# Description
This PR optimizes the Pink IK controller solver by changing the qpsolver
to use **daqp**, and also optimizing the matrix pseudo inverse in Null
Space Posture Task. This achieves a **2x performance improvement** by
reducing runtime from 1.23 ms to 0.52 ms.

Perf experiments documented in third page here:

https://docs.google.com/document/d/1E9UiYUU-oCOIetUkqAIva8oK0NvdNkMeqP2gxmeqxNA/edit?tab=t.0#heading=h.snu74q2v857w

## Key Changes

1. **Optimized Pseudoinverse Computation**: Replaced `np.linalg.pinv()`
with a custom implementation using direct LAPACK/BLAS calls in the null
space projector calculation. The new approach uses Cholesky
factorization (`dpotrf`) and triangular solvers (`dpotrs`) for faster
computation.

2. **QP Solver Update**: Changed the Pink IK solver from `osqp` to
`daqp` for improved performance.

3. **New Dependency**: Added `daqp==0.7.2` to `setup.py` for Linux
platforms.

## Type of change

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- New feature (non-breaking change which adds functionality)

## 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
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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Co-authored-by: Kelly Guo <kellyg@nvidia.com>