Fix daqp version in Arena dockerfile for compatibility with qpsolvers…

[peterd-NV]

… 4.12.0 (#667)

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.

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Summary

Short description of the change (max 50 chars)

Detailed description

• What was the reason for the change?
• What has been changed?
• What is the impact of this change?

[isaaclab-review-bot]

Isaac Lab Review Bot 🤖

Clean backport to release/0.2.0 ✅

Summary

Correctly pins daqp==0.8.5 to resolve compatibility with qpsolvers 4.12.0 (Pink IK dependency). This mirrors the fix from IsaacLab#5556.

Notes

• Well-documented with comment explaining provenance and removal criteria
• Using --force-reinstall ensures version override regardless of existing install
• Placement after isaaclab.sh -i is correct (overrides any conflicting version from Isaac Lab install)

LGTM for release/0.2.0 branch.

[greptile-apps]

Greptile Summary

This PR pins daqp to version 0.8.5 in the Arena Dockerfile to fix a compatibility breakage introduced by qpsolvers 4.12.0, which requires daqp >= 0.8.5. The fix is a backport of IsaacLab #5556 and is clearly documented with a removal condition tied to a specific upstream commit.

• Adds a single RUN pip install --force-reinstall daqp==0.8.5 layer immediately after isaaclab.sh -i, which is where the old daqp version would have been pulled in.
• The comment accurately identifies the upstream fix and the exact commit after which this line can be dropped.

Confidence Score: 4/5

Safe to merge — the fix is minimal, correctly placed, and well-documented with an explicit removal condition.

The only concern is --force-reinstall without --no-deps, which could silently reinstall daqp's transitive dependencies and inadvertently change package versions that were pinned by isaaclab.sh -i. Dropping --force-reinstall entirely would be the safer choice since a plain pip install daqp==0.8.5 already upgrades from any older installed version.

docker/Dockerfile.isaaclab_arena — the --force-reinstall flag on the new daqp install layer.

Important Files Changed

Filename	Overview
docker/Dockerfile.isaaclab_arena	Adds a pip install step to pin daqp to 0.8.5 after isaaclab.sh -i, with a well-documented comment and removal criteria; uses --force-reinstall without --no-deps which may unnecessarily reinstall daqp's transitive dependencies.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A["isaaclab.sh -i\n(installs daqp < 0.8.5)"] --> B["pip install daqp==0.8.5\n(force-reinstall to satisfy qpsolvers 4.12.0)"]
    B --> C["pip install isaacteleop~=1.1.0"]
    C --> D["Remaining Dockerfile layers..."]

    style B fill:#ffe0b2,stroke:#fb8c00

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[greptile-apps]

--force-reinstall without --no-deps tells pip to reinstall daqp and all of its transitive dependencies, even if they are already at satisfying versions. This can silently downgrade or change shared packages (e.g. numpy) that were carefully set by isaaclab.sh -i. A plain version-pinned install is sufficient here — pip will upgrade daqp from whatever version was installed without touching unrelated packages.

Suggested change

	RUN /isaac-sim/python.sh -m pip install --force-reinstall daqp==0.8.5
	RUN /isaac-sim/python.sh -m pip install daqp==0.8.5