diff --git a/.github/workflows/build_wheels.yml b/.github/workflows/build_wheels.yml
new file mode 100644
index 0000000..5154a70
--- /dev/null
+++ b/.github/workflows/build_wheels.yml
@@ -0,0 +1,42 @@
+name: Build and Upload Wheels
+
+on: [push, pull_request]
+
+jobs:
+  build_wheels:
+    runs-on: ubuntu-latest
+    if: github.event_name != 'pull_request'
+    
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Docker
+        uses: docker/setup-buildx-action@v1
+
+      - name: Build and copy wheel
+        run: |
+          CONTAINER_ID=$(sudo docker run -d -v $(pwd):/io quay.io/pypa/manylinux2014_x86_64 sleep infinity)
+          sudo docker exec $CONTAINER_ID /bin/bash -c "
+            yum install -y epel-release &&
+            yum-config-manager --add-repo=https://download.opensuse.org/repositories/science:/dlr/CentOS_7/ &&
+            yum install -y --nogpgcheck eigen3-devel &&
+            cd /usr/local/include &&
+            curl -L https://github.com/simd-everywhere/simde/archive/refs/heads/master.zip -o simde.zip &&
+            unzip simde.zip &&
+            mv simde-master/simde . &&
+            rm -rf simde.zip simde-master &&
+            cd /io &&
+            /opt/python/cp311-cp311/bin/pip install setuptools wheel --root-user-action=ignore &&
+            /opt/python/cp311-cp311/bin/python setup.py bdist_wheel &&
+            auditwheel repair dist/ismpc-0.1-cp311-cp311-linux_x86_64.whl --plat manylinux2014_x86_64"
+          sudo docker cp $CONTAINER_ID:/io/wheelhouse/. ./wheelhouse/
+          sudo docker stop $CONTAINER_ID
+
+      - name: Upload wheels to PyPI
+        env:
+          TWINE_USERNAME: "__token__"
+          TWINE_PASSWORD: ${{ secrets.PYPI_API_TOKEN }}
+        run: |
+          python -m pip install --upgrade twine &&
+          twine upload --verbose wheelhouse/*.whl
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index c22188f..0e4403e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -12,7 +12,7 @@ __pycache__/
 *.pyc
 *.so
 dist
-dist
+wheelhouse
 
 # ros2 stuff
 install/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e9bf75c..1f6adc4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,10 +1,10 @@
 cmake_minimum_required(VERSION 3.22)
 
 # ============================= PROJECT SETUP ===============================================
-project(ismpc_cpp VERSION 0.1 LANGUAGES CXX)
-set(ISMPC_CPP_LIBRARY ${PROJECT_NAME})
+project(ismpc VERSION 0.1 LANGUAGES CXX)
+set(ISMPC_CPP_LIBRARY ismpc_cpp)
+set(ISMPC_PY_LIBRARY ismpc)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(PROJECT ismpc_cpp)
 
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -21,12 +21,10 @@ endif()
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/executables")
 
-
 # =============================================================================================
 
 # ============================ BUILD OPTIONS ==================================================
 option(BUILD_TESTS "Build tests" OFF)
-option(BUILD_PYTHON_BINDINGS "Build python bindings" OFF)
 option(BUILD_ROS "Build ros package" OFF)
 option(BUILD_DART "Build with DART" OFF)
 
@@ -41,7 +39,6 @@ endif()
 
 message(STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
 
-
 # =============================================================================================
 
 # ============================ UTILITY STUFF ==================================================
@@ -63,14 +60,18 @@ configure_file(
   @ONLY
 )
 
-
 # =============================================================================================
 
 # ============================ EXTERNAL LIBRARIES =============================================
 include(FetchContent)
 
 # EIGEN3
-set(EIGEN_INCLUDE_DIR /usr/include/eigen3)
+FetchContent_Declare(
+  eigen
+  GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+  GIT_TAG master
+)
+FetchContent_MakeAvailable(eigen)
 
 # YAML-CPP
 FetchContent_Declare(
@@ -88,18 +89,13 @@ FetchContent_Declare(
 )
 FetchContent_MakeAvailable(proxsuite)
 
-# CASADI
-set(CASADI_INCLUDE_DIR /usr/local/include/casadi)
-include_directories(
-    SYSTEM ${CASADI_INCLUDE_DIR}
+# NANOBIND
+FetchContent_Declare(
+  nanobind
+  GIT_REPOSITORY https://github.com/wjakob/nanobind.git
+  GIT_TAG v2.4.0
 )
-set(LIBRARY_DIRS /usr/local/lib)
-link_directories(${LIBRARY_DIRS})
-find_library(CASADI_LIBRARY NAMES casadi HINTS ${LIBRARY_DIRS})
-if(CASADI_LIBRARY)
-    set(LIBCASADI ${CASADI_LIBRARY})
-    message(STATUS "Found CasADi libs: ${LIBCASADI}")
-endif()
+FetchContent_MakeAvailable(nanobind)
 
 # DART
 if(BUILD_DART)
@@ -111,6 +107,7 @@ endif()
 # ============================ ISMPC LIBRARY ==================================================
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 file(GLOB_RECURSE ISMPC_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
+list(REMOVE_ITEM ISMPC_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/src/bindings.cpp)
 add_library(${ISMPC_CPP_LIBRARY} STATIC ${ISMPC_SRCS})
 
 target_include_directories(${ISMPC_CPP_LIBRARY}
@@ -119,16 +116,16 @@ target_include_directories(${ISMPC_CPP_LIBRARY}
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<BUILD_INTERFACE:${proxsuite_SOURCE_DIR}/include>
   $<BUILD_INTERFACE:${yaml-cpp_SOURCE_DIR}/include>
+  $<BUILD_INTERFACE:${eigen_SOURCE_DIR}>
   ${DART_INCLUDE_DIRS}
-  ${EIGEN_INCLUDE_DIR}
 )
 
 set(ISMPC_CPP_EXTRA_LIBRARIES
   $<BUILD_INTERFACE:cxx_setup>
   $<BUILD_INTERFACE:yaml-cpp::yaml-cpp>
   $<BUILD_INTERFACE:proxsuite>
+  $<BUILD_INTERFACE:Eigen3::Eigen>
   ${DART_LIBRARIES}
-  ${LIBCASADI}
 )
 target_link_libraries(${ISMPC_CPP_LIBRARY} PUBLIC ${ISMPC_CPP_EXTRA_LIBRARIES})
 
@@ -192,10 +189,41 @@ endif()
 # =============================================================================================
 
 # ============================ PYTHON BINDINGS =================================================
-if(BUILD_PYTHON_BINDINGS)
-  add_subdirectory(bindings)
+if(CMAKE_VERSION VERSION_LESS 3.18)
+  set(DEV_MODULE Development)
+else()
+  set(DEV_MODULE Development.Module)
 endif()
 
+find_package(Python 3.11 COMPONENTS Interpreter ${DEV_MODULE} REQUIRED)
+execute_process(
+  COMMAND "${Python_EXECUTABLE}" -m nanobind --cmake_dir
+  OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_VARIABLE nanobind_ROOT
+)
+
+execute_process(
+    COMMAND ${Python_EXECUTABLE} -c "import sysconfig; print(sysconfig.get_path('purelib'))"
+    OUTPUT_VARIABLE PYTHON_SITE_PACKAGES
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+include_directories(${Python_INCLUDE_DIRS})
+message(STATUS "Python_EXECUTABLE: ${Python_EXECUTABLE}")
+message(STATUS "Python_VERSION: ${Python_VERSION}")
+message(STATUS "PYTHON INCLUDE DIRECTORIES" ${Python_INCLUDE_DIRS})
+
+nanobind_add_module(${ISMPC_PY_LIBRARY} ${PROJECT_SOURCE_DIR}/src/bindings.cpp)
+target_include_directories(${ISMPC_PY_LIBRARY} PUBLIC ${eigen_SOURCE_DIR} ${ISMPC_INCLUDE_DIR})
+target_link_libraries(${ISMPC_PY_LIBRARY} PUBLIC ${ISMPC_CPP_LIBRARY})
+
+install(
+    TARGETS ${ISMPC_PY_LIBRARY}
+    EXPORT ${ISMPC_PY_LIBRARY}Targets
+    LIBRARY DESTINATION ${PYTHON_SITE_PACKAGES}
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    RUNTIME DESTINATION ${BINDIR}
+)
+
 # =============================================================================================
 
 # =========================== GOOGLE TEST =====================================================
@@ -208,8 +236,4 @@ endif()
 # ============================ EXECUTABLES ====================================================
 add_executable(ismpc_main ${CMAKE_CURRENT_SOURCE_DIR}/src/cppmain.cpp)
 target_link_libraries(ismpc_main PRIVATE ${ISMPC_CPP_LIBRARY})
-
-add_executable(dart_main ${CMAKE_CURRENT_SOURCE_DIR}/src/dartmain.cpp)
-target_link_libraries(dart_main PRIVATE ${ISMPC_CPP_LIBRARY})
-
 # =============================================================================================
diff --git a/bindings/CMakeLists.txt b/bindings/CMakeLists.txt
deleted file mode 100644
index 96d4c23..0000000
--- a/bindings/CMakeLists.txt
+++ /dev/null
@@ -1,21 +0,0 @@
-FetchContent_Declare(
-    nanobind
-    GIT_REPOSITORY https://github.com/wjakob/nanobind.git
-    GIT_TAG v2.4.0
-  )
-FetchContent_MakeAvailable(nanobind)
-
-if(CMAKE_VERSION VERSION_LESS 3.18)
-set(DEV_MODULE Development)
-else()
-set(DEV_MODULE Development.Module)
-endif()
-find_package(Python 3.11 COMPONENTS Interpreter ${DEV_MODULE} REQUIRED)
-include_directories(${Python_INCLUDE_DIRS})
-message(STATUS "Python_EXECUTABLE: ${Python_EXECUTABLE}")
-message(STATUS "Python_VERSION: ${Python_VERSION}")
-message(STATUS "PYTHON INCLUDE DIRECTORIES" ${Python_INCLUDE_DIRS})
-
-nanobind_add_module(ismpc_py ${PROJECT_SOURCE_DIR}/bindings/ismpc_binding.cpp)
-target_include_directories(ismpc_py PUBLIC ${eigen_SOURCE_DIR} ${ISMPC_INCLUDE_DIR})
-target_link_libraries(ismpc_py PUBLIC ${ISMPC_CPP_LIBRARY})
diff --git a/config/config.yaml b/config/config.yaml
index 1b4ba80..de8197d 100644
--- a/config/config.yaml
+++ b/config/config.yaml
@@ -5,7 +5,7 @@ delta: 0.01 # 83 Hz
 first_fs_duration: 0.6 # [s]
 
 # Duration parameters
-N: 1
+N: 1000
 P: 1000
 C: 100
 W: 100 # iterations to wait before starting
diff --git a/include/ismpc_cpp/dart/controller.h b/include/ismpc_cpp/dart/controller.h
deleted file mode 100644
index 2c79b90..0000000
--- a/include/ismpc_cpp/dart/controller.h
+++ /dev/null
@@ -1,78 +0,0 @@
-#pragma once
-
-#include <chrono>
-#include <dart/dart.hpp>
-#include <dart/gui/gui.hpp>
-#include <dart/gui/osg/osg.hpp>
-#include <dart/utils/urdf/urdf.hpp>
-#include <dart/utils/utils.hpp>
-
-#include "ismpc_cpp/modules/kalman_filter.h"
-#include "ismpc_cpp/dart/simulated_robot.h"
-#include "ismpc_cpp/dart/state_provider.h"
-#include "ismpc_cpp/modules/casadi_mpc.h"
-#include "ismpc_cpp/modules/foot_trajectory_generator.h"
-#include "ismpc_cpp/modules/footstep_plan_provider.h"
-#include "ismpc_cpp/modules/model_predictive_controller.h"
-#include "ismpc_cpp/modules/moving_constraint_provider.h"
-#include "ismpc_cpp/representations/footstep_plan.h"
-#include "ismpc_cpp/tools/config/config.h"
-#include "ismpc_cpp/tools/debug.h"
-#include "ismpc_cpp/types/math_types.h"
-
-namespace ismpc {
-
-class Controller : public dart::gui::osg::WorldNode {
-   private:
-    // walkengine representations
-    State state;
-    FootstepPlan plan;
-    FrameInfo frame_info;
-    Reference reference;
-
-    // dart representations
-    SimulatedRobot robot;
-    dart::simulation::WorldPtr world;
-
-    // modules
-    FootstepPlanProvider planner;
-    ModelPredictiveController mpc;
-    MovingConstraintProvider mc_provider;
-    FootTrajectoryGenerator ft_generator;
-    CasadiMPC casadi_mpc;
-    StateProvider state_provider;
-    KalmanFilter kalman_filter;
-
-    // Stuff for drawing
-    dart::dynamics::SimpleFramePtr com, desired_com, zmp;
-
-    /**
-     * @brief Get a pointer to a ball in world (change its coordinates in draw method)
-     *
-     * @param name
-     * @param color
-     * @return dart::dynamics::SimpleFramePtr
-     */
-    dart::dynamics::SimpleFramePtr registerBall(const std::string& name, const Vector3& color);
-
-   public:
-    Controller(dart::simulation::WorldPtr world, dart::dynamics::SkeletonPtr robot);
-
-    /**
-     * @brief Custom pre step function for the simulation. This is where
-     * the magic happens. This function is called at every simulation step.
-     */
-    void customPreStep() override;
-
-    /**
-     * @brief Get the world object
-     *
-     * @return dart::simulation::WorldPtr
-     */
-    dart::simulation::WorldPtr get_world();
-
-    // Time related stuff
-    Scalar total_elapsed_time = 0;
-};
-
-}  // namespace ismpc
diff --git a/include/ismpc_cpp/dart/qp_solver.h b/include/ismpc_cpp/dart/qp_solver.h
deleted file mode 100644
index 29dcb90..0000000
--- a/include/ismpc_cpp/dart/qp_solver.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#include <casadi/casadi.hpp>
-#include <core/dm.hpp>
-#include <core/mx.hpp>
-#include <core/sparsity_interface.hpp>
-
-#include "ismpc_cpp/types/math_types.h"
-
-using casadi::MX, casadi::DM;
-
-namespace ismpc {
-
-class QPSolver {
-   public:
-    QPSolver() = default;
-    QPSolver(int d);
-
-    void init(const DM& H, const DM& g);
-
-    VectorX solve();
-
-   private:
-    int d;
-    MX H;
-    MX g;
-    MX x;
-    casadi::Opti opti;
-};
-
-}  // namespace ismpc
diff --git a/include/ismpc_cpp/dart/simulated_robot.h b/include/ismpc_cpp/dart/simulated_robot.h
deleted file mode 100644
index 86fa6c6..0000000
--- a/include/ismpc_cpp/dart/simulated_robot.h
+++ /dev/null
@@ -1,45 +0,0 @@
-#pragma once
-
-#include <Eigen/Core>
-#include <iostream>
-
-#include "dart/dart.hpp"
-#include "ismpc_cpp/dart/qp_solver.h"
-#include "ismpc_cpp/representations/frame_info.h"
-#include "ismpc_cpp/representations/state.h"
-#include "ismpc_cpp/tools/config/config.h"
-#include "ismpc_cpp/tools/config/robot_config.h"
-#include "ismpc_cpp/tools/debug.h"
-#include "ismpc_cpp/tools/math/rotation_matrix.h"
-#include "ismpc_cpp/tools/proxsuite.h"
-#include "ismpc_cpp/types/body_parts.h"
-#include "ismpc_cpp/types/math_types.h"
-#include "ismpc_cpp/types/support_phase.h"
-#include "ismpc_cpp/types/tail_type.h"
-
-namespace ismpc {
-
-struct SimulatedRobot {
-    VectorX initial_configuration;
-    Matrix joint_selection;
-
-    // State inside dart simulator (d stands for dart)
-    dart::dynamics::SkeletonPtr skeleton;
-    dart::dynamics::BodyNode* d_base;
-    dart::dynamics::BodyNode* d_torso;
-    dart::dynamics::BodyNode* d_left_foot;
-    dart::dynamics::BodyNode* d_right_foot;
-
-    // Utility functions
-    VectorX getJointRequest(const State& desired);
-    void setInitialConfiguration();
-
-    ~SimulatedRobot() = default;
-    SimulatedRobot(dart::dynamics::SkeletonPtr skeleton);
-
-    QP<Scalar> qp;
-
-    Scalar total_ik_duration = 0.0;
-};
-
-}  // namespace ismpc
diff --git a/include/ismpc_cpp/dart/state_provider.h b/include/ismpc_cpp/dart/state_provider.h
deleted file mode 100644
index 8f866b3..0000000
--- a/include/ismpc_cpp/dart/state_provider.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#include "ismpc_cpp/dart/simulated_robot.h"
-#include "ismpc_cpp/tools/math/rotation_matrix.h"
-
-namespace ismpc {
-
-/**
- * @brief This class is responsible for providing the state of the robot.
- * Namely, compute the lip state.
- */
-class StateProvider {
-   private:
-    const SimulatedRobot& robot;
-
-   public:
-    StateProvider(const SimulatedRobot& robot);
-
-    void update(State& state);
-};
-
-}  // namespace ismpc
diff --git a/include/ismpc_cpp/ismpc.h b/include/ismpc_cpp/ismpc.h
index fcb12a6..342e47b 100644
--- a/include/ismpc_cpp/ismpc.h
+++ b/include/ismpc_cpp/ismpc.h
@@ -2,6 +2,7 @@
 
 #include "ismpc_cpp/modules/foot_trajectory_generator.h"
 #include "ismpc_cpp/modules/footstep_plan_provider.h"
+#include "ismpc_cpp/modules/kalman_filter.h"
 #include "ismpc_cpp/modules/model_predictive_controller.h"
 #include "ismpc_cpp/modules/moving_constraint_provider.h"
 #include "ismpc_cpp/modules/reference_provider.h"
diff --git a/include/ismpc_cpp/modules/casadi_mpc.h b/include/ismpc_cpp/modules/casadi_mpc.h
deleted file mode 100644
index c49d072..0000000
--- a/include/ismpc_cpp/modules/casadi_mpc.h
+++ /dev/null
@@ -1,85 +0,0 @@
-#pragma once
-
-#include <casadi/casadi.hpp>
-#include <cmath>
-
-#include "ismpc_cpp/dart/simulated_robot.h"
-#include "ismpc_cpp/representations/footstep_plan.h"
-#include "ismpc_cpp/representations/frame_info.h"
-#include "ismpc_cpp/representations/state.h"
-#include "ismpc_cpp/tools/config/config.h"
-#include "ismpc_cpp/tools/proxsuite.h"
-#include "ismpc_cpp/types/math_types.h"
-#include "ismpc_cpp/types/optimization.h"
-
-namespace ismpc {
-/**
- * @brief Model Predictive Control class
- *
- * This class implements a Model Predictive Control (MPC) algorithm to generate
- * a control trajectory of the robot's CoM. The CoM trajectory is generated by
- * solving an optimization problem that minimizes a cost function subject to
- * constraints on the robot's dynamics and the environment.In input, the MPC
- * module needs the current state of the robot and the desired footsteps.
- */
-class CasadiMPC {
-   private:
-    const FrameInfo& frame_info;
-    const State& state;
-    const FootstepPlan& plan;
-
-    // Parameters
-    const int numC = Config::C;  // number of control points
-    const int numP = Config::P;  // number of planning points
-    const Scalar delta = Config::delta;
-    const Scalar eta = RobotConfig::eta;
-    const Scalar dxz = RobotConfig::dxz;
-    const Scalar dyz = RobotConfig::dyz;
-    const Scalar zmp_vx_max = RobotConfig::zmp_vx_max;
-    const Scalar zmp_vy_max = RobotConfig::zmp_vy_max;
-    const TailType tail_type = Config::tail_type;
-
-    // Lip Model
-    casadi::DM A = casadi::DM({{0, 1, 0}, {eta * eta, 0, -eta* eta}, {0, 0, 0}});
-    casadi::DM B = casadi::DM({0, 0, 1});
-
-    // Optimization related stuff
-    casadi::Slice all = casadi::Slice();
-    casadi::Slice first_half = casadi::Slice(0, 3);
-    casadi::Slice second_half = casadi::Slice(3, 6);
-    casadi::Slice all_but_first = casadi::Slice(1, numC + 1);
-    casadi::MX cost;
-    casadi::DM x;
-    casadi::Opti opti;
-    int d;                                          // number of primal variables
-    casadi::MX X, U;                                // decision variables
-    casadi::MX x0_param, zmp_x_param, zmp_y_param;  // parameters
-
-    int fs_index = 0;
-
-    // time related stuff
-    std::chrono::high_resolution_clock::time_point start, end;
-
-    /**
-     * Lip Model
-     */
-    casadi::MX f(const casadi::MX& x, const casadi::MX& u) const;
-
-   public:
-    CasadiMPC(const FrameInfo& frame_info, const State& state, const FootstepPlan& plan);
-
-    /**
-     * @brief Update the MPC module
-     * Inside this function, the MPC module solves the optimization problem,
-     * generates and saves the control trajectory. The control trajectory is
-     * made of the zmp velocities. Practically, this function modifies the field
-     * state.desired_state of the robot.
-     */
-    void update(State& state);
-
-    Scalar total_mpc_qp_duration = 0.0;
-    Scalar total_mpc_preprocessing_duration = 0.0;
-    Scalar total_mpc_postprocessing_duration = 0.0;
-};
-
-}  // namespace ismpc
diff --git a/include/ismpc_cpp/tools/proxsuite.h b/include/ismpc_cpp/tools/proxsuite.h
index f5ce5a1..2926ec9 100644
--- a/include/ismpc_cpp/tools/proxsuite.h
+++ b/include/ismpc_cpp/tools/proxsuite.h
@@ -2,13 +2,9 @@
 
 #include <proxsuite/proxqp/dense/dense.hpp>
 #include <proxsuite/proxqp/sparse/sparse.hpp>
-
-#include "proxsuite/proxqp/sparse/fwd.hpp"
-#include "proxsuite/proxqp/status.hpp"
+#include <proxsuite/proxqp/status.hpp>
 
 using proxsuite::proxqp::InitialGuessStatus;
 using proxsuite::proxqp::dense::isize;
 using proxsuite::proxqp::dense::QP;
-using proxsuite::proxqp::QPSolverOutput::PROXQP_MAX_ITER_REACHED;
-using proxsuite::proxqp::QPSolverOutput::PROXQP_SOLVED;
 using std::nullopt;
diff --git a/pixi.lock b/pixi.lock
index a38e89e..0809642 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -13,17 +13,30 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-asl-1.0.0-h5888daf_2.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/attr-2.5.1-h166bdaf_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/auditwheel-6.2.0-pyha804496_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/backports-1.0-pyhd8ed1ab_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/backports.tarfile-1.2.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bashlex-0.18-py311h38be061_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/bracex-2.2.1-pyhd8ed1ab_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hb9d3cd8_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.1.0-hb9d3cd8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.1.0-py311hfdbb021_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-h6dcdc2f_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.4-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.12.14-hbcca054_0.conda
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-  sha256: 3ad2a3decf9aaba3d29c8f537ac4b243e36bef957511b4766cb0057d32b0be85
-  requires_python: '>=3.8'
+- conda: https://conda.anaconda.org/conda-forge/linux-64/pyyaml-6.0.2-py311h9ecbd09_1.conda
+  sha256: e721e5ff389a7b2135917c04b27391be3d3382e261bb60a369b1620655365c3d
+  md5: abeb54d40f439b86f75ea57045ab8496
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  - yaml >=0.2.5,<0.3.0a0
+  license: MIT
+  license_family: MIT
+  purls:
+  - pkg:pypi/pyyaml?source=hash-mapping
+  size: 212644
+  timestamp: 1725456264282
 - pypi: https://files.pythonhosted.org/packages/ab/68/6fb6ae5551846ad5beca295b7bca32bf0a7ce19f135cb30e55fa2314e6b6/pyzmq-26.2.0-cp311-cp311-manylinux_2_28_x86_64.whl
   name: pyzmq
   version: 26.2.0
@@ -3645,6 +4184,75 @@ packages:
   purls: []
   size: 281456
   timestamp: 1679532220005
+- conda: https://conda.anaconda.org/conda-forge/noarch/readme_renderer-44.0-pyhd8ed1ab_1.conda
+  sha256: 66f3adf6aaabf977cfcc22cb65607002b1de4a22bc9fac7be6bb774bc6f85a3a
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+  depends:
+  - cmarkgfm >=0.8.0
+  - docutils >=0.21.2
+  - nh3 >=0.2.14
+  - pygments >=2.5.1
+  - python >=3.9
+  license: Apache-2.0
+  license_family: APACHE
+  purls:
+  - pkg:pypi/readme-renderer?source=hash-mapping
+  size: 17481
+  timestamp: 1734339765256
+- conda: https://conda.anaconda.org/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
+  sha256: d701ca1136197aa121bbbe0e8c18db6b5c94acbd041c2b43c70e5ae104e1d8ad
+  md5: a9b9368f3701a417eac9edbcae7cb737
+  depends:
+  - certifi >=2017.4.17
+  - charset-normalizer >=2,<4
+  - idna >=2.5,<4
+  - python >=3.9
+  - urllib3 >=1.21.1,<3
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+  license: Apache-2.0
+  license_family: APACHE
+  purls:
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+  size: 58723
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+- conda: https://conda.anaconda.org/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
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+  license_family: APACHE
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+  - pkg:pypi/requests-toolbelt?source=hash-mapping
+  size: 44285
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+- conda: https://conda.anaconda.org/conda-forge/noarch/rfc3986-2.0.0-pyhd8ed1ab_1.conda
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+  md5: 43e14f832d7551e5a8910672bfc3d8c6
+  depends:
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+  license: Apache-2.0
+  license_family: APACHE
+  purls:
+  - pkg:pypi/rfc3986?source=hash-mapping
+  size: 38028
+  timestamp: 1733921806657
+- conda: https://conda.anaconda.org/conda-forge/noarch/rich-13.9.4-pyhd8ed1ab_1.conda
+  sha256: 06a760c5ae572e72e865d5a87e9fe3cc171e1a9c996e63daf3db52ff1a0b4457
+  md5: 7aed65d4ff222bfb7335997aa40b7da5
+  depends:
+  - markdown-it-py >=2.2.0
+  - pygments >=2.13.0,<3.0.0
+  - python >=3.9
+  - typing_extensions >=4.0.0,<5.0.0
+  license: MIT
+  license_family: MIT
+  purls:
+  - pkg:pypi/rich?source=hash-mapping
+  size: 185646
+  timestamp: 1733342347277
 - conda: https://conda.anaconda.org/conda-forge/linux-64/scipy-1.15.1-py311hc1ac118_0.conda
   sha256: a52c01f196a0cd680003c5940a8fa95990a4aafe586edbeb04a09c6d70c2820d
   md5: d295a28b9b897945739417e8ed818f82
@@ -3703,6 +4311,21 @@ packages:
   purls: []
   size: 1352990
   timestamp: 1733624788165
+- conda: https://conda.anaconda.org/conda-forge/linux-64/secretstorage-3.3.3-py311h38be061_3.conda
+  sha256: e7d68675349e80416aa0d4fb8262c2f4a223ef9e6e430704be3f809ea0c34d57
+  md5: b7d5a90193f112c78e25befb013dd606
+  depends:
+  - cryptography
+  - dbus
+  - jeepney >=0.6
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  license: BSD-3-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/secretstorage?source=hash-mapping
+  size: 32190
+  timestamp: 1725915725812
 - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.8.0-pyhff2d567_0.conda
   sha256: e0778e4f276e9a81b51c56f51ec22a27b4d8fc955abc0be77ad09ca9bea06bb9
   md5: 8f28e299c11afdd79e0ec1e279dcdc52
@@ -3859,11 +4482,49 @@ packages:
   - pytest-mypy-testing ; extra == 'test'
   - pytest>=7.0,<8.2 ; extra == 'test'
   requires_python: '>=3.8'
-- pypi: https://files.pythonhosted.org/packages/26/9f/ad63fc0248c5379346306f8668cda6e2e2e9c95e01216d2b8ffd9ff037d0/typing_extensions-4.12.2-py3-none-any.whl
-  name: typing-extensions
-  version: 4.12.2
-  sha256: 04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d
-  requires_python: '>=3.8'
+- conda: https://conda.anaconda.org/conda-forge/noarch/twine-6.0.1-pyhd8ed1ab_1.conda
+  sha256: 147fbb407bcac2120e0dbe80621f9526f906ec1980aa4e334bb56ae285948864
+  md5: 914c226033f944188d45ead62a1ff355
+  depends:
+  - importlib-metadata >=3.6
+  - keyring >=15.1
+  - packaging
+  - pkginfo >=1.8.1
+  - python >=3.9
+  - readme_renderer >=35.0
+  - requests >=2.20
+  - requests-toolbelt >=0.8.0,!=0.9.0
+  - rfc3986 >=1.4.0
+  - rich >=12.0.0
+  - urllib3 >=1.26.0
+  license: Apache-2.0
+  license_family: Apache
+  purls:
+  - pkg:pypi/twine?source=hash-mapping
+  size: 34322
+  timestamp: 1734147761823
+- conda: https://conda.anaconda.org/conda-forge/noarch/typing-extensions-4.12.2-hd8ed1ab_1.conda
+  noarch: python
+  sha256: c8e9c1c467b5f960b627d7adc1c65fece8e929a3de89967e91ef0f726422fd32
+  md5: b6a408c64b78ec7b779a3e5c7a902433
+  depends:
+  - typing_extensions 4.12.2 pyha770c72_1
+  license: PSF-2.0
+  license_family: PSF
+  purls: []
+  size: 10075
+  timestamp: 1733188758872
+- conda: https://conda.anaconda.org/conda-forge/noarch/typing_extensions-4.12.2-pyha770c72_1.conda
+  sha256: 337be7af5af8b2817f115b3b68870208b30c31d3439bec07bfb2d8f4823e3568
+  md5: d17f13df8b65464ca316cbc000a3cb64
+  depends:
+  - python >=3.9
+  license: PSF-2.0
+  license_family: PSF
+  purls:
+  - pkg:pypi/typing-extensions?source=hash-mapping
+  size: 39637
+  timestamp: 1733188758212
 - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024b-hc8b5060_0.conda
   sha256: 4fde5c3008bf5d2db82f2b50204464314cc3c91c1d953652f7bd01d9e52aefdf
   md5: 8ac3367aafb1cc0a068483c580af8015
@@ -3912,6 +4573,21 @@ packages:
   purls: []
   size: 19201
   timestamp: 1726152409175
+- conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.3.0-pyhd8ed1ab_0.conda
+  sha256: 114919ffa80c328127dab9c8e7a38f9d563c617691fb81fccb11c1e86763727e
+  md5: 32674f8dbfb7b26410ed580dd3c10a29
+  depends:
+  - brotli-python >=1.0.9
+  - h2 >=4,<5
+  - pysocks >=1.5.6,<2.0,!=1.5.7
+  - python >=3.9
+  - zstandard >=0.18.0
+  license: MIT
+  license_family: MIT
+  purls:
+  - pkg:pypi/urllib3?source=hash-mapping
+  size: 100102
+  timestamp: 1734859520452
 - conda: https://conda.anaconda.org/conda-forge/linux-64/wayland-1.23.1-h3e06ad9_0.conda
   sha256: 0884b2023a32d2620192cf2e2fc6784b8d1e31cf9f137e49e00802d4daf7d1c1
   md5: 0a732427643ae5e0486a727927791da1
@@ -3932,6 +4608,20 @@ packages:
   sha256: 3da69048e4540d84af32131829ff948f1e022c1c6bdb8d6102117aac784f6859
   requires_dist:
   - backports-functools-lru-cache>=1.2.1 ; python_full_version < '3.2'
+- conda: https://conda.anaconda.org/conda-forge/linux-64/wrapt-1.17.2-py311h9ecbd09_0.conda
+  sha256: e383de6512e65b5a227e7b0e1a34ffc441484044096a23ca4d3b6eb53a64d261
+  md5: c4bb961f5a2020837fe3f7f30fadc2e1
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  license: BSD-2-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/wrapt?source=hash-mapping
+  size: 64880
+  timestamp: 1736869605707
 - conda: https://conda.anaconda.org/conda-forge/linux-64/xcb-util-0.4.1-hb711507_2.conda
   sha256: 416aa55d946ce4ab173ab338796564893a2f820e80e04e098ff00c25fb981263
   md5: 8637c3e5821654d0edf97e2b0404b443
@@ -4266,31 +4956,27 @@ packages:
   purls: []
   size: 90354
   timestamp: 1733407433418
-- pypi: https://files.pythonhosted.org/packages/b7/1a/7e4798e9339adc931158c9d69ecc34f5e6791489d469f5e50ec15e35f458/zipp-3.21.0-py3-none-any.whl
-  name: zipp
-  version: 3.21.0
-  sha256: ac1bbe05fd2991f160ebce24ffbac5f6d11d83dc90891255885223d42b3cd931
-  requires_dist:
-  - pytest-checkdocs>=2.4 ; extra == 'check'
-  - pytest-ruff>=0.2.1 ; sys_platform != 'cygwin' and extra == 'check'
-  - pytest-cov ; extra == 'cover'
-  - sphinx>=3.5 ; extra == 'doc'
-  - jaraco-packaging>=9.3 ; extra == 'doc'
-  - rst-linker>=1.9 ; extra == 'doc'
-  - furo ; extra == 'doc'
-  - sphinx-lint ; extra == 'doc'
-  - jaraco-tidelift>=1.4 ; extra == 'doc'
-  - pytest-enabler>=2.2 ; extra == 'enabler'
-  - pytest>=6,!=8.1.* ; extra == 'test'
-  - jaraco-itertools ; extra == 'test'
-  - jaraco-functools ; extra == 'test'
-  - more-itertools ; extra == 'test'
-  - big-o ; extra == 'test'
-  - pytest-ignore-flaky ; extra == 'test'
-  - jaraco-test ; extra == 'test'
-  - importlib-resources ; python_full_version < '3.9' and extra == 'test'
-  - pytest-mypy ; extra == 'type'
-  requires_python: '>=3.9'
+- conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h7f98852_2.tar.bz2
+  sha256: a4e34c710eeb26945bdbdaba82d3d74f60a78f54a874ec10d373811a5d217535
+  md5: 4cb3ad778ec2d5a7acbdf254eb1c42ae
+  depends:
+  - libgcc-ng >=9.4.0
+  license: MIT
+  license_family: MIT
+  purls: []
+  size: 89141
+  timestamp: 1641346969816
+- conda: https://conda.anaconda.org/conda-forge/noarch/zipp-3.21.0-pyhd8ed1ab_1.conda
+  sha256: 567c04f124525c97a096b65769834b7acb047db24b15a56888a322bf3966c3e1
+  md5: 0c3cc595284c5e8f0f9900a9b228a332
+  depends:
+  - python >=3.9
+  license: MIT
+  license_family: MIT
+  purls:
+  - pkg:pypi/zipp?source=hash-mapping
+  size: 21809
+  timestamp: 1732827613585
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.3.1-hb9d3cd8_2.conda
   sha256: 5d7c0e5f0005f74112a34a7425179f4eb6e73c92f5d109e6af4ddeca407c92ab
   md5: c9f075ab2f33b3bbee9e62d4ad0a6cd8
@@ -4303,6 +4989,23 @@ packages:
   purls: []
   size: 92286
   timestamp: 1727963153079
+- conda: https://conda.anaconda.org/conda-forge/linux-64/zstandard-0.23.0-py311hbc35293_1.conda
+  sha256: a5cf0eef1ffce0d710eb3dffcb07d9d5922d4f7a141abc96f6476b98600f718f
+  md5: aec590674ba365e50ae83aa2d6e1efae
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - cffi >=1.11
+  - libgcc >=13
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  - zstd >=1.5.6,<1.5.7.0a0
+  - zstd >=1.5.6,<1.6.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/zstandard?source=hash-mapping
+  size: 417923
+  timestamp: 1725305669690
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda
   sha256: c558b9cc01d9c1444031bd1ce4b9cff86f9085765f17627a6cd85fc623c8a02b
   md5: 4d056880988120e29d75bfff282e0f45
diff --git a/pixi.toml b/pixi.toml
index 82798af..85daec3 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -30,6 +30,9 @@ dartpy = ">=6.15.0,<7"
 numpy = ">=1.26.4,<2"
 proxsuite = ">=0.6.7,<0.7"
 qpsolvers = ">=4.4.0,<5"
+cibuildwheel = ">=2.21.3,<3"
+twine = ">=6.0.1,<7"
+auditwheel = ">=6.2.0,<7"
 
 [pypi-dependencies]
 catkin-pkg = ">=1.0.0, <2"
@@ -40,6 +43,7 @@ mediapy = ">=1.2.2, <2"
 ipykernel = ">=6.29.5, <7"
 mujoco = ">=3.2.7, <4"
 scipy = "*"
+auditwheel-symbols = ">=0.1.13, <0.2"
 
 [activation]
 env = { LD_LIBRARY_PATH = "$CONDA_PREFIX/lib:$LD_LIBRARY_PATH" } # needed to find libraries from cmake
diff --git a/setup.py b/setup.py
index b0d930c..1b0f83b 100644
--- a/setup.py
+++ b/setup.py
@@ -52,21 +52,21 @@ def build_extension(self, ext: CMakeExtension) -> None:
         subprocess.check_call(["cmake", "--build", ".", "--target", ext.name] + build_args, cwd=build_temp)
 
 setup(
-    name="ismpc_py",
+    name="ismpc",
     version="0.1",
     author="Flavio Maiorana",
     author_email="97flavio.maiorana@gmail.com",
     description="Cose",
     long_description="Altre cose",
-    ext_modules=[CMakeExtension("ismpc_py", sourcedir=".")],
+    ext_modules=[CMakeExtension("ismpc", sourcedir=".")],
     cmdclass={"build_ext": CMakeBuild},
     zip_safe=False,
     extras_require={"test": ["pytest>=6.0"]},
     python_requires=">=3.8",
-    packages=find_packages(where="bindings"),
-    package_dir={"": "bindings"},
+    packages=find_packages(),
+    package_dir={"": "src"},
     package_data={
-        "ismpc_py": ["*.pyi"],
+        "ismpc": ["*.pyi"],
     },
     include_package_data=True,
 )
diff --git a/simulation/dart/controller.py b/simulation/dart/controller.py
index de9b248..80be76c 100644
--- a/simulation/dart/controller.py
+++ b/simulation/dart/controller.py
@@ -3,13 +3,12 @@
 import time
 from robot import Robot
 from kinematics import Kinematics
-from ismpc_py import FrameInfo, Reference, State, FootstepPlan, SimulatedRobot, RotationMatrix
+from ismpc_py import FrameInfo, Reference, State, FootstepPlan, RotationMatrix
 from ismpc_py import (
     FootstepPlanProvider,
     ModelPredictiveController,
     FootTrajectoryGenerator,
     MovingConstraintProvider,
-    StateProvider,
     KalmanFilter,
     CasadiMPC,
 )
diff --git a/bindings/ismpc_binding.cpp b/src/bindings.cpp
similarity index 87%
rename from bindings/ismpc_binding.cpp
rename to src/bindings.cpp
index ad27371..300156f 100644
--- a/bindings/ismpc_binding.cpp
+++ b/src/bindings.cpp
@@ -5,12 +5,7 @@
 
 #include <iostream>
 
-#include "ismpc_cpp/dart/simulated_robot.h"
-#include "ismpc_cpp/dart/state_provider.h"
 #include "ismpc_cpp/ismpc.h"
-#include "ismpc_cpp/modules/casadi_mpc.h"
-#include "ismpc_cpp/modules/footstep_plan_provider.h"
-#include "ismpc_cpp/modules/kalman_filter.h"
 #include "ismpc_cpp/tools/math/rotation_matrix.h"
 #include "ismpc_cpp/types/lip_state.h"
 
@@ -21,7 +16,7 @@ NB_MAKE_OPAQUE(ismpc::RotationMatrix);
 namespace ismpc {
 namespace python {
 
-NB_MODULE(ismpc_py, m) {
+NB_MODULE(ismpc, m) {
     nb::class_<State>(m, "State")
         .def(nb::init<>())
         .def_rw("lip", &State::lip)
@@ -57,10 +52,6 @@ NB_MODULE(ismpc_py, m) {
         .def(nb::init<const FrameInfo &, const State &, FootstepPlan &>())
         .def("update", &FootTrajectoryGenerator::update);
 
-    nb::class_<CasadiMPC>(m, "CasadiMPC")
-        .def(nb::init<const FrameInfo &, const State &, FootstepPlan &>())
-        .def("update", &CasadiMPC::update);
-
     nb::class_<EndEffector>(m, "EndEffector")
         .def(nb::init<>())
         .def_rw("pose", &EndEffector::pose)
@@ -130,14 +121,6 @@ NB_MODULE(ismpc_py, m) {
         .def_rw("zmp_vel", &LipState::zmp_vel)
         .def("__str__", &LipState::toString);
 
-    nb::class_<SimulatedRobot>(m, "SimulatedRobot")
-        .def("get_joint_request", &SimulatedRobot::getJointRequest)
-        .def("set_initial_configuration", &SimulatedRobot::setInitialConfiguration);
-
-    nb::class_<StateProvider>(m, "StateProvider")
-        .def(nb::init<const SimulatedRobot &>())
-        .def("update", &StateProvider::update);
-
     nb::class_<KalmanFilter>(m, "KalmanFilter").def(nb::init<>()).def("update", &KalmanFilter::update);
 };
 
diff --git a/src/cppmain.cpp b/src/cppmain.cpp
index f27941c..7990496 100644
--- a/src/cppmain.cpp
+++ b/src/cppmain.cpp
@@ -1,7 +1,6 @@
 #include <chrono>
 
 #include "ismpc_cpp/ismpc.h"
-#include "ismpc_cpp/modules/casadi_mpc.h"
 #include "ismpc_cpp/modules/foot_trajectory_generator.h"
 #include "ismpc_cpp/modules/footstep_plan_provider.h"
 #include "ismpc_cpp/modules/model_predictive_controller.h"
@@ -24,7 +23,6 @@ int main() {
     ismpc::ModelPredictiveController mpc = ismpc::ModelPredictiveController(frame_info, state, plan);
     ismpc::FootTrajectoryGenerator ft_generator = ismpc::FootTrajectoryGenerator(frame_info, state, plan);
     ismpc::MovingConstraintProvider mc_provider = ismpc::MovingConstraintProvider(frame_info, state, plan);
-    ismpc::CasadiMPC casadi_mpc = ismpc::CasadiMPC(frame_info, state, plan);
 
     // Timing stuff
     std::chrono::system_clock::time_point start, end;
diff --git a/src/dart/controller.cpp b/src/dart/controller.cpp
deleted file mode 100644
index add7548..0000000
--- a/src/dart/controller.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-#include "ismpc_cpp/dart/controller.h"
-
-namespace ismpc {
-
-Controller::Controller(const dart::simulation::WorldPtr world, const dart::dynamics::SkeletonPtr skeleton)
-    : dart::gui::osg::WorldNode(world),
-      state(),
-      plan(),
-      frame_info(),
-      reference(),
-      robot(skeleton),
-      world(world),
-      planner(frame_info, reference, state, plan),
-      mpc(frame_info, state, plan),
-      mc_provider(frame_info, state, plan),
-      ft_generator(frame_info, state, plan),
-      casadi_mpc(frame_info, state, plan),
-      state_provider(robot),
-      kalman_filter() {
-    world->setTimeStep(Config::delta);
-    com = registerBall("com", ismpc::Config::RED);
-    zmp = registerBall("zmp", ismpc::Config::GREEN);
-    planner.update(plan);
-}
-
-void Controller::customPreStep() {
-    auto start = std::chrono::high_resolution_clock::now();
-
-    std::cout << std::endl << "--------------------------------" << std::endl;
-    // Update the state of the robot
-    state_provider.update(state);  // Reading sensors
-    kalman_filter.update(state);   // Filtering the state
-
-    // state.lip.zmp_pos = state.desired_lip.zmp_pos;
-    // state.lip.zmp_vel = state.desired_lip.zmp_vel;
-
-    if (frame_info.k == 0) {
-        state.footstep.start_pose.translation(0) = state.right_foot.pose.translation(0);
-        state.footstep.end_pose.translation(0) = state.right_foot.pose.translation(0);
-        state.desired_right_foot.pose.translation(0) = state.right_foot.pose.translation(0);
-    }
-
-    std::cout << "CURRENT STATE" << std::endl;
-    std::cout << "COM POS: " << state.lip.com_pos.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "COM VEL: " << state.lip.com_vel.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "COM ACC: " << state.lip.com_acc.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "ZMP POS: " << state.lip.zmp_pos.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "ZMP VEL: " << state.lip.zmp_vel.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "LFoot Pose: " << state.left_foot.pose.getVector().transpose().format(Config::CleanFmt)
-              << std::endl;
-    std::cout << "RFoot Pose: " << state.right_foot.pose.getVector().transpose().format(Config::CleanFmt)
-              << std::endl;
-    std::cout << "" << std::endl;
-
-    std::cout << "CURRENT TIME: " << frame_info.tk << std::endl;
-    std::cout << "CURRENT PLANNED FOOTSTEP: \n" << state.footstep.toString() << std::endl;
-    std::cout << "MVOING CONSTRAINT X: \n" << plan.zmp_midpoints_x.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "MVOING CONSTRAINT Y: \n" << plan.zmp_midpoints_y.transpose().format(Config::CleanFmt) << std::endl;
-
-    // Step of MPC
-    mc_provider.update(plan);
-    mpc.update(state);
-    ft_generator.update(state);
-
-    std::cout << "DESIRED STATE" << std::endl;
-    std::cout << "COM POS: " << state.desired_lip.com_pos.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "COM VEL: " << state.desired_lip.com_vel.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "COM ACC: " << state.desired_lip.com_acc.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "ZMP POS: " << state.desired_lip.zmp_pos.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "ZMP VEL: " << state.desired_lip.zmp_vel.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "Left Foot Pose: " << state.desired_left_foot.pose.getVector().transpose().format(Config::CleanFmt)
-              << std::endl;
-    std::cout << "Right Foot Pose: "
-              << state.desired_right_foot.pose.getVector().transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "--------------------------------" << std::endl;
-
-    // Setting Desired Torso based on the feet
-    // Vector3 desired_torso_orientation =
-    //     (state.desired_left_foot.pose.rotation.getRPY() + state.desired_right_foot.pose.rotation.getRPY()) / 2;
-    // Vector3 desired_torso_ang_vel = (state.desired_left_foot.ang_vel + state.desired_right_foot.ang_vel) / 2;
-    // Vector3 desired_torso_ang_acc = (state.desired_left_foot.ang_acc + state.desired_right_foot.ang_acc) / 2;
-    // state.desired_torso.pose.rotation = RotationMatrix(desired_torso_orientation(0), desired_torso_orientation(1),
-    //                                                    desired_torso_orientation(2));
-    // state.desired_torso.ang_vel = desired_torso_ang_vel;
-    // state.desired_torso.ang_acc = desired_torso_ang_acc;
-
-    // Get and send the joint request
-    VectorX joint_request = robot.getJointRequest(state);
-    for (size_t i = 0; i < robot.skeleton->getNumDofs() - 6; i++) {
-        robot.skeleton->setCommand(i + 6, joint_request(i));
-    }
-
-    // Update frame info
-    frame_info.k += 1;
-    frame_info.tk += Config::delta;
-
-    if (frame_info.k > Config::N)
-        exit(0);
-
-    auto end = std::chrono::high_resolution_clock::now();
-    total_elapsed_time += std::chrono::duration_cast<std::chrono::microseconds>(end - start).count();
-
-    std::cout << "Average execution time: " << total_elapsed_time / frame_info.k << " microseconds" << std::endl;
-}
-
-dart::simulation::WorldPtr Controller::get_world() {
-    return world;
-}
-
-dart::dynamics::SimpleFramePtr Controller::registerBall(const std::string& name, const Eigen::Vector3d& color) {
-    dart::dynamics::SimpleFramePtr ball_frame = std::make_shared<dart::dynamics::SimpleFrame>(
-        dart::dynamics::Frame::World(), name, Eigen::Isometry3d::Identity());
-
-    ball_frame->setShape(std::make_shared<dart::dynamics::EllipsoidShape>(.2 * Eigen::Vector3d::Ones()));
-    ball_frame->createVisualAspect();
-    ball_frame->getVisualAspect()->setColor(color);
-    world->addSimpleFrame(ball_frame);
-
-    return ball_frame;
-}
-
-}  // namespace ismpc
diff --git a/src/dart/qp_solver.cpp b/src/dart/qp_solver.cpp
deleted file mode 100644
index 45429a6..0000000
--- a/src/dart/qp_solver.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-#include "ismpc_cpp/dart/qp_solver.h"
-
-namespace ismpc {
-
-QPSolver::QPSolver(int d) {
-    this->d = d;
-    opti = casadi::Opti("conic");
-    casadi::Dict options;
-    options["expand"] = true;
-    options["print_time"] = false;
-    opti.solver("proxqp", options);
-
-    // Define decision variables
-    x = opti.variable(d);
-
-    // Cost function
-    H = opti.parameter(d, d);
-    g = opti.parameter(d);
-    MX cost = 0.5 * MX::mtimes(std::vector<MX>{x.T(), H, x}) + MX::mtimes(std::vector<MX>{g.T(), x});
-    opti.minimize(cost);
-}
-
-void QPSolver::init(const DM& H, const DM& g) {
-    opti.set_value(this->H, H);
-    opti.set_value(this->g, g);
-};
-
-VectorX QPSolver::solve() {
-    casadi::OptiSol sol = opti.solve();
-
-    DM x_sol = sol.value(x);
-
-    VectorX x_sol_vec = VectorX::Zero(d);
-    for (int i = 0; i < d; i++) {
-        x_sol_vec(i) = x_sol->at(i);
-    }
-
-    return x_sol_vec;
-}
-
-}  // namespace ismpc
diff --git a/src/dart/simulated_robot.cpp b/src/dart/simulated_robot.cpp
deleted file mode 100644
index d663643..0000000
--- a/src/dart/simulated_robot.cpp
+++ /dev/null
@@ -1,155 +0,0 @@
-#include "ismpc_cpp/dart/simulated_robot.h"
-
-#include <dart/math/MathTypes.hpp>
-#include <optional>
-
-#include "ismpc_cpp/types/math_types.h"
-
-namespace ismpc {
-
-SimulatedRobot::SimulatedRobot(dart::dynamics::SkeletonPtr skeleton)
-    : skeleton(skeleton), qp(skeleton->getNumDofs(), 0, 0) {
-    d_left_foot = skeleton->getBodyNode("l_sole");
-    d_right_foot = skeleton->getBodyNode("r_sole");
-    d_base = skeleton->getBodyNode("body");
-    d_torso = skeleton->getBodyNode("torso");
-
-    setInitialConfiguration();
-    initial_configuration = skeleton->getPositions();
-
-    std::array<std::string, 8> redundant_dofs = {"NECK_Y",       "NECK_P",       "R_SHOULDER_P", "R_SHOULDER_R",
-                                                 "R_SHOULDER_Y", "L_SHOULDER_P", "L_SHOULDER_R", "L_SHOULDER_Y"};
-    joint_selection = Matrix::Zero(skeleton->getNumDofs(), skeleton->getNumDofs());
-    for (const auto& dof_name : redundant_dofs) {
-        joint_selection(skeleton->getDof(dof_name)->getIndexInSkeleton(),
-                        skeleton->getDof(dof_name)->getIndexInSkeleton()) = 1;
-    }
-}
-
-VectorX SimulatedRobot::getJointRequest(const State& state) {
-    std::cout << "RETRIEVING JOINT REQUEST" << std::endl;
-
-    // Define QP Problem
-    const int d = skeleton->getNumDofs();
-    VectorX qpos = skeleton->getPositions();   // d x 1
-    VectorX qvel = skeleton->getVelocities();  // d x 1
-    Matrix H = Matrix::Zero(d, d);
-    VectorX g = VectorX::Zero(d);
-    Matrix J;
-    Matrix Jtrans;
-    Matrix Jdot;
-    VectorX pos_error;
-    VectorX vel_error;
-    VectorX ff;
-
-    // COM cost
-    J = skeleton->getCOMLinearJacobian();                                     // 3 x d
-    Jtrans = J.transpose();                                                   // d x 3
-    Jdot = skeleton->getCOMLinearJacobianDeriv();                             // 3 x d
-    pos_error = state.desired_lip.com_pos - state.lip.com_pos;                // 3 x 1
-    vel_error = state.desired_lip.com_vel - state.lip.com_vel;                // 3 x 1
-    ff = state.desired_lip.com_acc;                                           // 3 x 1
-    H += Jtrans * J;                                                          // d x d
-    g += -Jtrans * (-Jdot * qvel + ff + 5.0 * pos_error + 10.0 * vel_error);  // d x 1
-
-    // Left foot cost
-    J = skeleton->getJacobian(d_left_foot);                                                   // 6 x d
-    Jtrans = J.transpose();                                                                   // d x 6
-    Jdot = skeleton->getJacobianClassicDeriv(d_left_foot);                                    // 6 x d
-    pos_error = state.desired_left_foot.pose.getVector() - state.left_foot.pose.getVector();  // 6 x 1
-    std::cout << "Left Foot Pos Error: " << pos_error.transpose().format(Config::CleanFmt) << std::endl;
-    vel_error = state.desired_left_foot.getVelocity() - state.left_foot.getVelocity();        // 3 x 1
-    ff = state.desired_left_foot.getAcceleration();                                           // 6 x 1
-    H += Jtrans * J;                                                                          // d x d
-    g += -Jtrans * (-Jdot * qvel + ff + 5.0 * pos_error + 10.0 * vel_error);                  // d x 1
-
-    // Right foot cost
-    J = skeleton->getJacobian(d_right_foot);                                                    // 6 x d
-    Jtrans = J.transpose();                                                                     // d x 6
-    Jdot = skeleton->getJacobianClassicDeriv(d_right_foot);                                     // 6 x d
-    pos_error = state.desired_right_foot.pose.getVector() - state.right_foot.pose.getVector();  // 6 x 1
-    std::cout << "Right Foot Pos Error: " << pos_error.transpose().format(Config::CleanFmt) << std::endl;
-    vel_error = state.desired_right_foot.getVelocity() - state.right_foot.getVelocity();        // 3 x 1
-    ff = state.desired_right_foot.getAcceleration();                                            // 6 x 1
-    H += Jtrans * J;                                                                            // d x d
-    g += -Jtrans * (-Jdot * qvel + ff + 5.0 * pos_error + 10.0 * vel_error);                    // d x 1
-
-    // Redundant dofs cost
-    pos_error = initial_configuration - qpos;                            // d x 1
-    vel_error = -qvel;                                                   // d x 1
-    H += 1e-2 * joint_selection;                                         // d x d
-    g += 1e-2 * joint_selection * (10.0 * pos_error + 1.0 * vel_error);  // d x 1
-
-    // Torso cost
-    J = skeleton->getAngularJacobian(d_torso);                                                            // 3 x d
-    Jtrans = J.transpose();                                                                               // d x 3
-    Jdot = skeleton->getAngularJacobianDeriv(d_torso);                                                    // 3 x d
-    pos_error = state.desired_torso.pose.rotation.getRPY() - state.desired_torso.pose.rotation.getRPY();  // 3 x 1
-    vel_error = state.desired_torso.ang_vel - state.torso.ang_vel;                                        // 3 x 1
-    ff = state.desired_torso.ang_acc;
-    H += Jtrans * J;                                                     // d x d
-    g += Jtrans * (Jdot * qvel - ff - 1. * pos_error - 1. * vel_error);  // d x 1
-
-    // Base cost
-    J = skeleton->getAngularJacobian(d_base);                                                             // 3 x d
-    Jtrans = J.transpose();                                                                               // d x 3
-    Jdot = skeleton->getAngularJacobianDeriv(d_base);                                                     // 3 x d
-    pos_error = state.desired_torso.pose.rotation.getRPY() - state.desired_torso.pose.rotation.getRPY();  // 3 x 1
-    vel_error = state.desired_torso.ang_vel - state.torso.ang_vel;                                        // 3 x 1
-    ff = state.desired_torso.ang_acc;
-    H += Jtrans * J;                                                     // d x d
-    g += Jtrans * (Jdot * qvel - ff - 1. * pos_error - 1. * vel_error);  // d x 1
-
-    if (!H.allFinite()) {
-        throw std::runtime_error("H contains NaN or Inf values");
-    }
-
-    if (!g.allFinite()) {
-        throw std::runtime_error("g contains NaN or Inf values");
-    }
-
-    qp.update(H, g, nullopt, nullopt, nullopt, nullopt, nullopt);
-    qp.solve();
-    VectorX command = qp.results.x.segment(6, d - 6);
-
-    std::cout << "Joint Request: " << command.transpose() << std::endl;
-
-    return command;
-}
-
-void SimulatedRobot::setInitialConfiguration() {
-    // right leg
-    skeleton->setPosition(skeleton->getDof("R_HIP_Y")->getIndexInSkeleton(), 0.0);
-    skeleton->setPosition(skeleton->getDof("R_HIP_R")->getIndexInSkeleton(), -3 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("R_HIP_P")->getIndexInSkeleton(), -25 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("R_KNEE_P")->getIndexInSkeleton(), 50 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("R_ANKLE_P")->getIndexInSkeleton(), -25 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("R_ANKLE_R")->getIndexInSkeleton(), 3 * M_PI / 180);
-
-    // left leg
-    skeleton->setPosition(skeleton->getDof("L_HIP_Y")->getIndexInSkeleton(), 0.0);
-    skeleton->setPosition(skeleton->getDof("L_HIP_R")->getIndexInSkeleton(), 3 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("L_HIP_P")->getIndexInSkeleton(), -25 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("L_KNEE_P")->getIndexInSkeleton(), 50 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("L_ANKLE_P")->getIndexInSkeleton(), -25 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("L_ANKLE_R")->getIndexInSkeleton(), -3 * M_PI / 180);
-
-    // right arm
-    skeleton->setPosition(skeleton->getDof("R_SHOULDER_P")->getIndexInSkeleton(), 4 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("R_SHOULDER_R")->getIndexInSkeleton(), -8 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("R_SHOULDER_Y")->getIndexInSkeleton(), 0);
-    skeleton->setPosition(skeleton->getDof("R_ELBOW_P")->getIndexInSkeleton(), -25 * M_PI / 180);
-
-    // left arm
-    skeleton->setPosition(skeleton->getDof("L_SHOULDER_P")->getIndexInSkeleton(), 4 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("L_SHOULDER_R")->getIndexInSkeleton(), 8 * M_PI / 180);
-    skeleton->setPosition(skeleton->getDof("L_SHOULDER_Y")->getIndexInSkeleton(), 0);
-    skeleton->setPosition(skeleton->getDof("L_ELBOW_P")->getIndexInSkeleton(), -25 * M_PI / 180);
-
-    // Set floating base height
-    Vector3 left_foot_pos = d_left_foot->getTransform().translation();
-    Vector3 right_foot_pos = d_right_foot->getTransform().translation();
-    skeleton->setPosition(5, -(left_foot_pos(2) + right_foot_pos(2)) / 2.0);
-}
-
-}  // namespace ismpc
diff --git a/src/dart/state_provider.cpp b/src/dart/state_provider.cpp
deleted file mode 100644
index 19d1d2c..0000000
--- a/src/dart/state_provider.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-#include "ismpc_cpp/dart/state_provider.h"
-
-namespace ismpc {
-
-StateProvider::StateProvider(const SimulatedRobot& robot) : robot(robot) {}
-
-void StateProvider::update(State& state) {
-    // Update the com of the robot
-    state.lip.com_pos = robot.skeleton->getCOM();
-    state.lip.com_vel = robot.skeleton->getCOMLinearVelocity();
-    state.lip.com_acc = robot.skeleton->getCOMLinearAcceleration();
-
-    // Left foot
-    Eigen::Isometry3d l_foot_transform = robot.d_left_foot->getWorldTransform();
-    state.left_foot.pose.translation = l_foot_transform.translation();
-    state.left_foot.pose.euler = l_foot_transform.rotation().eulerAngles(0, 1, 2);
-    state.left_foot.pose.rotation = RotationMatrix(l_foot_transform.rotation().matrix());
-    state.left_foot.lin_vel = robot.d_left_foot->getLinearVelocity();
-
-    // Right foot
-    Eigen::Isometry3d r_foot_transform = robot.d_right_foot->getWorldTransform();
-    state.right_foot.pose.translation = r_foot_transform.translation();
-    state.right_foot.pose.euler = r_foot_transform.rotation().eulerAngles(0, 1, 2);
-    state.right_foot.pose.rotation = RotationMatrix(r_foot_transform.rotation().matrix());
-    state.right_foot.lin_vel = robot.d_right_foot->getLinearVelocity();
-
-    // Update the ZMP
-    bool left_contact = false;
-    bool right_contact = false;
-    Eigen::VectorXd grf_L = robot.d_left_foot->getConstraintImpulse();
-    Eigen::VectorXd grf_R = robot.d_right_foot->getConstraintImpulse();
-    Eigen::Vector3d left_cop, right_cop;
-
-    if (abs(grf_L[5]) > 0.1) {
-        left_cop << -grf_L(1) / grf_L(5), grf_L(0) / grf_L(5), 0.0;
-        left_cop = robot.d_left_foot->getWorldTransform().translation() +
-                   robot.d_left_foot->getWorldTransform().rotation() * left_cop;
-        left_contact = true;
-    }
-
-    if (abs(grf_R[5]) > 0.1) {
-        right_cop << -grf_R(1) / grf_R(5), grf_R(0) / grf_R(5), 0.0;
-        right_cop = robot.d_right_foot->getWorldTransform().translation() +
-                    robot.d_right_foot->getWorldTransform().rotation() * right_cop;
-        right_contact = true;
-    }
-
-    if (left_contact && right_contact) {
-        state.lip.zmp_pos =
-            Eigen::Vector3d((left_cop(0) * grf_L[5] + right_cop(0) * grf_R[5]) / (grf_L[5] + grf_R[5]),
-                            (left_cop(1) * grf_L[5] + right_cop(1) * grf_R[5]) / (grf_L[5] + grf_R[5]), 0.0);
-    } else if (left_contact) {
-        state.lip.zmp_pos = Eigen::Vector3d(left_cop(0), left_cop(1), 0.0);
-    } else if (right_contact) {
-        state.lip.zmp_pos = Eigen::Vector3d(right_cop(0), right_cop(1), 0.0);
-    }
-}
-
-}  // namespace ismpc
diff --git a/src/dartmain.cpp b/src/dartmain.cpp
deleted file mode 100644
index 47e4a39..0000000
--- a/src/dartmain.cpp
+++ /dev/null
@@ -1,76 +0,0 @@
-#include <chrono>
-#include <dart/dart.hpp>
-#include <dart/dynamics/BodyNode.hpp>
-#include <dart/gui/gui.hpp>
-#include <dart/gui/osg/osg.hpp>
-#include <dart/utils/urdf/urdf.hpp>
-#include <dart/utils/utils.hpp>
-
-#include "ismpc_cpp/dart/controller.h"
-#include "ismpc_cpp/dart/simulated_robot.h"
-#include "ismpc_cpp/tools/config/config.h"
-
-int main() {
-    dart::simulation::WorldPtr world(new dart::simulation::World);
-
-    dart::utils::DartLoader::Options options;
-    dart::utils::DartLoader urdfLoader(options);
-    options.mDefaultInertia =
-        dart::dynamics::Inertia(1e-8, Eigen::Vector3d::Zero(), 1e-10 * Eigen::Matrix3d::Identity());
-    auto robot = urdfLoader.parseSkeleton(realpath("simulation/dart/hrp4/urdf/hrp4.urdf", NULL));
-    auto ground = urdfLoader.parseSkeleton(realpath("simulation/dart/hrp4/urdf/ground.urdf", NULL));
-    world->addSkeleton(ground);
-    world->addSkeleton(robot);
-    world->setGravity(Eigen::Vector3d(0.0, 0.0, -9.81));
-    world->setTimeStep(ismpc::Config::delta);
-
-    for (auto* bn : robot->getBodyNodes()) {
-        if (bn->getMass() == 0.0) {
-            bn->setMass(1e-8);
-            bn->setInertia(options.mDefaultInertia);
-        }
-    }
-
-    // set joint actuator type
-    for (size_t i = 0; i < robot->getNumJoints(); i++) {
-        size_t dim = robot->getJoint(i)->getNumDofs();
-        if (dim == 6) {
-            robot->getJoint(i)->setActuatorType(dart::dynamics::Joint::PASSIVE);
-        }
-        if (dim == 1) {
-            robot->getJoint(i)->setActuatorType(dart::dynamics::Joint::ACCELERATION);
-        }
-    }
-
-    // Wrap a WorldNode around the world and robot
-    osg::ref_ptr<ismpc::Controller> node = new ismpc::Controller(world, robot);
-    node->setNumStepsPerCycle(1);
-
-    // Create a viewer and set it up with the WorldNode
-    dart::gui::osg::ImGuiViewer viewer;
-    viewer.addWorldNode(node);
-
-    // Set the dimensions for the window
-    viewer.setUpViewInWindow(0, 0, 1280, 720);
-    if (ismpc::Config::save_log) {
-        std::filesystem::create_directories("videos/dart");
-        viewer.record("videos/dart", "frame");
-    }
-
-    // Set the window name
-    viewer.realize();
-    osgViewer::Viewer::Windows windows;
-    viewer.getWindows(windows);
-    windows.front()->setWindowName("Intrinsincally Stable Model Predictive Control");
-
-    // Adjust the viewpoint of the Viewer
-    viewer.getCameraManipulator()->setHomePosition(::osg::Vec3d(5, -1, 1.5), ::osg::Vec3d(1, 0, 0.5),
-                                                   ::osg::Vec3d(0, 0, 1));
-
-    // We need to re-dirty the CameraManipulator by passing it into the viewer
-    // again, so that the viewer knows to update its HomePosition setting
-    viewer.setCameraManipulator(viewer.getCameraManipulator());
-
-    // Run the simulation!
-    viewer.run();
-}
diff --git a/src/modules/casadi_mpc.cpp b/src/modules/casadi_mpc.cpp
deleted file mode 100644
index 2ae12d4..0000000
--- a/src/modules/casadi_mpc.cpp
+++ /dev/null
@@ -1,105 +0,0 @@
-#include "ismpc_cpp/modules/casadi_mpc.h"
-
-#include <core/generic_matrix.hpp>
-#include <core/mx.hpp>
-
-namespace ismpc {
-
-CasadiMPC::CasadiMPC(const FrameInfo& frame_info, const State& state, const FootstepPlan& plan)
-    : frame_info(frame_info), state(state), plan(plan) {
-    opti = casadi::Opti("conic");
-    casadi::Dict options;
-    casadi::Dict solver_options;
-    options["expand"] = true;
-    options["print_time"] = false;
-    solver_options["max_iter"] = 1000;
-    opti.solver("proxqp", options, solver_options);
-
-    X = opti.variable(6, numC + 1);
-    U = opti.variable(2, numC);
-
-    x0_param = opti.parameter(6);
-    zmp_x_param = opti.parameter(numC);
-    zmp_y_param = opti.parameter(numC);
-
-    opti.subject_to(X(all, 0) == x0_param);
-    for (int i = 0; i < numC; i++) {
-        opti.subject_to(X(all, i + 1) == X(all, i) + delta * f(X(all, i), U(all, i)));
-    }
-
-    cost = casadi::MX::sumsqr(U(0, all)) + casadi::MX::sumsqr(U(1, all)) +
-           100 * casadi::MX::sumsqr(X(2, all_but_first).T() - zmp_x_param) +
-           100 * casadi::MX::sumsqr(X(5, all_but_first).T() - zmp_y_param);
-
-    opti.subject_to(X(2, all_but_first).T() <= zmp_x_param + dxz / 2);
-    opti.subject_to(X(2, all_but_first).T() >= zmp_x_param - dxz / 2);
-    opti.subject_to(X(5, all_but_first).T() <= zmp_y_param + dyz / 2);
-    opti.subject_to(X(5, all_but_first).T() >= zmp_y_param - dyz / 2);
-
-    opti.subject_to(X(1, 0) + std::pow(eta, 3) * (X(0, 0) - X(2, 0)) ==
-                    X(1, numC) + std::pow(eta, 3) * (X(0, numC) - X(2, numC)));
-    opti.subject_to(X(4, 0) + std::pow(eta, 3) * (X(3, 0) - X(5, 0)) ==
-                    X(4, numC) + std::pow(eta, 3) * (X(3, numC) - X(5, numC)));
-
-    opti.minimize(cost);
-}
-
-void CasadiMPC::update(State& state) {
-    VectorX x0 = state.lip.getState();
-    for (int i = 0; i < 6; i++) {
-        opti.set_value(x0_param(i), x0(i));
-    }
-
-    VectorX zmp_x = plan.zmp_midpoints_x;
-    VectorX zmp_y = plan.zmp_midpoints_y;
-
-    std::cout << "ZMP_X: " << zmp_x.transpose().format(Config::CleanFmt) << std::endl;
-    std::cout << "ZMP_Y: " << zmp_y.transpose().format(Config::CleanFmt) << std::endl;
-
-    for (int i = 0; i < numC; i++) {
-        opti.set_value(zmp_x_param(i), zmp_x(i));
-        opti.set_value(zmp_y_param(i), zmp_y(i));
-    }
-
-    casadi::OptiSol sol = opti.solve();
-    opti.set_initial(X, sol.value(X));
-    opti.set_initial(U, sol.value(U));
-
-    std::vector<Scalar> x_sol = sol.value(X(all, 1)).get_elements();
-    std::vector<Scalar> u_sol = sol.value(U(all, 0)).get_elements();
-
-    state.desired_lip.com_pos << x_sol[0], x_sol[3], 0.75;
-    state.desired_lip.com_vel << x_sol[1], x_sol[4], 0.0;
-    state.desired_lip.zmp_pos << x_sol[2], x_sol[5], 0.0;
-    state.desired_lip.zmp_vel << u_sol[0], u_sol[1], 0.0;
-    VectorX com_acc = (eta * eta) * (state.desired_lip.com_pos - state.desired_lip.zmp_pos);
-    state.desired_lip.com_acc << com_acc(0), com_acc(1), 0.0;
-
-    state.lip_history.push_back(state.lip);
-    state.left_foot_history.push_back(state.left_foot);
-    state.right_foot_history.push_back(state.right_foot);
-
-    // =============== FOOTSTEP UPDATE ==================
-
-    // Switch support foot when the double support phase ends
-    if (frame_info.tk >= state.footstep.end && state.support_phase == SupportPhase::DOUBLE) {
-        state.fs_history.push_back(state.footstep);
-        state.footstep = plan.footsteps[fs_index];
-        fs_index++;
-    }
-
-    // Update the support phase info
-    if (frame_info.tk >= state.footstep.ds_start)
-        state.support_phase = SupportPhase::DOUBLE;
-    else
-        state.support_phase = SupportPhase::SINGLE;
-    // ====================================================
-}
-
-casadi::MX CasadiMPC::f(const casadi::MX& x, const casadi::MX& u) const {
-    casadi::MX x_next = casadi::MX::mtimes(A, x(first_half)) + casadi::MX::mtimes(B, u(0));
-    casadi::MX y_next = casadi::MX::mtimes(A, x(second_half)) + casadi::MX::mtimes(B, u(1));
-    return casadi::MX::vertcat({x_next, y_next});
-}
-
-}  // namespace ismpc
diff --git a/src/modules/foot_trajectory_generator.cpp b/src/modules/foot_trajectory_generator.cpp
index a841593..d44bdb3 100644
--- a/src/modules/foot_trajectory_generator.cpp
+++ b/src/modules/foot_trajectory_generator.cpp
@@ -31,10 +31,11 @@ void FootTrajectoryGenerator::update(State& state) {
         Scalar desired_theta = start_theta + (end_theta - start_theta) * cubic(time_in_step);
         swing_foot.pose = Pose3(RotationMatrix::aroundZ(desired_theta), Vector3(desired_pos(0), desired_pos(1), 0));
         swing_foot.pose.euler = Vector3(0, 0, desired_theta);
-        
+
         // Linear Velocity with cubic polynomial interpolation
         swing_foot.lin_vel.segment(0, 2) = (end_pos - start_pos) * cubic_dot(time_in_step) / ss_duration;
-        swing_foot.lin_acc.segment(0, 2) = (end_pos - start_pos) * cubic_ddot(time_in_step) / (std::pow(ss_duration, 2));
+        swing_foot.lin_acc.segment(0, 2) =
+            (end_pos - start_pos) * cubic_ddot(time_in_step) / (std::pow(ss_duration, 2));
         // Height with quartic polynomial interpolation
         swing_foot.pose.translation(2) = step_height * quartic(time_in_step);
         swing_foot.lin_vel(2) = step_height * quartic_dot(time_in_step) / ss_duration;
@@ -42,7 +43,8 @@ void FootTrajectoryGenerator::update(State& state) {
 
         // Angular Velocity with cubic polynomial interpolation
         swing_foot.ang_vel = Vector3(0, 0, (end_theta - start_theta) * cubic_dot(time_in_step) / ss_duration);
-        swing_foot.ang_acc = Vector3(0, 0, (end_theta - start_theta) * cubic_ddot(time_in_step) / (std::pow(ss_duration, 2)));
+        swing_foot.ang_acc =
+            Vector3(0, 0, (end_theta - start_theta) * cubic_ddot(time_in_step) / (std::pow(ss_duration, 2)));
     }
 
     state.setDesiredSwingFoot(swing_foot);
diff --git a/src/modules/footstep_plan_provider.cpp b/src/modules/footstep_plan_provider.cpp
index ba47456..c67392e 100644
--- a/src/modules/footstep_plan_provider.cpp
+++ b/src/modules/footstep_plan_provider.cpp
@@ -74,7 +74,7 @@ void FootstepPlanProvider::computeThetaSequence() {
     theta_qp.work.timer.stop();
     total_planner_qp_duration += theta_qp.work.timer.elapsed().user;
 
-    if (theta_qp.results.info.status != PROXQP_SOLVED) {
+    if (theta_qp.results.info.status != proxsuite::proxqp::QPSolverOutput::PROXQP_SOLVED) {
         throw std::runtime_error("Theta QP solver failed to find a solution.");
     }
 
@@ -103,7 +103,7 @@ void FootstepPlanProvider::computePositionSequence() {
     position_qp.work.timer.stop();
     total_planner_qp_duration += position_qp.work.timer.elapsed().user;
 
-    if (position_qp.results.info.status != PROXQP_SOLVED) {
+    if (position_qp.results.info.status != proxsuite::proxqp::QPSolverOutput::PROXQP_SOLVED) {
         throw std::runtime_error("Theta QP solver failed to find a solution.");
     }
 
diff --git a/src/types/ismpc_qp.cpp b/src/types/ismpc_qp.cpp
index 89bed08..f5ba99a 100644
--- a/src/types/ismpc_qp.cpp
+++ b/src/types/ismpc_qp.cpp
@@ -91,7 +91,7 @@ bool IsmpcQp::solve() {
               zmp_constraint.u);
     qp.solve();
 
-    if (qp.results.info.status != PROXQP_SOLVED) {
+    if (qp.results.info.status != proxsuite::proxqp::QPSolverOutput::PROXQP_SOLVED) {
         std::cout << "QP solver failed to find a solution." << std::endl;
         return false;
     }