# 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`

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