Use usd-exchange as standalone USD provider - #6866
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Avoid installing usd-core alongside the usd-exchange dependency pulled by Isaac Sim's URDF converter. Install Newton's importer requirements directly so its extra does not reintroduce usd-core.
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usd-core and usd-exchange each install a complete pxr into the same directory, so co-installing them silently replaces one OpenUSD with the other and uninstalling either deletes files the survivor still needs. No resolver reports it: they are separate distributions and the collision only happens on disk. Isaac Lab required usd-core on x86_64 while the standalone URDF and MJCF importers require usd-exchange, so the two could not be combined. Use usd-exchange everywhere, which also aligns x86_64 with aarch64. Newton selects [sim] rather than [sim,importers], whose extra pulls usd-core back in; the mesh-processing packages that extra carried are declared directly. Based on isaac-sim#6866 by @kellyguo11.
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Description
Fix the repeated
test_leapp_export_flowinstallation/runtime failure seen in theIsaac Sim 6.0 CI jobs, including
job 91629341277.
PR #6806 made Isaac Lab's direct standalone USD dependencies platform-disjoint,
but two transitive dependency paths could still install both complete
pxrruntimes on x86_64:
usd-exchange.importersextra requiresusd-coreon x86_64.This change uses
usd-exchange==2.3.0as the only standalone USD provider on allsupported platforms. It selects
newton[sim]and declares Newton's non-USDimporter and mesh-processing requirements directly, preserving importer behavior
without reintroducing
usd-core. The wheel override files and lockfile are kept insync, and regression tests cover the provider and Newton dependency contracts.
No new importer functionality is introduced; dependencies that were previously
transitive through
newton[importers]are now explicit core requirements.Type of change
Testing
usd-coremetadata and passes with this change.
newton[sim,importers]and passes with the explicit dependencies.32 passed, 1 skippedacross the focused CLI and wheel-metadata tests.uv lock --checkpasses; exported production requirements containusd-exchange==2.3.0and nousd-core.uv run isaaclab -fpasses twice.Screenshots
Not applicable.
Checklist
pre-commitchecks withuv run isaaclab -fsource/isaaclab/changelog.d/CONTRIBUTORS.md