Fix Pink IK DAQP dependency checks

[ooctipus]

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

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation (N/A - docs config only)
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• 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)
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[greptile-apps]

Greptile Summary

This PR fixes silent failures in the Pink IK controller by adding an explicit DAQP solver availability check at construction time and expanding the install-time probe to verify the full dependency stack (pin, pin-pink==3.1.0, daqp==0.7.2) rather than just pinocchio importability.

• pink_ik.py: Adds _validate_solver_available() called early in __init__, raising a descriptive RuntimeError when DAQP is not registered with qpsolvers — replacing the previous silent fallback to the current joint targets.
• install.py: Upgrades the dependency probe from import pinocchio to also assert 'daqp' in qpsolvers.available_solvers, triggering a force-reinstall of the full stack when either check fails.
• changelog.d/: Adds the required changelog fragment for the fix.

Confidence Score: 4/5

Safe to merge — the changes add early-failure guards that eliminate a previously confusing silent fallback, with no risk to existing working environments.

The install probe and controller constructor check are both correct and cover the described failure mode. The only noted concern is a dead-code ImportError handler inside _validate_solver_available that can never fire given the module-level pink import, but this does not affect runtime behavior.

No files require special attention; pink_ik.py has the minor dead-code note but is otherwise clean.

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py	Adds _validate_solver_available() called in __init__ to give a clear RuntimeError when DAQP is not registered with qpsolvers; extracts _QP_SOLVER constant. The ImportError guard inside the method is dead code since the module-level pink import already requires qpsolvers.
source/isaaclab/isaaclab/cli/commands/install.py	Renames _ensure_pinocchio_installed → _ensure_pink_ik_dependencies_installed and expands the probe from import pinocchio to also assert daqp is registered with qpsolvers before deciding to skip reinstall. Logic is correct and safe.
source/isaaclab/changelog.d/fix-pink-ik-daqp-install.rst	Changelog fragment documenting the DAQP solver dependency fix. Content is accurate.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[isaaclab.sh -i / command_install] --> B[_ensure_pink_ik_dependencies_installed]
    B --> C{Linux x86_64/aarch64?}
    C -- No --> D[Skip]
    C -- Yes --> E["Probe: import pinocchio, daqp, qpsolvers\nassert 'daqp' in available_solvers"]
    E -- returncode == 0 --> F[Dependencies OK]
    E -- returncode != 0 --> G[Force-reinstall pin + pin-pink==3.1.0 + daqp==0.7.2]
    G -- success --> F
    G -- failure --> H[print_warning — install continues]
    I[PinkIKController.__init__] --> J[_validate_consistency]
    J --> K[_validate_solver_available]
    K --> L{qpsolvers importable?}
    L -- No --> M[RuntimeError: install stack]
    L -- Yes --> N{"'daqp' in available_solvers?"}
    N -- No --> O[RuntimeError: solver missing]
    N -- Yes --> P[Continue initialization]
    P --> Q[compute: solve_ik with solver=daqp]

Loading

_{Reviews (1): Last reviewed commit: "Fix Pink IK DAQP dependency checks" | Re-trigger Greptile}

[greptile-apps]

Unreachable ImportError guard on qpsolvers

The try/except ImportError block around from qpsolvers import available_solvers can never trigger: this file already imports from pink import solve_ik at module scope, and qpsolvers is a hard dependency of pin-pink. If qpsolvers is absent, the module-level import fails before _validate_solver_available is ever called. The defensive guard is dead code. Consider removing it and letting the module-level import provide the natural failure signal, or add a comment explaining the defensive intent.

[isaaclab-review-bot]

Review Summary

Clean, well-scoped bug fix. The problem (DAQP missing → silent IK failure) is diagnosed correctly, and the fix addresses both runtime validation and install-time probing.

Strengths

• Proper fail-fast with clear error messages pointing to the exact fix command
• Install probe expanded to validate the full dependency chain, not just import pinocchio
• Good naming improvements (_PINOCCHIO_STACK → _PINK_IK_STACK, function rename)
• _QP_SOLVER constant eliminates magic string duplication

Minor Suggestions

See inline comments.

[isaaclab-review-bot]

💡 Consider making the solver name configurable: _QP_SOLVER is a module-level constant. If a user installs a different QP solver (e.g., osqp, proxqp) they'd have to monkey-patch this. Consider making it a field on PinkIKControllerCfg with a default of "daqp", so validation stays but users get a knob:

# In PinkIKControllerCfg:
qp_solver: str = "daqp"

This is a future enhancement suggestion, not a blocker for this fix.

[isaaclab-review-bot]

🟡 Probe assertion may fail on older qpsolvers versions: The probe runs assert 'daqp' in qpsolvers.available_solvers. If qpsolvers is installed but at a version where available_solvers has a different type or naming scheme, this assertion could fail even if daqp is usable. Consider catching the assertion error in the probe gracefully (the probe already handles non-zero returncode, so this is fine as-is, but worth noting).