[pull] release/3.0.0-beta2 from isaac-sim:release/3.0.0-beta2

docker/Dockerfile.base

@@ -101,25 +101,8 @@ RUN touch /bin/nvidia-smi && \
     mkdir -p /var/run/nvidia-persistenced && \
     touch /var/run/nvidia-persistenced/socket
 
-# On arm64, temporarily install swig for the nlopt source build, keep it
-# through the Isaac Lab dependency install, then purge it before the layer ends.
-# This lets ./isaaclab.sh --install see nlopt as already satisfied without
-# leaving swig in the final container filesystem.
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
-    if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
-        apt-get update && \
-        apt-get install -y --no-install-recommends swig && \
-        ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install setuptools wheel numpy && \
-        ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-build-isolation nlopt==2.6.2; \
-    fi && \
-    ${ISAACLAB_PATH}/isaaclab.sh --install && \
-    if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
-        ${ISAACLAB_PATH}/isaaclab.sh -p -c "import nlopt" && \
-        apt-get purge -y --auto-remove swig && \
-        apt-get clean && \
-        rm -rf /var/lib/apt/lists/* && \
-        if command -v swig >/dev/null 2>&1; then exit 1; fi; \
-    fi
+    ${ISAACLAB_PATH}/isaaclab.sh --install
 
 # HACK: Remove install of quadprog dependency
 RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog

docker/Dockerfile.curobo

@@ -149,25 +149,8 @@ RUN rm -rf ${ISAACSIM_ROOT_PATH}/kit/python/lib/python3.12/site-packages/pip* &&
     ${ISAACLAB_PATH}/_isaac_sim/kit/python/bin/python3 get-pip.py && \
     rm get-pip.py
 
-# On arm64, temporarily install swig for the nlopt source build, keep it
-# through the Isaac Lab dependency install, then purge it before the layer ends.
-# This lets ./isaaclab.sh --install see nlopt as already satisfied without
-# leaving swig in the final container filesystem.
 RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
-    if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
-        apt-get update && \
-        apt-get install -y --no-install-recommends swig && \
-        ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install setuptools wheel numpy && \
-        ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install --no-build-isolation nlopt==2.6.2; \
-    fi && \
-    ${ISAACLAB_PATH}/isaaclab.sh --install && \
-    if [ "$(dpkg --print-architecture)" = "arm64" ]; then \
-        ${ISAACLAB_PATH}/isaaclab.sh -p -c "import nlopt" && \
-        apt-get purge -y --auto-remove swig && \
-        apt-get clean && \
-        rm -rf /var/lib/apt/lists/* && \
-        if command -v swig >/dev/null 2>&1; then exit 1; fi; \
-    fi
+    ${ISAACLAB_PATH}/isaaclab.sh --install
 
 # HACK: Uninstall quadprog as it causes issues with some reinforcement learning frameworks
 RUN ${ISAACLAB_PATH}/isaaclab.sh -p -m pip uninstall -y quadprog

source/isaaclab/changelog.d/fix-arm-nlopt-install.rst

@@ -0,0 +1,12 @@
+Fixed
+^^^^^
+
+* Fixed ``./isaaclab.sh --install`` unnecessarily building ``nlopt==2.6.2`` on
+  ARM Linux (e.g. DGX Spark), where it fails with CMake 4.x. The ARM-only
+  ``nlopt`` pre-install and its temporary ``swig`` install were removed because
+  ``nlopt`` is only pulled in by Linux x86_64 dependencies.
+
+* Fixed unavoidable ARM source builds such as ``egl-probe==1.0.2`` failing when
+  CMake 4.x rejects policy compatibility older than 3.5. The installer now
+  temporarily sets ``CMAKE_POLICY_VERSION_MINIMUM=3.5`` during ARM dependency
+  builds.

source/isaaclab/isaaclab/cli/commands/install.py

@@ -7,6 +7,8 @@
 import re
 import shutil
 import sys
+from collections.abc import Iterator
+from contextlib import contextmanager
 from pathlib import Path
 
 import tomllib
@@ -26,6 +28,33 @@
 from .misc import command_vscode_settings
 
 
+@contextmanager
+def _arm_cmake_policy_compatibility() -> Iterator[None]:
+    """Allow legacy CMake projects to configure during ARM dependency installs.
+
+    CMake 4 removed compatibility with policy versions older than 3.5. Some
+    transitive ARM dependencies, including ``nlopt==2.6.2`` and
+    ``egl-probe==1.0.2``, still declare an older minimum. CMake provides this
+    environment variable specifically so users can configure such unmaintained
+    third-party projects without patching their sources.
+    """
+    if not is_arm():
+        yield
+        return
+
+    variable = "CMAKE_POLICY_VERSION_MINIMUM"
+    saved_value = os.environ.get(variable)
+    os.environ[variable] = "3.5"
+    print_info(f"ARM install sandbox: temporarily setting {variable}=3.5 for legacy dependency builds.")
+    try:
+        yield
+    finally:
+        if saved_value is None:
+            os.environ.pop(variable, None)
+        else:
+            os.environ[variable] = saved_value
+
+
 def _install_system_deps() -> None:
     """install system dependencies"""
     if is_windows():
@@ -169,41 +198,6 @@ def _maybe_uninstall_prebundled_torch(
     )
 
 
-def _maybe_preinstall_arm_nlopt(python_exe: str, pip_cmd: list[str]) -> None:
-    """Pre-install ``nlopt==2.6.2`` on ARM Linux to skip the source-build fallback.
-
-    There is no aarch64 manylinux wheel for the ``nlopt 2.6.2`` version pinned
-    by ``isaacteleop[retargeters]``, so pip falls back to a CMake source build
-    that hides the host-Python ``numpy`` from its isolated build env. Mirror
-    the docker/Dockerfile.base arm64 step: install ``setuptools wheel numpy``
-    in the host Python first, then ``--no-build-isolation`` install nlopt so
-    later submodule installs see it as already satisfied.
-    """
-    if is_windows() or not is_arm():
-        return
-
-    probe_result = run_command(
-        [
-            python_exe,
-            "-c",
-            "import importlib.metadata as metadata; import nlopt; "
-            "raise SystemExit(0 if metadata.version('nlopt') == '2.6.2' else 1)",
-        ],
-        check=False,
-        capture_output=True,
-        text=True,
-    )
-    if probe_result.returncode == 0:
-        print_info("nlopt==2.6.2 is already installed on ARM.")
-        return
-
-    print_info("Pre-installing nlopt==2.6.2 on ARM (no-build-isolation)...")
-    print_info("  step 1/2: ensure setuptools/wheel/numpy are importable for the no-build-isolation backend")
-    run_command(pip_cmd + ["install", "setuptools", "wheel", "numpy"])
-    print_info("  step 2/2: install nlopt==2.6.2 with --no-build-isolation")
-    run_command(pip_cmd + ["install", "--no-build-isolation", "nlopt==2.6.2"])
-
-
 # Dependency stack required by isaaclab.controllers.pink_ik. Pinocchio is installed
 # via the cmeel ``pin`` wheel, which provides the ``pinocchio`` Python module under
 # ``cmeel.prefix/lib/python3.12/site-packages/`` and registers it on sys.path via a
@@ -1066,70 +1060,68 @@ def append_submodules_once(package_dirs: tuple[str, ...]) -> None:
     # leave new dangling symlinks in Isaac Sim's prebundles (nvbugs 6343978).
     dangling_symlinks_before = _find_dangling_prebundle_symlinks()
 
-    try:
-        # Upgrade pip first to avoid compatibility issues (skip when using uv).
-        if not using_uv:
-            print_info("Upgrading pip...")
-            run_command(pip_cmd + ["install", "--upgrade", "pip"])
-
-        # Pin setuptools to avoid issues with pkg_resources removal in 82.0.0.
-        run_command(pip_cmd + ["install", "setuptools<82.0.0"])
-
-        # On ARM Linux pre-install nlopt to dodge its from-source build fallback.
-        _maybe_preinstall_arm_nlopt(python_exe, pip_cmd)
-
-        # Drop pip-installed torch if Isaac Sim's deprecated ML prebundle would shadow it.
-        _maybe_uninstall_prebundled_torch(python_exe, pip_cmd, using_uv, probe_env=probe_env)
-
-        # Install Isaac Sim if requested.
-        if install_isaacsim:
-            _install_isaacsim()
-
-        # Install pytorch (version based on arch).
-        _ensure_cuda_torch()
-
-        # Install all submodules (core set + any explicitly requested optional ones).
-        _install_isaaclab_submodules(submodules_to_install)
-
-        # Install requested optional submodule dependency extras.
-        if optional_submodule_extra_dependencies:
-            print_info("Installing optional submodule dependencies...")
-            for submodule_name, selector in optional_submodule_extra_dependencies:
-                _install_optional_submodule_extra_dependencies(submodule_name, selector)
-
-        # Install requested extra feature dependencies.
-        if extra_features:
-            print_info("Installing extra feature dependencies...")
-            for feature_name, selector in extra_features:
-                _install_extra_feature(feature_name, selector)
-
-        # In some rare cases, torch might not be installed properly by setup.py, add one more check here.
-        # Can prevent that from happening.
-        _ensure_cuda_torch()
-
-        # Ensure Pink IK's runtime dependencies are actually importable.  The kit-bundled
-        # ``pin-pink`` in recent Isaac Sim images can cause transitive dependencies from
-        # ``pip install -e source/isaaclab`` to be silently skipped.
-        _ensure_pink_ik_dependencies_installed(python_exe, pip_cmd, probe_env=probe_env)
-
-        # Repoint prebundled packages in Isaac Sim to the environment's copies so
-        # the active venv/conda versions are always loaded regardless of PYTHONPATH
-        # ordering (e.g. torch+cu130 in venv vs torch+cu128 in prebundle on aarch64).
-        _repoint_prebundle_packages()
-
-        # Fail loud if any pip operation above broke Isaac Sim's cross-extension
-        # symlink farms. Prebundle deletions on their own are routine (pip
-        # replaces those packages in site-packages, which shadows the prebundle
-        # at runtime); only newly dangling symlinks break extension startup.
-        _assert_no_new_dangling_prebundle_symlinks(dangling_symlinks_before)
-
-    finally:
-        # Restore LD_PRELOAD if we cleared it.
-        if saved_ld_preload:
-            os.environ["LD_PRELOAD"] = saved_ld_preload
-        # Restore PYTHONPATH if we filtered it.
-        if saved_pythonpath is not None:
-            os.environ["PYTHONPATH"] = saved_pythonpath
+    with _arm_cmake_policy_compatibility():
+        try:
+            # Upgrade pip first to avoid compatibility issues (skip when using uv).
+            if not using_uv:
+                print_info("Upgrading pip...")
+                run_command(pip_cmd + ["install", "--upgrade", "pip"])
+
+            # Pin setuptools to avoid issues with pkg_resources removal in 82.0.0.
+            run_command(pip_cmd + ["install", "setuptools<82.0.0"])
+
+            # Drop pip-installed torch if Isaac Sim's deprecated ML prebundle would shadow it.
+            _maybe_uninstall_prebundled_torch(python_exe, pip_cmd, using_uv, probe_env=probe_env)
+
+            # Install Isaac Sim if requested.
+            if install_isaacsim:
+                _install_isaacsim()
+
+            # Install pytorch (version based on arch).
+            _ensure_cuda_torch()
+
+            # Install all submodules (core set + any explicitly requested optional ones).
+            _install_isaaclab_submodules(submodules_to_install)
+
+            # Install requested optional submodule dependency extras.
+            if optional_submodule_extra_dependencies:
+                print_info("Installing optional submodule dependencies...")
+                for submodule_name, selector in optional_submodule_extra_dependencies:
+                    _install_optional_submodule_extra_dependencies(submodule_name, selector)
+
+            # Install requested extra feature dependencies.
+            if extra_features:
+                print_info("Installing extra feature dependencies...")
+                for feature_name, selector in extra_features:
+                    _install_extra_feature(feature_name, selector)
+
+            # In some rare cases, torch might not be installed properly by setup.py, add one more check here.
+            # Can prevent that from happening.
+            _ensure_cuda_torch()
+
+            # Ensure Pink IK's runtime dependencies are actually importable.  The kit-bundled
+            # ``pin-pink`` in recent Isaac Sim images can cause transitive dependencies from
+            # ``pip install -e source/isaaclab`` to be silently skipped.
+            _ensure_pink_ik_dependencies_installed(python_exe, pip_cmd, probe_env=probe_env)
+
+            # Repoint prebundled packages in Isaac Sim to the environment's copies so
+            # the active venv/conda versions are always loaded regardless of PYTHONPATH
+            # ordering (e.g. torch+cu130 in venv vs torch+cu128 in prebundle on aarch64).
+            _repoint_prebundle_packages()
+
+            # Fail loud if any pip operation above broke Isaac Sim's cross-extension
+            # symlink farms. Prebundle deletions on their own are routine (pip
+            # replaces those packages in site-packages, which shadows the prebundle
+            # at runtime); only newly dangling symlinks break extension startup.
+            _assert_no_new_dangling_prebundle_symlinks(dangling_symlinks_before)
+
+        finally:
+            # Restore LD_PRELOAD if we cleared it.
+            if saved_ld_preload:
+                os.environ["LD_PRELOAD"] = saved_ld_preload
+            # Restore PYTHONPATH if we filtered it.
+            if saved_pythonpath is not None:
+                os.environ["PYTHONPATH"] = saved_pythonpath
 
     # Install vscode update unless we're in docker.
     if not (os.path.exists("/.dockerenv") or os.path.exists("/run/.containerenv")):

source/isaaclab/test/cli/test_install_command_parsing.py

@@ -153,12 +153,12 @@ def test_optional_submodules_not_in_core(self):
 # Functions that must be mocked to prevent actual system calls.
 _PATCHES = [
     f"{_INSTALL_MODULE}._install_system_deps",
+    f"{_INSTALL_MODULE}._arm_cmake_policy_compatibility",
     f"{_INSTALL_MODULE}._install_isaaclab_submodules",
     f"{_INSTALL_MODULE}._install_extra_feature",
     f"{_INSTALL_MODULE}._install_optional_submodule_extra_dependencies",
     f"{_INSTALL_MODULE}._install_isaacsim",
     f"{_INSTALL_MODULE}._ensure_cuda_torch",
-    f"{_INSTALL_MODULE}._maybe_preinstall_arm_nlopt",
     f"{_INSTALL_MODULE}._maybe_uninstall_prebundled_torch",
     f"{_INSTALL_MODULE}._ensure_pink_ik_dependencies_installed",
     f"{_INSTALL_MODULE}._repoint_prebundle_packages",
@@ -205,6 +205,10 @@ def _run(self, install_type: str):
 
         return mocks
 
+    def test_wraps_dependency_installs_with_arm_cmake_compatibility(self):
+        mocks = self._run("all")
+        mocks["_arm_cmake_policy_compatibility"].assert_called_once_with()
+
     # --- "all" ---
 
     def test_all_installs_core_plus_optional_submodules(self):

source/isaaclab/test/cli/test_install_commands.py

@@ -10,6 +10,7 @@
 - Isaac Sim installation methods: local _isaac_sim symlink, pip-installed isaacsim, none
 """
 
+import os
 import subprocess
 from contextlib import contextmanager
 from pathlib import Path
@@ -69,6 +70,44 @@ def _make_site_packages(
     return site_pkgs
 
 
+# ---------------------------------------------------------------------------
+# _arm_cmake_policy_compatibility
+# ---------------------------------------------------------------------------
+
+
+class TestArmCmakePolicyCompatibility:
+    """Tests for legacy CMake dependency builds on ARM."""
+
+    def test_sets_policy_minimum_during_arm_install(self):
+        """ARM installs allow nlopt and egl-probe CMake projects to configure."""
+        with (
+            mock.patch("isaaclab.cli.commands.install.is_arm", return_value=True),
+            mock.patch.dict("os.environ", {"PATH": "/bin"}, clear=True),
+        ):
+            with install_cmd._arm_cmake_policy_compatibility():
+                assert os.environ["CMAKE_POLICY_VERSION_MINIMUM"] == "3.5"
+            assert "CMAKE_POLICY_VERSION_MINIMUM" not in os.environ
+
+    def test_restores_existing_policy_minimum_after_arm_install(self):
+        """An existing user setting is restored after the installer finishes."""
+        with (
+            mock.patch("isaaclab.cli.commands.install.is_arm", return_value=True),
+            mock.patch.dict("os.environ", {"CMAKE_POLICY_VERSION_MINIMUM": "3.10"}, clear=True),
+        ):
+            with install_cmd._arm_cmake_policy_compatibility():
+                assert os.environ["CMAKE_POLICY_VERSION_MINIMUM"] == "3.5"
+            assert os.environ["CMAKE_POLICY_VERSION_MINIMUM"] == "3.10"
+
+    def test_leaves_environment_unchanged_outside_arm(self):
+        """Non-ARM installs do not receive the compatibility setting."""
+        with (
+            mock.patch("isaaclab.cli.commands.install.is_arm", return_value=False),
+            mock.patch.dict("os.environ", {}, clear=True),
+        ):
+            with install_cmd._arm_cmake_policy_compatibility():
+                assert "CMAKE_POLICY_VERSION_MINIMUM" not in os.environ
+
+
 # ---------------------------------------------------------------------------
 # _install_isaaclab_submodules targeted dependency upgrades
 # ---------------------------------------------------------------------------

source/isaaclab/test/cli/test_uv_run_pyproject.py

@@ -111,10 +111,7 @@ def test_ci_ovrtx_installs_match_source_package_requirement():
     """CI must not bypass the OVRTX version range declared by the source package."""
     expected_requirement = _ovrtx_requirement_from_setup()
 
-    for workflow_path in (
-        ".github/workflows/build.yaml",
-        ".github/workflows/daily-compatibility.yml",
-    ):
+    for workflow_path in (".github/workflows/build.yaml",):
         workflow = (_repo_root() / workflow_path).read_text(encoding="utf-8")
         ovrtx_install_lines = [
             line.strip() for line in workflow.splitlines() if "extra-pip-packages:" in line and "ovrtx" in line