Bump usd-core dependency to 26.05 to fix USD physics crash

[mataylor-nvidia]

Resolves a fatal crash in libusd_ms triggered by LoadUsdPhysicsFromRange, caused by ABI incompatibility in the 25.11 USD library (nvbugspro #6441062).

Note this fix will work for kitless, but kit brings it's own USD

Description

Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context.
List any dependencies that are required for this change.

Fixes # (OMPE-100515)

Type of change

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

Screenshots

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Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[mataylor-nvidia]

The ovphysx_manager.py comment referencing 25.11 was left unchanged — it describes the version mismatch between IsaacSim's bundled pxr and ovphysx's internal check, which is a separate dependency from the usd-core PyPI pin.

@classmethod
    def _construct_physx(cls, ovphysx_device: str, gpu_index: int) -> None:
        """Bootstrap the ``ovphysx`` wheel and create the :class:`ovphysx.PhysX` instance.

        Runs once per process.  Configures worker threads, registers the
        process-exit ``os._exit(0)`` handler, and stores the result on
        ``cls._physx``.  See HACK on :meth:`_release_physx` for why the
        instance must outlive every individual :class:`SimulationContext`.
        """
        # HACK (temporary): hide pxr from sys.modules during ovphysx bootstrap.
        # IsaacSim's pxr reports version 0.25.5 (pip convention) while ovphysx
        # expects 25.11 (OpenUSD release convention).  Hiding pxr causes
        # ovphysx.check_usd_compatibility() to skip the Python-side version
        # check.  This should go away once ovphysx ships a namespaced USD
        # copy with isolated symbols (same "import pxr" API, no collision).

[greptile-apps]

Greptile Summary

This PR updates the kitless USD dependency to the USD 26 line. The main changes are:

• Bumps the x86_64 usd-core range to >=26.05,<27.0.
• Adds launcher setup for omni.usd.libs so its pxr package and native libraries can take precedence.
• Updates USD version expectations in metadata and benchmark tests.
• Adds a changelog entry for the dependency bump and crash fix.

Confidence Score: 5/5

This looks safe to merge.

• No blocking issues found in the changed code.

Important Files Changed

Filename	Overview
pyproject.toml	Updates the x86_64 usd-core dependency range to the USD 26 line.
isaaclab.sh	Adds POSIX launcher setup for omni.usd.libs path precedence and guarded pxr promotion.
isaaclab.bat	Adds Windows launcher setup for omni.usd.libs path precedence and guarded pxr promotion.
source/isaaclab/test/benchmark/test_capture.py	Updates the benchmark version fixture and assertion to expect USD 26.
source/isaaclab/test/cli/test_source_package_metadata.py	Updates the static package metadata test to require the USD 26 dependency range.

_{Reviews (10): Last reviewed commit: "Surface read-only pxr promotion failure ..." | Re-trigger Greptile}

[mataylor-nvidia]

@greptile review

[StafaH]

Maybe we can just get rid of these tests, since they're just checking that a hardcoded value is the correct hardcoded value? I don't see anything in this test file that's actually a useful test.

[mataylor-nvidia]

sure sounds good to me

[mataylor-nvidia]

Possible issues:

Issue 1 — USD schema conflict (without omni.usd.libs in PYTHONPATH):
usd-core 26.8 registers UsdVolParticleField → alias ParticleField. Then ovrtx's old usd_particle_field plugin also tries to register ParticleField → alias UsdParticleFieldParticleField. Conflict. This is what setup_usd_libs.py was designed to fix — by making Python prefer omni.usd.libs/pxr (Isaac Sim's USD 25.11) over usd-core 26.8/pxr.

Issue 2 — OmniClient version mismatch (independent, present even after the USD fix):
ovphysx 0.5.9 bundles OmniClient 2.72.3 and hardcodes that exact version in ovstage-omniclient.version. Its Carbonite loader checks which omniclient.dll is already in the process and refuses if it's not 2.72.3. But omniverseclient==2.72.1 (pinned in pyproject.toml line 55) ships omni/client/omniclient.dll version 2.72.1 — which lands in memory first, causing the rejection.

[AntoineRichard]

🤖 AI-assisted review (batch triage of open CI/infra PRs)

Closing as superseded: develop has since removed usd-core entirely in favor of a single usd-exchange provider (#6935/#6938), with guard tests that this branch would now fail (test_isaaclab_uses_one_standalone_usd_provider). The underlying OpenUSD crash is still real, and the upgrade path is now carried by #7192 (usd-exchange 3.0.0 → OpenUSD 26.08), which also retires the thread-limit workarounds.

Feel free to reopen if this was closed in error.