Solution of underdetermined linear system with additional constraints

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If I know rectangular matrices $H,S$ of size $NxM$ where $M >> N$, also I know that $HS^T=I$ and $rank(H)=rank(S)=N$. Is there an efficient way to find matrix $X$ such that $XH=I$? Or at least solve equation $Hx=y$ for $x$, such that $HS^T=I$