Use usd-exchange as standalone USD provider

pyproject.toml

@@ -48,7 +48,7 @@ dependencies = [
     "protobuf>=4.25.8,!=5.26.0",
     "hidapi>=0.14.0",
     "gymnasium>=1.2.0",
-    "trimesh",
+    "trimesh>=4.6.8",
     "pyglet>=2.1.6,<3",
     "transformers==4.57.6",
     "einops",
@@ -67,11 +67,10 @@ dependencies = [
     "pin ; platform_system == 'Linux' and (platform_machine == 'x86_64' or platform_machine == 'aarch64')",
     "pin-pink==3.3.0 ; platform_system == 'Linux' and (platform_machine == 'x86_64' or platform_machine == 'aarch64')",
     "daqp==0.8.5 ; platform_system == 'Linux' and (platform_machine == 'x86_64' or platform_machine == 'aarch64')",
-    # OpenUSD (kit-less mode). Both packages vendor a complete ``pxr`` runtime, so
-    # they must never co-install: usd-core supplies pxr where it has wheels (x86_64),
-    # usd-exchange supplies it on aarch64 (where usd-core has no wheel).
-    "usd-core>=25.11,<26.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64'",
-    "usd-exchange>=2.2 ; platform_machine == 'aarch64'",
+    # OpenUSD (kit-less mode). Use the same provider required by the URDF importer
+    # packages so another complete ``pxr`` runtime cannot co-install with it.
+    # usd-exchange 2.3.0 vendors USD 25.5, matching the Isaac Sim 6.0 wheel stack.
+    "usd-exchange==2.3.0",
     # avoid broken hf-xet pre-release cached on NVIDIA Artifactory
     "hf-xet>=1.4.1,<2.0.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64' or platform_machine == 'aarch64'",
     # ----- tasks -----
@@ -87,9 +86,19 @@ dependencies = [
     # ----- newton (default physics engine) -----
     # Loose bound so the wheel co-resolves with isaacsim's newton[sim]==1.2.0 pin; the
     # exact git commit is forced via [tool.uv].override-dependencies (uv sync only).
-    # The importers extra carries the mesh-processing deps (coacd, fast-simplification,
-    # ...) that honoring USD-authored ``physics:approximation`` requires.
-    "newton[sim,importers]>=1.2.0",
+    "newton[sim]>=1.2.0",
+    # Import and mesh-processing packages used by Newton. Keep these explicit instead
+    # of selecting newton[importers], whose standalone USD dependency would overlap
+    # with usd-exchange.
+    "requests>=2.25.0",
+    "scipy>=1.11.0",
+    "coacd>=1.0.7",
+    "fast-simplification>=0.1.11",
+    "alphashape>=1.3.1",
+    "meshio>=5.3.5",
+    "pycollada>=0.9",
+    "resolve-robotics-uri-py>=0.4.0",
+    "open3d>=0.19.0 ; python_version < '3.13' and (sys_platform != 'linux' or platform_machine != 'aarch64')",
     # Loose bound co-resolves with isaacsim's ==0.2.0; the override below forces >=0.4.0.
     "newton-usd-schemas>=0.2.0",
     "PyOpenGL-accelerate>=3.1.0",
@@ -195,6 +204,7 @@ leapp = [
 # ``test_version_single_source`` fails CI if they drift.
 [tool.isaaclab.versions]
 isaacsim = "6.0.1.0"
+usd_exchange = "2.3.0"
 torch = "2.11.0"
 torchvision = "0.26.0"
 torchaudio = "2.11.0"
@@ -383,7 +393,7 @@ override-dependencies = [
     "numpy>=2",
     "mujoco~=3.10.0",
     "mujoco-warp~=3.10.0,>=3.10.0.2",
-    "newton[sim,importers] @ git+https://github.com/newton-physics/newton.git@831076f52f14612aecace894c81270c1e0ed9479",
+    "newton[sim] @ git+https://github.com/newton-physics/newton.git@831076f52f14612aecace894c81270c1e0ed9479",
     # Force the Newton-matched schemas over isaacsim's ==0.2.0 pin.
     "newton-usd-schemas>=0.4.0",
     "torch==2.11.0",

source/isaaclab/changelog.d/kellyguo11-use-usd-exchange.rst

@@ -0,0 +1,6 @@
+Fixed
+^^^^^
+
+* Fixed installation failures caused by overlapping standalone USD providers by using
+  ``usd-exchange`` on all supported platforms and installing required Newton mesh-processing
+  packages directly.

source/isaaclab/test/cli/test_install.py

@@ -264,7 +264,7 @@ def fake_run(cmd, *args, **kwargs):
         install_cmds = [cmd for cmd in calls if "install" in cmd]
         assert install_cmds, "expected a pip install call"
         install_args = install_cmds[-1]
-        assert any(arg.startswith("newton[sim,importers]") and arg.endswith(commit) for arg in install_args)
+        assert any(arg.startswith("newton[sim]") and arg.endswith(commit) for arg in install_args)
         assert any(arg.startswith("newton-usd-schemas") for arg in install_args), "schemas must be forced too"
 
     def test_skips_when_commit_already_installed(self):

source/isaaclab/test/cli/test_source_package_metadata.py

@@ -23,27 +23,17 @@ def _repo_root() -> Path:
     raise RuntimeError("Could not find Isaac Lab repository root.")
 
 
-def test_isaaclab_usd_core_pin_stays_on_isaacsim_compatible_usd25_abi():
-    """The kit-less USD package must stay on the Isaac Sim compatible USD 25 ABI."""
+def test_isaaclab_uses_one_standalone_usd_provider():
+    """Isaac Lab must install only the USD provider shared with its importer dependencies."""
     with (_repo_root() / "pyproject.toml").open("rb") as f:
         pyproject = tomllib.load(f)
 
     usd_core_dependencies = [
         dependency for dependency in pyproject["project"]["dependencies"] if dependency.startswith("usd-core")
     ]
-
-    assert usd_core_dependencies == [
-        "usd-core>=25.11,<26.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64'"
-    ]
-
-
-def test_isaaclab_standalone_usd_providers_are_platform_disjoint():
-    """Standalone USD packages must not overlap on platforms where both ship ``pxr``."""
-    with (_repo_root() / "pyproject.toml").open("rb") as f:
-        pyproject = tomllib.load(f)
-
     usd_exchange_dependencies = [
         dependency for dependency in pyproject["project"]["dependencies"] if dependency.startswith("usd-exchange")
     ]
 
-    assert usd_exchange_dependencies == ["usd-exchange>=2.2 ; platform_machine == 'aarch64'"]
+    assert usd_core_dependencies == []
+    assert usd_exchange_dependencies == [f"usd-exchange=={pyproject['tool']['isaaclab']['versions']['usd_exchange']}"]

source/isaaclab/test/cli/test_uv_run_pyproject.py

@@ -107,6 +107,7 @@ def test_version_single_source_matches_literal_pins():
 
     assert versions["ovphysx"] == "0.5.9"
     assert "omniverseclient==2.72.3" in dependencies
+    assert f"usd-exchange=={versions['usd_exchange']}" in dependencies
 
     # Isaac Sim extra mirrors the table.
     assert optional["isaacsim"] == [f"isaacsim[all,extscache]=={versions['isaacsim']}"]
@@ -199,9 +200,12 @@ def test_uv_run_base_dependencies_cover_newton_rsl_rl_training():
     dependencies = _root_pyproject()["project"]["dependencies"]
 
     # Newton is the default physics engine and RSL-RL the default training library,
-    # so both ship as core third-party requirements (not opt-in extras). The importers
-    # extra carries the mesh-processing deps that authored collision approximations need.
-    assert any(dep.startswith("newton[sim,importers]") for dep in dependencies)
+    # so both ship as core third-party requirements (not opt-in extras). Keep the
+    # required mesh-processing packages explicit so Newton's importer extra does not
+    # select a second standalone USD provider.
+    assert any(dep.startswith("newton[sim]") for dep in dependencies)
+    assert any(dep.startswith("coacd") for dep in dependencies)
+    assert any(dep.startswith("fast-simplification") for dep in dependencies)
     assert any(dep.startswith("rsl-rl-lib") for dep in dependencies)
 
 

source/isaaclab/test/install_ci/cli/test_cli_install_core_in_uvenv_correctness.py

@@ -102,7 +102,7 @@ def test_install_core_omits_optional_submodules(self, isaaclab_root):
     @pytest.mark.slow
     @pytest.mark.timeout(1800)
     def test_install_core_provides_newton_importer_dependencies(self, isaaclab_root):
-        """Newton's mesh-processing deps ship with -i core (via newton[sim,importers]).
+        """Newton's required mesh-processing dependencies ship with ``-i core``.
 
         Without them, Newton warns and falls back to a single convex hull instead of
         honoring an authored ``physics:approximation`` (behavior is unit-tested in

source/isaaclab/test/install_ci/uv_pip/uv-overrides.txt

@@ -1,7 +1,7 @@
 numpy>=2
 mujoco~=3.10.0
 mujoco-warp~=3.10.0,>=3.10.0.2
-newton[sim,importers] @ git+https://github.com/newton-physics/newton.git@831076f52f14612aecace894c81270c1e0ed9479
+newton[sim] @ git+https://github.com/newton-physics/newton.git@831076f52f14612aecace894c81270c1e0ed9479
 newton-usd-schemas>=0.4.0
 torch==2.11.0
 torchvision==0.26.0

tools/wheel_builder/uv-overrides.txt

@@ -1,7 +1,7 @@
 numpy>=2
 mujoco~=3.10.0
 mujoco-warp~=3.10.0,>=3.10.0.2
-newton[sim,importers] @ git+https://github.com/newton-physics/newton.git@831076f52f14612aecace894c81270c1e0ed9479
+newton[sim] @ git+https://github.com/newton-physics/newton.git@831076f52f14612aecace894c81270c1e0ed9479
 newton-usd-schemas>=0.4.0
 torch==2.11.0
 torchvision==0.26.0