Removes direct usage of qpsolvers and changes solver to osqp (#383)

# Description

Remove qpsolvers direct usage and replace quadprog solver with osqp.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`

---------
Co-authored-by: Peter Du <peterd@nvidia.com>

docs/conf.py

@@ -178,7 +178,6 @@ autodoc_mock_imports = [
     "tensordict",
     "trimesh",
     "toml",
-    "qpsolvers",
     "pink",
     "pinocchio",
     "nvidia.srl",

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.36.20"
+version = "0.36.21"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.36.21 (2025-04-15)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Removed direct call of qpsovlers library from pink_ik controller and changed solver from quadprog to osqp.
+
+
 0.36.20 (2025-04-09)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/controllers/pink_ik.py

@@ -12,8 +12,7 @@ Pink is a differentiable inverse kinematics solver framework that provides task-
 import numpy as np
 import torch
 
-import qpsolvers
-from pink import build_ik
+from pink import solve_ik
 from pink.configuration import Configuration
 from pinocchio.robot_wrapper import RobotWrapper
 
@@ -45,11 +44,6 @@ class PinkIKController:
         for task in cfg.fixed_input_tasks:
             task.set_target_from_configuration(self.pink_configuration)
 
-        # Select the solver for the inverse kinematics
-        self.solver = qpsolvers.available_solvers[0]
-        if "quadprog" in qpsolvers.available_solvers:
-            self.solver = "quadprog"
-
         # Map joint names from Isaac Lab to Pink's joint conventions
         pink_joint_names = self.robot_wrapper.model.names.tolist()[1:]  # Skip the root and universal joints
         isaac_lab_joint_names = cfg.joint_names
@@ -106,11 +100,13 @@ class PinkIKController:
         # Update Pink's robot configuration with the current joint positions
         self.pink_configuration.update(joint_positions_pink)
 
-        problem = build_ik(self.pink_configuration, self.cfg.variable_input_tasks + self.cfg.fixed_input_tasks, dt)
-        result = qpsolvers.solve_problem(problem, solver=self.solver)
-        Delta_q = result.x
-        # Delta_q being None means the solver could not find a solution
-        if Delta_q is None:
+        # pink.solve_ik can raise an exception if the solver fails
+        try:
+            velocity = solve_ik(
+                self.pink_configuration, self.cfg.variable_input_tasks + self.cfg.fixed_input_tasks, dt, solver="osqp"
+            )
+            Delta_q = velocity * dt
+        except (AssertionError, Exception):
             # Print warning and return the current joint positions as the target
             # Not using omni.log since its not available in CI during docs build
             if self.cfg.show_ik_warnings: