tinyxml2 = { version = "==10.0.0", build = "h59595ed_0" }
+tk = { version = "==8.6.13", build = "noxft_h4845f30_101" }
+tl-optional = { version = "==1.1.0", build = "hf52228f_1" }
+tmux = { version = "==3.5", build = "h4463017_0" }
+tomlplusplus = { version = "==3.3.0", build = "hcb278e6_0" }
+tzcode = { version = "==2024b", build = "hb9d3cd8_0" }
+tzdata = { version = "==2024b", build = "hc8b5060_0" }
+unixodbc = { version = "==2.3.12", build = "h661eb56_0" }
+urdfdom = { version = "==4.0.1", build = "h7fd8c06_0" }
+urdfdom_headers = { version = "==1.1.2", build = "h84d6215_0" }
+uriparser = { version = "==0.9.8", build = "hac33072_0" }
+utfcpp = { version = "==4.0.6", build = "h005c6e1_0" }
+visit_struct = { version = "==1.1.0", build = "hcb278e6_0" }
+vtk = { version = "==9.3.1", build = "qt_py312he5e186c_208" }
+vtk-base = { version = "==9.3.1", build = "qt_py312h2768b8c_208" }
+vtk-io-ffmpeg = { version = "==9.3.1", build = "qt_py312hc8241c7_208" }
+wayland = { version = "==1.23.1", build = "h3e06ad9_0" }
+wayland-protocols = { version = "==1.37", build = "hd8ed1ab_0" }
+wheel = { version = "==0.45.0", build = "pyhd8ed1ab_0" }
+whole-body-estimators = { version = "==0.11.2", build = "h49dd694_146" }
+wslink = { version = "==2.2.1", build = "pyhd8ed1ab_0" }
+x264 = { version = "==1!164.3095", build = "h166bdaf_2" }
+x265 = { version = "==3.5", build = "h924138e_3" }
+xcb-util = { version = "==0.4.1", build = "hb711507_2" }
+xcb-util-cursor = { version = "==0.1.5", build = "hb9d3cd8_0" }
+xcb-util-image = { version = "==0.4.0", build = "hb711507_2" }
+xcb-util-keysyms = { version = "==0.4.1", build = "hb711507_0" }
+xcb-util-renderutil = { version = "==0.3.10", build = "hb711507_0" }
+xcb-util-wm = { version = "==0.4.2", build = "hb711507_0" }
+xerces-c = { version = "==3.2.5", build = "h988505b_2" }
+xkeyboard-config = { version = "==2.43", build = "hb9d3cd8_0" }
+xorg-libice = { version = "==1.1.1", build = "hb9d3cd8_1" }
+xorg-libsm = { version = "==1.2.4", build = "he73a12e_1" }
+xorg-libx11 = { version = "==1.8.10", build = "h4f16b4b_0" }
+xorg-libxau = { version = "==1.0.11", build = "hb9d3cd8_1" }
+xorg-libxaw = { version = "==1.0.16", build = "hb9d3cd8_0" }
+xorg-libxdamage = { version = "==1.1.6", build = "hb9d3cd8_0" }
+xorg-libxdmcp = { version = "==1.1.5", build = "hb9d3cd8_0" }
+xorg-libxext = { version = "==1.3.6", build = "hb9d3cd8_0" }
+xorg-libxfixes = { version = "==6.0.1", build = "hb9d3cd8_0" }
+xorg-libxi = { version = "==1.8.2", build = "hb9d3cd8_0" }
+xorg-libxinerama = { version = "==1.1.5", build = "h5888daf_1" }
+xorg-libxmu = { version = "==1.2.1", build = "hb9d3cd8_1" }
+xorg-libxpm = { version = "==3.5.17", build = "hb9d3cd8_1" }
+xorg-libxrandr = { version = "==1.5.4", build = "hb9d3cd8_0" }
+xorg-libxrender = { version = "==0.9.11", build = "hb9d3cd8_1" }
+xorg-libxt = { version = "==1.3.1", build = "hb9d3cd8_0" }
+xorg-libxtst = { version = "==1.2.5", build = "hb9d3cd8_3" }
+xorg-libxxf86vm = { version = "==1.1.5", build = "hb9d3cd8_4" }
+xorg-xf86vidmodeproto = { version = "==2.3.1", build = "hb9d3cd8_1005" }
+xorg-xorgproto = { version = "==2024.1", build = "hb9d3cd8_1" }
+xz = { version = "==5.2.6", build = "h166bdaf_0" }
+yaml = { version = "==0.2.5", build = "h7f98852_2" }
+yarl = { version = "==1.17.2", build = "py312h66e93f0_0" }
+ycm-cmake-modules = { version = "==0.17.1", build = "h5888daf_0" }
+zeromq = { version = "==4.3.5", build = "h3b0a872_7" }
+zlib = { version = "==1.3.1", build = "hb9d3cd8_2" }
+zstd = { version = "==1.5.6", build = "ha6fb4c9_0" }
+zziplib = { version = "==0.13.69", build = "he45264a_2" }
+
diff --git a/run_simulation.sh b/run_simulation.sh
index 49f28fe..739b482 100755
--- a/run_simulation.sh
+++ b/run_simulation.sh
@@ -1,10 +1,23 @@
 #!/bin/bash
 
+env
+
 # Get the directory where this script is located
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)"
 
 # Construct the full path to the 'world' file relative to the script's directory
-WORLD_FILE="$SCRIPT_DIR/worlds/dnn_mpc_ergoCubGazeboV1_1/world"
+# based on DNNMPC_LINEAR_SOLVER environment variable
+if [ -z "${DNNMPC_LINEAR_SOLVER}" ] || [ "${DNNMPC_LINEAR_SOLVER}" = "default" ]; then
+    # Default case: if DNNMPC_LINEAR_SOLVER is not set or set to 'default', use the "slow"
+    # world file with RTF 0.1
+    WORLD_FILE="$SCRIPT_DIR/worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_1"
+elif [ "${DNNMPC_LINEAR_SOLVER}" = "coinhsl" ]; then
+    # If DNNMPC_LINEAR_SOLVER is set to 'coinhsl', use the "fast" world file with RTF 0.5
+    WORLD_FILE="$SCRIPT_DIR/worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_5"
+else
+    echo "Error: DNNMPC_LINEAR_SOLVER is set to an invalid value ('${DNNMPC_LINEAR_SOLVER}'). Valid values are 'default' or 'coinhsl'."
+    exit 1
+fi
 
 # Start a new detached tmux session named 'dnn-mpc' with root directory '~/'
 tmux new-session -d -s dnn-mpc -c ~/
diff --git a/scripts/pixi/check_and_extract_coinhsl.py b/scripts/pixi/check_and_extract_coinhsl.py
new file mode 100644
index 0000000..ac69e44
--- /dev/null
+++ b/scripts/pixi/check_and_extract_coinhsl.py
@@ -0,0 +1,40 @@
+import os
+import zipfile
+import sys
+
+# Define file and directories
+file_path = './coinhsl_src/coinhsl-2023.11.17.zip'
+output_dir = './.build-coinhsl'
+
+def main():
+    if os.path.exists(file_path):
+        print(f"File '{file_path}' found. Proceeding to unzip...")
+
+        # Ensure the output directory exists
+        os.makedirs(output_dir, exist_ok=True)
+
+        # Unzipping the file
+        try:
+            with zipfile.ZipFile(file_path, 'r') as zip_ref:
+                zip_ref.extractall(output_dir)
+            print(f"File unzipped successfully to '{output_dir}'.")
+        except zipfile.BadZipFile:
+            print("Error: The file is not a valid ZIP archive.")
+            sys.exit(1)
+    else:
+        print(f"Error: File '{file_path}' does not exist.")
+        print("""
+Please follow these steps to resolve the issue:
+1. Go to https://licences.stfc.ac.uk/product/coin-hsl, and:
+   - If you already have a license for Coin-HSL:
+     - Go to https://licences.stfc.ac.uk/account/orders and find the coin-hsl order.
+     - Download the coinhsl-2023.11.17.zip file and place it in the './coinhsl_src' folder of this repository.
+   - If you do not have a license for Coin-HSL:
+     - If you are an academic, request a license at https://licences.stfc.ac.uk/product/coin-hsl.
+     - If you are not an academic, purchase a license at https://licences.stfc.ac.uk/product/coin-hsl.
+     - Once your order is approved, download the coinhsl-2023.11.17.zip file and place it in the './coinhsl_src' folder.
+""")
+        sys.exit(1)
+
+if __name__ == "__main__":
+    main()
diff --git a/scripts/pixi/replace_mumps_with_coinhsl.py b/scripts/pixi/replace_mumps_with_coinhsl.py
new file mode 100644
index 0000000..03af74f
--- /dev/null
+++ b/scripts/pixi/replace_mumps_with_coinhsl.py
@@ -0,0 +1,31 @@
+import os
+
+def replace_mumps_with_ma97(file_path):
+    # Read the file
+    with open(file_path, 'r') as file:
+        content = file.read()
+
+    # Replace occurrences of 'mumps' with 'ma97'
+    updated_content = content.replace("mumps", "ma97")
+
+    # Write the updated content back to the file
+    with open(file_path, 'w') as file:
+        file.write(updated_content)
+
+    print(f"Replaced all occurrences of 'mumps' with 'ma97' in {file_path}")
+
+# Get the CONDA_PREFIX environment variable
+conda_prefix = os.getenv("CONDA_PREFIX")
+
+if conda_prefix:
+    # Construct the file path
+    file_path = os.path.join(conda_prefix, "share/dnn_mpc/robots/ergoCubGazeboV1_1/dnn-mpc/centroidal_mpc.ini")
+
+    if os.path.exists(file_path):
+        replace_mumps_with_ma97(file_path)
+    else:
+        print(f"File does not exist: {file_path}")
+        os.exit(1)
+else:
+    print("CONDA_PREFIX environment variable is not set.")
+    os.exit(1)
diff --git a/worlds/dnn_mpc_ergoCubGazeboV1_1/world b/worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_1
similarity index 100%
rename from worlds/dnn_mpc_ergoCubGazeboV1_1/world
rename to worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_1
diff --git a/worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_5 b/worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_5
new file mode 100644
index 0000000..58f5bec
--- /dev/null
+++ b/worlds/dnn_mpc_ergoCubGazeboV1_1/world_rtf_0_5
@@ -0,0 +1,64 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <physics type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>0.5</real_time_factor>
+      <real_time_update_rate>500</real_time_update_rate>
+    </physics>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <!-- Light -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <!-- Ground Plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <model name="ergoCub">
+
+      <plugin name='torso_configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
+        <yarpPluginConfigurationOverride plugin_name='controlboard_torso'> </yarpPluginConfigurationOverride>
+        <initialConfiguration>-0.00120142 0.110569 -0.0368365</initialConfiguration>
+      </plugin>
+
+      <plugin name='larm_configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
+        <yarpPluginConfigurationOverride plugin_name='controlboard_left_arm_no_hand'> </yarpPluginConfigurationOverride>
+        <initialConfiguration>-0.0475749     0.10829   -0.192063   0.0540067      0         0        0</initialConfiguration>
+      </plugin>
+
+      <plugin name='rarm_configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
+        <yarpPluginConfigurationOverride plugin_name='controlboard_right_arm_no_hand'> </yarpPluginConfigurationOverride>
+        <initialConfiguration>-0.0482403    0.103451   -0.203865 -0.00818984        0         0        0</initialConfiguration>
+      </plugin>
+
+      <plugin name='lleg_configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
+        <yarpPluginConfigurationOverride plugin_name='controlboard_left_leg'> </yarpPluginConfigurationOverride>
+        <initialConfiguration>     0.111411   0.0242565    0.050721   -0.543941   -0.322059 -0.00373243</initialConfiguration>
+      </plugin>
+
+      <plugin name='rleg_configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
+        <yarpPluginConfigurationOverride plugin_name='controlboard_right_leg'> </yarpPluginConfigurationOverride>
+        <initialConfiguration>0.0926136   0.0570012   0.0752004    -0.52194   -0.314711  -0.0492877</initialConfiguration>
+      </plugin>
+
+      <plugin name='externalwrench' filename='libgazebo_yarp_externalwrench.so'>
+        <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_robotname.ini</yarpConfigurationFile>
+      </plugin>
+
+      <include>
+        <uri>model://ergoCubGazeboV1_1</uri>
+        <pose>0.0 0.0 0.78 0.0 -0.1 0.0</pose>
+      </include>
+
+    </model>
+
+  </world>
+</sdf>