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Locks qpsolvers version to be last known compatible version with PINK IK #5555

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Locks qpsolvers version to be last known compatible version with PINK IK #5555

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8 changes: 8 additions & 0 deletions source/isaaclab/changelog.d/peterd-lock-qpsolvers-version.rst
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Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
Fixed
^^^^^

* Pinned ``qpsolvers==4.11.0`` to keep Pink IK working. ``qpsolvers`` 4.12.0
dropped the ``primal_start`` kwarg, causing ``pin-pink==3.1.0`` to raise
``TypeError`` inside ``solve_ik``;
:class:`~isaaclab.controllers.pink_ik.PinkIKController` then silently
fell back to returning the current joints, making IK a no-op.
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@greptile-apps greptile-apps Bot May 8, 2026

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P2 Other entries that add a new install requirement (e.g., antoiner-fix-from-files-windows-filelock.rst) include a Changed section alongside the Fixed section to record the added dependency. Adding one here would keep the changelog consistent.

Suggested change
* Pinned ``qpsolvers==4.11.0`` to keep Pink IK working. ``qpsolvers`` 4.12.0
dropped the ``primal_start`` kwarg, causing ``pin-pink==3.1.0`` to raise
``TypeError`` inside ``solve_ik``;
:class:`~isaaclab.controllers.pink_ik.PinkIKController` then silently
fell back to returning the current joints, making IK a no-op.
* Pinned ``qpsolvers==4.11.0`` to keep Pink IK working. ``qpsolvers`` 4.12.0
dropped the ``primal_start`` kwarg, causing ``pin-pink==3.1.0`` to raise
``TypeError`` inside ``solve_ik``;
:class:`~isaaclab.controllers.pink_ik.PinkIKController` then silently
fell back to returning the current joints, making IK a no-op.
Changed
^^^^^^^
* Added ``qpsolvers==4.11.0`` to ``isaaclab`` install requirements (Linux only).

1 change: 1 addition & 0 deletions source/isaaclab/setup.py
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Expand Up @@ -70,6 +70,7 @@
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"qpsolvers==4.11.0 ; platform_system == 'Linux' and ({SUPPORTED_ARCHS_ARM})",
]
# Adds OpenUSD dependencies based on architecture for Kit less mode.
INSTALL_REQUIRES += [
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