Fix daqp version in Arena dockerfile for compatibility with qpsolvers 4.12.0

[peterd-NV]

Summary

Fixes compatibility of Pink IK with latest version of qpsolvers 4.12.0 which requires daqp >= 0.8.5.

Isaac Lab has resolved this upstream in a merged PR. This PR updates the version of dqap in the Arena dockerfile manually. The change can be dropped after the Isaac Lab submodule is bumped past commit 4934cd0ce5a53b86342f32d89e5491016c841769.

[isaaclab-review-bot]

Isaac Lab Review Bot 🤖

Summary: Clean and well-documented fix for qpsolvers 4.12.0 compatibility.

Review

✅ LGTM — This is a straightforward dependency version bump.

What the PR does:

• Adds daqp==0.8.5 installation to the Arena Dockerfile
• Addresses Pink IK compatibility with qpsolvers 4.12.0

What I like:

• Clear comments explaining why this is needed
• References the upstream IsaacLab PR (#5556) for context
• Documents the specific commit hash after which this can be removed
• Uses --upgrade --force-reinstall to ensure the version takes effect

Minor note: The pinned version 0.8.5 is the minimum required (>= 0.8.5 per upstream). If you want to be more future-proof, you could use daqp>=0.8.5, but pinning is also fine for reproducibility.

No concerns with this change. Ready to merge once CI passes.

[greptile-apps]

Greptile Summary

This PR pins daqp to 0.8.5 in the Arena Dockerfile to unblock qpsolvers 4.12.0, which requires daqp >= 0.8.5. It is an explicit, temporary backport of IsaacLab #5556 with a clear comment indicating when the layer can be removed.

• Adds a single RUN layer using --force-reinstall daqp==0.8.5 immediately after isaaclab.sh -i, which is the step that installs the older version of daqp.
• Placement is correct: it runs before any subsequent pip install steps that could be affected, and the exact version pin (==0.8.5) ensures the requirement is deterministic.

Confidence Score: 5/5

Safe to merge — the change is a one-line, well-documented version pin with a clear removal condition.

The fix is minimal and targeted: a single pip install --force-reinstall daqp==0.8.5 layer inserted at the correct point in the build sequence, after isaaclab.sh -i and before any downstream installs that could be affected. The intent is clearly documented with the upstream PR reference and a drop condition. No existing functionality is altered.

No files require special attention.

Important Files Changed

Filename	Overview
docker/Dockerfile.isaaclab_arena	Adds a targeted --force-reinstall daqp==0.8.5 layer after isaaclab.sh -i to satisfy qpsolvers 4.12.0's minimum daqp requirement; includes a clear drop-condition comment pointing to the upstream Isaac Lab commit.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[isaaclab.sh -i\nInstalls qpsolvers + old daqp] --> B["[NEW] pip install --force-reinstall daqp==0.8.5\nUpgrades daqp to meet qpsolvers 4.12.0 requirement"]
    B --> C[pip install isaacteleop~=1.1.0]
    C --> D[pip install isaaclab_newton all]
    D --> E[pip install av / msgpack / pyzmq]
    E --> F["pip install -e workspace/[dev]"]
    F --> G[Container ready]

Loading

_{Reviews (2): Last reviewed commit: "Update docker/Dockerfile.isaaclab_arena" | Re-trigger Greptile}