Unable to load USD assets

Getting the following errors when trying to load in a custom USD asset with self.gym.load_usd():

Loading USD asset from ‘…/assets/usd/World.usd’
Coding Error: in _CreateResolver at line 170 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/usd/lib/ar/resolver.cpp – Failed to find plugin for OmniverseResolver
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Tf’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Trace’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Work’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Plug’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Gf’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Vt’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Ar’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Sdf’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Kind’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Pcp’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Usd’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.UsdGeom’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Ndr’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.Sdr’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘PhysicsSchema’!
ModuleNotFoundError: No module named ‘PhysicsSchema’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.UsdLux’!
ModuleNotFoundError: No module named ‘pxr’
Warning: in Tf_PyLoadScriptModule at line 122 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/base/lib/tf/pyUtils.cpp – Import failed for module ‘pxr.UsdShade’!
ModuleNotFoundError: No module named ‘pxr’
Runtime Error: in Open at line 822 of /buildAgent/bin/b/da639afa0455b478/USD/pxr/usd/lib/usd/stage.cpp – Failed to open layer @…/assets/usd/World.usd@
[Error] [carb.gym.plugin] *** Failed to open stage ‘…/assets/usd/World.usd’
[Error] [carb.gym.plugin] *** Failed to load ‘usd/World.usd’ from ‘…/assets’

It seems that I’m missing some kind of a plugin? The docs don’t mention anything about it

Hi @Ulfrend,

We don’t currently support loading assets from USD, apologies for the confusion of USD mentions from the documentation. We will make sure to remove them for future releases. Asset types supported are MJCF and URDF. Our latest release also supports importing meshes (referenced from MJCF or URDF assets) in any format that Assimp supports.

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