Let isaacsim and ovphysx resolve into one environment (#6938)

# Description

`ovphysx` caps `packaging` at `<24` while `isaacsim-core` pins it to
`==26.0`, so the two extras are declared conflicting and uv forks the
resolution. That makes `uv run --extra isaacsim --extra ovphysx`
impossible: an environment can have Isaac Sim **or** OvPhysX, never
both. Any image that wants to exercise both PhysX backends has to build
twice or drop one.

Both caps are stricter than the code needs. This widens the `packaging`
override to `>=20,<27` so the two resolve together at `26.0`, and drops
the `isaacsim` / `ovphysx` conflict pair.

Validated empirically: **119 of 120 OvPhysX training rows completed** on
a benchmark image built with both extras in a single environment at
`packaging==26.0` (the one failure was unrelated). OvPhysX does not
exercise anything that its `<24` cap protects.

`ov` stays forked — it also pulls `ovrtx`, which has not been validated
alongside Isaac Sim. Scope is deliberately limited to the pair with
evidence behind it.

## On the lock diff

It is large, and almost all of it is mechanical. Once `ovphysx` stops
being a fork dimension, uv rewrites resolution markers across every
package, dropping the `extra == '...-ovphysx'` conjunctions.

Exactly one package changes version:

```
packages before: 426   after: 426
packages whose version set differs: 1
   packaging: ['23.2', '26.0'] -> ['26.0']
```

Nothing is upgraded, downgraded, added, or removed. Note also that
running `uv lock` on unmodified `develop` already produces ~2570 lines
of churn on its own, so a portion of this diff is pre-existing staleness
rather than a consequence of this change.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have added a changelog fragment under
`source/isaaclab/changelog.d/`
- [x] I have updated the tests that pinned the old behaviour
(`test_uv_run_pyproject.py`)
- [x] I have verified `uv sync --extra isaacsim --extra ovphysx`
resolves

---------

Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

Author: AntoineRichard

pyproject.toml

@@ -398,16 +398,19 @@ override-dependencies = [
     "typing-extensions>=4.15.0",
     "websockets>=14.0,<17.0.0",
     "coverage>=7.6.1",
+    # ovphysx caps packaging at <24 and isaacsim-core pins ==26.0; both caps are
+    # stricter than the code needs, so widening lets them resolve together at 26.0.
+    "packaging>=20,<27",
+    # usd-exchange and usd-core each vendor a full ``pxr`` built against a different
+    # USD version, and newton[importers] pulls usd-exchange unmarked. Re-impose the
+    # platform split from [project.dependencies] so only one lands per platform.
+    "usd-exchange>=2.2 ; platform_machine == 'aarch64'",
 ]
-# ovphysx pins packaging>=20,<24 while isaacsim-core pins packaging==26.0: a genuine
-# two-sided incompatibility, so uv forks the resolution instead of failing. ``teleop``
-# bundles isaacsim, so it inherits that pair. Every other historical conflict was an
-# over-strict pin that the overrides above now reconcile.
+# ``ov`` stays forked: it pulls ovrtx, which is not validated alongside Isaac Sim.
+# ``teleop`` bundles isaacsim, so it inherits that pair.
 conflicts = [
     [{ extra = "teleop" }, { extra = "ov" }],
-    [{ extra = "teleop" }, { extra = "ovphysx" }],
     [{ extra = "isaacsim" }, { extra = "ov" }],
-    [{ extra = "isaacsim" }, { extra = "ovphysx" }],
 ]
 python-preference = "only-managed"
 package = false

source/isaaclab/changelog.d/ovphysx-isaacsim-co-resolve.rst

@@ -0,0 +1,13 @@
+Changed
+^^^^^^^
+
+* Widened the ``packaging`` override to ``>=20,<27`` and removed the ``ovphysx``
+  conflicts with ``isaacsim`` and ``teleop``, so those extras now resolve into a
+  single environment.
+
+Fixed
+^^^^^
+
+* Fixed intermittent ``pxr`` import failures by overriding ``usd-exchange`` to
+  aarch64 only. It and ``usd-core`` each vendor a complete ``pxr`` runtime, and
+  ``newton[importers]`` pulled usd-exchange onto x86_64 unmarked.

source/isaaclab/test/cli/test_uv_run_pyproject.py

@@ -188,9 +188,11 @@ def test_uv_run_isaacsim_extra_handles_dependency_conflicts():
 
     # isaacsim is forked away from extras whose pins cannot be safely overridden.
     conflict_groups = [{entry["extra"] for entry in group} for group in pyproject["tool"]["uv"]["conflicts"]]
-    for extra in ("ov", "ovphysx"):
-        assert {"isaacsim", extra} in conflict_groups, f"isaacsim must declare a conflict with '{extra}'"
+    assert {"isaacsim", "ov"} in conflict_groups, "isaacsim must declare a conflict with 'ov'"
     assert {"isaacsim", "all"} not in conflict_groups
+    # ovphysx no longer clashes: the packaging override reconciles it.
+    assert {"isaacsim", "ovphysx"} not in conflict_groups
+    assert "packaging>=20,<27" in pyproject["tool"]["uv"]["override-dependencies"]
     # ``test`` is no longer forked away: the coverage override reconciles it with Isaac Sim.
     assert {"isaacsim", "test"} not in conflict_groups
     # ``mimic`` is no longer forked away either: robomimic dropped its lxml constraint, so
@@ -239,10 +241,8 @@ def test_uv_run_teleop_extra_bundles_isaacsim():
     assert not any(dep.startswith("robomimic") for dep in teleop)
 
     conflict_groups = [{entry["extra"] for entry in group} for group in pyproject["tool"]["uv"]["conflicts"]]
-    # Only the packaging split is real; the overrides reconcile everything else.
-    for extra in ("ov", "ovphysx"):
-        assert {"teleop", extra} in conflict_groups, f"teleop must declare a conflict with '{extra}'"
-    for extra in ("mimic", "all", "viser", "test"):
+    assert {"teleop", "ov"} in conflict_groups, "teleop must declare a conflict with 'ov'"
+    for extra in ("mimic", "all", "viser", "test", "ovphysx"):
         assert {"teleop", extra} not in conflict_groups
     # ``--extra teleop --extra test`` must keep working so the teleop suite stays runnable.
     assert {"teleop", "test"} not in conflict_groups

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

@@ -9,3 +9,5 @@ torchaudio==2.11.0
 typing-extensions>=4.15.0
 websockets>=14.0,<17.0.0
 coverage>=7.6.1
+packaging>=20,<27
+usd-exchange>=2.2 ; platform_machine == 'aarch64'

tools/wheel_builder/uv-overrides.txt

@@ -9,3 +9,5 @@ torchaudio==2.11.0
 typing-extensions>=4.15.0
 websockets>=14.0,<17.0.0
 coverage>=7.6.1
+packaging>=20,<27
+usd-exchange>=2.2 ; platform_machine == 'aarch64'