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fix(deps): bump usd-core to >=26.5 for multithreaded collider crash fix #7

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fix(deps): bump usd-core to >=26.5 for multithreaded collider crash fix #7

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10 changes: 10 additions & 0 deletions source/isaaclab/changelog.d/pverswyvelen-usd-2605-collider-crash-fix.major.rst
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@@ -0,0 +1,10 @@
Changed
^^^^^^^

* **Breaking:** Bumped the kit-less ``usd-core`` pin from ``>=25.11,<26.0`` to
``>=26.5,<27.0`` (OpenUSD 26.05 ABI). OpenUSD 26.05 includes the fix for a
multithreaded crash in ``UsdPhysicsParsingUtility`` that could corrupt the heap
when parsing a single rigid body with many mesh colliders beneath it
(OpenUSD PR #4002 / commit ``060715f``). Versions ``< 26.5`` race during USD
physics parsing and can abort with ``malloc_consolidate(): invalid chunk size``
/ ``double free`` before the first simulation step.
2 changes: 1 addition & 1 deletion source/isaaclab/pyproject.toml
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Expand Up @@ -54,7 +54,7 @@ dependencies = [
"pin-pink==3.1.0 ; platform_system == 'Linux' and platform_machine in 'x86_64 AMD64 aarch64 arm64'",
"daqp==0.8.5 ; platform_system == 'Linux' and platform_machine in 'x86_64 AMD64 aarch64 arm64'",
# OpenUSD (kit-less mode)
"usd-core>=25.11,<26.0 ; platform_machine in 'x86_64 AMD64'",
"usd-core>=26.5,<27.0 ; platform_machine in 'x86_64 AMD64'",
"usd-exchange>=2.2 ; platform_machine in 'x86_64 AMD64 aarch64 arm64'",
# avoid broken hf-xet pre-release cached on NVIDIA Artifactory
"hf-xet>=1.4.1,<2.0.0 ; platform_machine in 'x86_64 AMD64 aarch64 arm64'",
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12 changes: 9 additions & 3 deletions source/isaaclab/test/cli/test_source_package_metadata.py
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Expand Up @@ -20,13 +20,19 @@ 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_usd_core_pin_includes_multithreaded_collider_crash_fix():
"""The kit-less USD package must include the OpenUSD 26.05 fix for the multithreaded
UsdPhysicsParsingUtility crash (one rigid body with many mesh colliders).

See OpenUSD PR #4002 / commit 060715f ("[usdPhysics] fix for a multithreaded crash if
one rigidbody has multiple colliders beneath"), first released in OpenUSD 26.05
(usd-core 26.5). Versions < 26.5 race and can corrupt the heap during USD physics parsing.
"""
with (_repo_root() / "source/isaaclab/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 in 'x86_64 AMD64'"]
assert usd_core_dependencies == ["usd-core>=26.5,<27.0 ; platform_machine in 'x86_64 AMD64'"]
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