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#7pv-nvidia wants to merge 1 commit into
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OpenUSD 26.05 fixes a race in UsdPhysicsParsingUtility that could corrupt the heap (malloc_consolidate(): invalid chunk size / double free) when parsing a single rigid body with many mesh colliders beneath it, before the first simulation step (OpenUSD PR isaac-sim#4002 / commit 060715f). Bumps the kit-less usd-core pin from >=25.11,<26.0 to >=26.5,<27.0 and updates the metadata guard test (renamed from the USD 25 ABI assertion).
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Description
Bumps the kit-less
usd-corepin from>=25.11,<26.0to>=26.5,<27.0.OpenUSD 26.05 fixes a race in
UsdPhysicsParsingUtility(
LoadUsdPhysicsFromRange→_FinalizeCollisionDescs) that corrupts the heap(
malloc_consolidate(): invalid chunk size/double free) when parsing asingle rigid body with many mesh colliders beneath it — e.g. the H2 robot on
the Newton tablecloth workload — before the first simulation step.
060715f("[usdPhysics] fix for a multithreadedcrash if one rigidbody has multiple colliders beneath"), by Paul Molodowitch.
First released in OpenUSD 26.05 (= usd-core
26.5). 26.03 was tagged 2 daysbefore the fix, so it does not contain it.
multithreaded parses, 0 crashes). Interim workaround
PXR_WORK_THREAD_LIMIT=1is not 100% reliable.
The previous
<26.0cap was added by @AntoineRichard in isaac-sim#6165 because the IsaacSim runtime stack loads USD 25.x internals, so a kit-less
usd-core 26.5causesan ABI mismatch. This PR therefore likely cannot pass install/smoke CI until
the Isaac Sim runtime's bundled OpenUSD is uplifted to ≥26.05 (or PR isaac-sim#4002 is
backported). Opened as a draft to surface exactly what CI does with the bump.
cc @AntoineRichard @kellyguo11 @ooctipus
Type of change
Checklist
test_source_package_metadata.py)