# Description

Follow-up to #5408. After that merged, the arm64 build still fails on
the nlopt step with BackendUnavailable: Cannot import
'setuptools.build_meta'. With --no-build-isolation, pip uses the host
Python to resolve the PEP 517 build backend, and IsaacSim's bundled
arm64 Python does not expose setuptools.build_meta in that scope.

Fix: pre-install setuptools, wheel, and numpy in IsaacSim's Python
before the nlopt install step. Same change applied to Dockerfile.base
and Dockerfile.curobo.

Verified locally in a QEMU arm64 python:3.12-slim container: reproduced
the BackendUnavailable error after pip uninstall setuptools wheel, then
confirmed the install succeeds when those packages are pre-installed.

## Type of change

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

## Checklist

- [x] I have read and understood the contribution guidelines
- [x] I have run the pre-commit checks with ./isaaclab.sh --format
- [ ] 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
- [ ] 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

# Description

Post-merge CI on develop has been failing on arm64. The chain is:
isaaclab_teleop pulls isaacteleop[retargeters], which transitively pins
nlopt==2.6.2, and nlopt 2.6.2 has no aarch64 wheel.

Fix: add swig to apt deps and pre-install nlopt 2.6.2 with
--no-build-isolation on arm64 before isaaclab.sh --install runs. The
later install sees nlopt as already satisfied. Same change applied to
Dockerfile.base and Dockerfile.curobo.

Verified locally in a QEMU arm64 python:3.12-slim container running the
same install path.

## Type of change

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

## Checklist

- [x] I have read and understood the contribution guidelines
- [x] I have run the pre-commit checks with ./isaaclab.sh --format
- [ ] 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
- [ ] 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

# Description

Follow-up to isaac-sim#5408. After that merged, the arm64 build still fails on
the nlopt step with BackendUnavailable: Cannot import
'setuptools.build_meta'. With --no-build-isolation, pip uses the host
Python to resolve the PEP 517 build backend, and IsaacSim's bundled
arm64 Python does not expose setuptools.build_meta in that scope.

Fix: pre-install setuptools, wheel, and numpy in IsaacSim's Python
before the nlopt install step. Same change applied to Dockerfile.base
and Dockerfile.curobo.

Verified locally in a QEMU arm64 python:3.12-slim container: reproduced
the BackendUnavailable error after pip uninstall setuptools wheel, then
confirmed the install succeeds when those packages are pre-installed.

## Type of change

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

## Checklist

- [x] I have read and understood the contribution guidelines
- [x] I have run the pre-commit checks with ./isaaclab.sh --format
- [ ] 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
- [ ] 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

#5538)

## Summary

Two unrelated CI breakages on develop, bundled here so develop turns
green in one PR.

### 1. Skip the failing viewergl test

`test_cartpole_newton_visualizer_viewergl_rgb_motion[physx,newton]`
started returning all-black frames on develop after
`nvcr.io/nvidian/isaac-sim:latest-develop` flipped to a Kit 110.1.1 +
USD 25.11 base. The failure has been deterministic across multiple PRs
(#5523, #5495, #5408, …).

Investigation so far has ruled out:
- PR #5521 (revert in
#5539 still failed)
- Newton 1.0 → 1.2.0rc2 viewer code regression (only 7-line addition;
ViewerGL alone yields 1.08M nonzero pixels)
- warp 1.12 → 1.13 RegisteredGLBuffer ABI (byte-identical)
- Module-load side effects of `isaaclab_physx.renderers`
- CUDA-GL interop (PR #5540 diagnostic confirms direct CPU FBO readback
also returns zeros, with `GL_NO_ERROR`)
- GL context-currency (PR #5541 H6 attempt: still fails)
- GL/CUDA sync (PR #5542 H4 attempt: still fails)

Diagnostic output (PR #5540 v2):
```
[VIZDIAG] fbo=c_uint(8)  pbo=None  size=600x600
[VIZDIAG] glGetError before: GL_NO_ERROR
[VIZDIAG] CPU-readback: nonzero=0/1080000  max=0  err=GL_NO_ERROR
[VIZDIAG] PBO-result: nonzero=0/1080000  max=0
```

The FBO itself is empty — Newton's pyglet/EGL renderer is not depositing
pixels under Kit 110.1.1, even though `tiled_camera_rgb_non_black` (Kit
RTX path) on the same env passes. Underlying root cause still being
chased; this PR ships the skip to unblock develop.

### 2. Fix warp intersphinx 404 in docs build

`https://nvidia.github.io/warp/objects.inv` started returning 404 —
Warp's `objects.inv` only lives at `/stable/` and `/latest/` now. With
Sphinx's `warnings_treated_as_errors`, the broken intersphinx fetch
fails the docs build on every PR. Pinning to `/stable/` (matches the
existing PyTorch `/docs/2.11/` workaround pattern in the same file).

Verified `https://nvidia.github.io/warp/stable/objects.inv` returns 200.

## Test plan

- [x] CI `isaaclab_visualizers` on this branch — was passing earlier
with the skip; will re-verify with the bundled docs fix
- [ ] CI `Build Latest Docs` on this branch — must turn green (was
failing on every recent PR before this fix)

## Re-enable plan

Once the underlying viewergl bug is identified and fixed, drop the
`@pytest.mark.skip` decorator and remove the
`jichuanh-disable-viewergl-flaky.skip` fragment.