Fix Pink IK DAQP dependency checks (#5556)

# Description

Pink IK uses DAQP through `qpsolvers`, but the install-time dependency
repair only
verified that Pinocchio could be imported. In environments where
`pin-pink` or
`qpsolvers` is present but DAQP is missing, unregistered, or too old for
`qpsolvers` warm-start arguments, `solve_ik(..., solver="daqp")` can
fail and
fall back to current joint targets. The controller then reports a
misleading
end-effector position error in `test_pink_ik.py`.

This change makes the installer probe the full Pink IK stack:
`pinocchio`, DAQP
registration in `qpsolvers`, and the `daqp.solve` API shape required by
current
`qpsolvers` (`primal_start`). It also aligns the IsaacLab dependency pin
with
the compatible DAQP release, `daqp==0.8.5`.

Runtime handling stays narrow: ordinary IK failures keep the existing
fallback,
while missing DAQP or the specific `primal_start` API mismatch is
surfaced with
an actionable install message instead of being swallowed as an IK
fallback.

The docs config also mocks `qpsolvers`, matching the existing docs
treatment for
optional Pink IK dependencies such as `pink` and `pinocchio`, so API
docs can be
built without the runtime solver stack installed.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Test Plan

- `./isaaclab.sh -p -m py_compile
source/isaaclab/isaaclab/cli/commands/install.py
source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
source/isaaclab/setup.py docs/conf.py`
- `./isaaclab.sh -p -c "import inspect, pinocchio, daqp, qpsolvers;
assert 'daqp' in qpsolvers.available_solvers; assert 'primal_start' in
inspect.signature(daqp.solve).parameters; print('pink ik dependency
probe passed')"`
- `./isaaclab.sh -p -c "..."` small monkeypatch check that
`TypeError("solve() got an unexpected keyword argument 'primal_start'")`
raises the new DAQP compatibility `RuntimeError`
- `./isaaclab.sh -p -m pytest
source/isaaclab/test/controllers/test_pink_ik.py::test_movement_types -k
"GR1T2-Abs-v0 and stay_still" -q --tb=short -s -x`
- `./isaaclab.sh -p -m pytest
source/isaaclab/test/controllers/test_pink_ik.py -q --tb=short -x` (`23
passed, 1 skipped`)
-
`VIRTUAL_ENV=/home/zhengyuz/Projects/IsaacLab.wt/feature-heterogeneous_dexsuite/env_isaaclab
PATH=/home/zhengyuz/Projects/IsaacLab.wt/feature-heterogeneous_dexsuite/env_isaaclab/bin:$PATH
make current-docs` from `docs/`
-
`VIRTUAL_ENV=/home/zhengyuz/Projects/IsaacLab.wt/feature-heterogeneous_dexsuite/env_isaaclab
./isaaclab.sh -f`

## Screenshots

N/A.

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation (N/A - docs
config only)
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have added a changelog fragment under
`source/<pkg>/changelog.d/` for every touched package (do **not** edit
`CHANGELOG.rst` or bump `extension.toml` -- CI handles that)
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Author: ooctipus

docs/conf.py

@@ -203,6 +203,7 @@
     "toml",
     "pink",
     "pinocchio",
+    "qpsolvers",
     "nvidia.srl",
     "flatdict",
     "filelock",

source/isaaclab/changelog.d/fix-pink-ik-daqp-install.rst

@@ -0,0 +1,5 @@
+Fixed
+^^^^^
+
+* Fixed Pink IK setup checks to reinstall and report the required ``daqp``
+  solver when it is missing or incompatible.

source/isaaclab/isaaclab/cli/commands/install.py

@@ -159,22 +159,22 @@ def _maybe_uninstall_prebundled_torch(
     )
 
 
-# Pinocchio stack required by isaaclab.controllers.pink_ik. Installed via the cmeel
-# ``pin`` wheel, which provides the ``pinocchio`` Python module under
+# Dependency stack required by isaaclab.controllers.pink_ik. Pinocchio is installed
+# via the cmeel ``pin`` wheel, which provides the ``pinocchio`` Python module under
 # ``cmeel.prefix/lib/python3.12/site-packages/`` and registers it on sys.path via a
-# ``cmeel.pth`` hook.
-_PINOCCHIO_STACK = ("pin", "pin-pink==3.1.0", "daqp==0.7.2")
+# ``cmeel.pth`` hook. DAQP provides the QP solver selected by the Pink IK controller.
+_PINK_IK_STACK = ("pin", "pin-pink==3.1.0", "daqp==0.8.5")
 
 
-def _ensure_pinocchio_installed(python_exe: str, pip_cmd: list[str], *, probe_env: dict[str, str]) -> None:
-    """Ensure ``pinocchio`` is importable, force-installing the cmeel pin stack if not.
+def _ensure_pink_ik_dependencies_installed(python_exe: str, pip_cmd: list[str], *, probe_env: dict[str, str]) -> None:
+    """Ensure the Pink IK dependency stack is importable, force-installing it if not.
 
     Recent Isaac Sim base images preinstall ``pin-pink`` into the kit's bundled
     ``site-packages`` without its ``pin`` (cmeel pinocchio) dependency.  Pip then
     treats the ``pin-pink`` requirement as satisfied and never resolves the
-    transitive ``pin`` dep, leaving ``import pinocchio`` broken.  This probes
-    for ``pinocchio`` at runtime and force-installs the cmeel stack when needed
-    so the pink IK controller and its tests work out of the box.
+    transitive ``pin`` dep, leaving ``import pinocchio`` broken.  This checks
+    the runtime dependencies and force-installs the cmeel stack when needed so
+    the pink IK controller and its tests work out of the box.
 
     Only runs on Linux x86_64 / aarch64 — the same platforms that have
     pinocchio listed in :mod:`isaaclab`'s ``setup.py`` install requirements.
@@ -194,7 +194,13 @@ def _ensure_pinocchio_installed(python_exe: str, pip_cmd: list[str], *, probe_en
         return
 
     probe_result = run_command(
-        [python_exe, "-c", "import pinocchio"],
+        [
+            python_exe,
+            "-c",
+            "import inspect, pinocchio, daqp, qpsolvers; "
+            "assert 'daqp' in qpsolvers.available_solvers; "
+            "assert 'primal_start' in inspect.signature(daqp.solve).parameters",
+        ],
         env=probe_env,
         check=False,
         capture_output=True,
@@ -203,19 +209,16 @@ def _ensure_pinocchio_installed(python_exe: str, pip_cmd: list[str], *, probe_en
     if probe_result.returncode == 0:
         return
 
-    print_info(
-        "``import pinocchio`` failed — the kit-bundled ``pin-pink`` likely shipped without its"
-        " ``pin`` dep. Force-installing the cmeel pinocchio stack."
-    )
+    print_info("Pink IK dependency probe failed. Force-installing the cmeel pinocchio and DAQP stack.")
     install_result = run_command(
-        pip_cmd + ["install", "--upgrade", "--force-reinstall", *_PINOCCHIO_STACK],
+        pip_cmd + ["install", "--upgrade", "--force-reinstall", *_PINK_IK_STACK],
         check=False,
     )
     if install_result.returncode != 0:
         print_warning(
-            "Force-installing the cmeel pinocchio stack failed (returncode "
+            "Force-installing the cmeel pinocchio and DAQP stack failed (returncode "
             f"{install_result.returncode}). The pink IK controller and its tests will not be"
-            " usable until ``pin pin-pink==3.1.0 daqp==0.7.2`` is installed manually."
+            " usable until ``pin pin-pink==3.1.0 daqp==0.8.5`` is installed manually."
         )
 
 
@@ -735,10 +738,10 @@ def command_install(install_type: str = "all") -> None:
         # Can prevent that from happening.
         _ensure_cuda_torch()
 
-        # Ensure ``pinocchio`` is actually importable.  The kit-bundled ``pin-pink`` in recent
-        # Isaac Sim images ships without its cmeel ``pin`` dependency, so the transitive
-        # requirement from ``pip install -e source/isaaclab`` can be silently skipped.
-        _ensure_pinocchio_installed(python_exe, pip_cmd, probe_env=probe_env)
+        # Ensure Pink IK's runtime dependencies are actually importable.  The kit-bundled
+        # ``pin-pink`` in recent Isaac Sim images can cause transitive dependencies from
+        # ``pip install -e source/isaaclab`` to be silently skipped.
+        _ensure_pink_ik_dependencies_installed(python_exe, pip_cmd, probe_env=probe_env)
 
         # Repoint prebundled packages in Isaac Sim to the environment's copies so
         # the active venv/conda versions are always loaded regardless of PYTHONPATH

source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py

@@ -20,6 +20,7 @@
 import torch
 from pink import solve_ik
 from pink.tasks import Task
+from qpsolvers.exceptions import SolverNotFound
 
 from isaaclab.assets import ArticulationCfg
 from isaaclab.controllers import utils as controller_utils
@@ -34,6 +35,9 @@
     from .pink_ik_cfg import PinkIKControllerCfg
 
 
+_QP_SOLVER = "daqp"
+
+
 class PinkIKController:
     """Integration of Pink IK controller with Isaac Lab.
 
@@ -240,30 +244,45 @@ def compute(
         # Update Pink's robot configuration with the current joint positions
         self.pink_configuration.update(joint_positions_pink)
 
+        def _return_current_joint_positions(error: Exception) -> torch.Tensor:
+            if self.cfg.show_ik_warnings:
+                print(
+                    "Warning: IK quadratic solver could not find a solution! Did not update the target joint"
+                    f" positions.\nError: {error}"
+                )
+
+            if self.cfg.xr_enabled:
+                from isaaclab.ui.xr_widgets import XRVisualization
+
+                XRVisualization.push_event("ik_error", {"error": error})
+            return torch.tensor(curr_controlled_joint_pos, device=self.device, dtype=torch.float32)
+
         # Solve IK using Pink's solver
         try:
             velocity = solve_ik(
                 self.pink_configuration,
                 self._variable_input_tasks + self._fixed_input_tasks,
                 dt,
-                solver="daqp",
+                solver=_QP_SOLVER,
                 safety_break=self.cfg.fail_on_joint_limit_violation,
             )
             assert not np.isnan(velocity).any(), "Solution to IK contains NaN."
             joint_angle_changes = velocity * dt
+        except SolverNotFound as e:
+            raise RuntimeError(
+                f"Pink IK requires the '{_QP_SOLVER}' QP solver. Install the Pink IK stack with "
+                "``./isaaclab.sh -i`` or manually install ``pin pin-pink==3.1.0 daqp==0.8.5``."
+            ) from e
+        except TypeError as e:
+            if "primal_start" in str(e):
+                raise RuntimeError(
+                    "Pink IK requires a DAQP version compatible with qpsolvers warm-start arguments. "
+                    "Install the Pink IK stack with ``./isaaclab.sh -i`` or manually install "
+                    "``pin pin-pink==3.1.0 daqp==0.8.5``."
+                ) from e
+            return _return_current_joint_positions(e)
         except (AssertionError, Exception) as e:
-            # Print warning and return the current joint positions as the target
-            if self.cfg.show_ik_warnings:
-                print(
-                    "Warning: IK quadratic solver could not find a solution! Did not update the target joint"
-                    f" positions.\nError: {e}"
-                )
-
-            if self.cfg.xr_enabled:
-                from isaaclab.ui.xr_widgets import XRVisualization
-
-                XRVisualization.push_event("ik_error", {"error": e})
-            return torch.tensor(curr_controlled_joint_pos, device=self.device, dtype=torch.float32)
+            return _return_current_joint_positions(e)
 
         # Reorder the joint angle changes back to Isaac Lab conventions
         joint_vel_isaac_lab = torch.tensor(

source/isaaclab/setup.py

@@ -69,7 +69,7 @@
     # required by isaaclab.isaaclab.controllers.pink_ik
     f"pin ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
     f"pin-pink==3.1.0 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
-    f"daqp==0.7.2 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
+    f"daqp==0.8.5 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
 ]
 # Adds OpenUSD dependencies based on architecture for Kit less mode.
 INSTALL_REQUIRES += [