Fix nlopt version issue

[StafaH]

Description

Fix nlopt error due to version mismatch with cmake in the docker build for ARM.

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

[greptile-apps]

Greptile Summary

This PR removes the ARM-specific nlopt pre-install workaround that was failing on ARM Linux (e.g. DGX Spark) because CMake 4.x dropped support for the cmake_minimum_required value declared by nlopt==2.6.2. The fix is valid: both isaacteleop and dex-retargeting (the only packages that pull in nlopt) carry platform_machine in 'x86_64 AMD64' markers in pyproject.toml, so they are never installed on aarch64/arm64.

• Both Dockerfile.base and Dockerfile.curobo are simplified by removing the conditional swig/nlopt pre-install block, leaving a plain isaaclab.sh --install.
• Three helper functions (_maybe_preinstall_arm_nlopt, _ensure_swig_installed, _purge_swig) and their call site are removed from install.py; the is_arm import remains because other code paths still use it.
• The test patch list is updated to drop the now-deleted _maybe_preinstall_arm_nlopt mock.

Confidence Score: 5/5

Safe to merge. The change is a pure deletion of a broken workaround, and the root assumption — that nlopt consumers carry platform_machine in 'x86_64 AMD64' markers — is confirmed in the repository's pyproject.toml.

The removed code was actively broken (CMake 4.x incompatibility on ARM), and the replacement is simply letting isaaclab.sh --install run without the pre-install shim. The underlying correctness — that isaacteleop and dex-retargeting are guarded by platform_machine in 'x86_64 AMD64' environment markers — is verified directly in pyproject.toml lines 150–151.

Files Needing Attention: No files require special attention. The Dockerfile and install.py changes are consistent with each other, and the test patch list correctly reflects the removed function.

Important Files Changed

Filename	Overview
docker/Dockerfile.base	Removes the 17-line conditional ARM swig/nlopt block; leaves a plain isaaclab.sh --install. Clean simplification.
docker/Dockerfile.curobo	Same ARM-specific swig/nlopt block removed; the unconditional isaaclab_teleop install at line 171 is unaffected and safe because nlopt's consumers have x86_64-only platform markers.
source/isaaclab/isaaclab/cli/commands/install.py	Deletes _ensure_swig_installed, _purge_swig, and _maybe_preinstall_arm_nlopt (86 lines). The is_arm import is preserved and still used by two other code paths.
source/isaaclab/test/cli/test_install_command_parsing.py	Removes the _maybe_preinstall_arm_nlopt patch entry that is no longer needed. No other test changes required.
source/isaaclab/changelog.d/fix-arm-nlopt-install.rst	New changelog entry accurately describes the root cause (CMake 4.x incompatibility) and the rationale (nlopt consumers are x86_64-only).

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[Docker ARM build\nfor e.g. DGX Spark] --> B{platform_machine?}
    B -- aarch64/arm64 --> C[isaaclab.sh --install]
    B -- x86_64 --> C
    C --> D[Install core deps]
    C --> E{teleop extra requested?}
    E -- No --> F[Skip isaacteleop + dex-retargeting]
    E -- Yes --> G{platform marker check\nplatform_machine in x86_64 AMD64?}
    G -- ARM: No --> H[Skip isaacteleop\nSkip dex-retargeting\nSkip nlopt]
    G -- x86: Yes --> I[Install isaacteleop\nInstall dex-retargeting\nInstall nlopt]
    F --> J[Build succeeds]
    H --> J
    I --> J

    style H fill:#90EE90
    style J fill:#90EE90

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_{Reviews (1): Last reviewed commit: "Fix nlopt version issue" | Re-trigger Greptile}