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[Deps] Bump USD Core to 26.5 #6840

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[Deps] Bump USD Core to 26.5 #6840

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4 changes: 3 additions & 1 deletion pyproject.toml
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Expand Up @@ -70,7 +70,7 @@ dependencies = [
# OpenUSD (kit-less mode). Both packages vendor a complete ``pxr`` runtime, so
# they must never co-install: usd-core supplies pxr where it has wheels (x86_64),
# usd-exchange supplies it on aarch64 (where usd-core has no wheel).
"usd-core>=25.11,<26.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64'",
"usd-core>=26.5,<27.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64'",

@greptile-apps greptile-apps Bot Aug 1, 2026

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P2 Obsolete concurrency workaround remains

Raising the minimum to usd-core>=26.5 satisfies the documented condition for removing PXR_WORK_THREAD_LIMIT=1, but the rendering harness still disables OpenUSD worker concurrency, increasing kit-less workflow runtime and leaving the upgraded concurrent path untested.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!

@isaaclab-review-bot isaaclab-review-bot Bot Aug 1, 2026

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🟡 Warning · Design Architecture — USD floor conflicts with Newton on wheel install path

project.dependencies now requires usd-core>=26.5 alongside newton[sim,importers]>=1.2.0, whose importer metadata still caps usd-core<26.5 (as stated by the new comment at line 384). The compensating fix lives only in [tool.uv] override-dependencies, which line 93 documents as uv sync only and which is not emitted into wheel metadata. The documented uv pip install <wheel>[extras] path exercised by install_ci/uv_pip/ would then be unresolvable. Constrain the distributed Newton requirement or wait for its metadata fix.

"usd-exchange>=2.2 ; platform_machine == 'aarch64'",
# avoid broken hf-xet pre-release cached on NVIDIA Artifactory
"hf-xet>=1.4.1,<2.0.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64' or platform_machine == 'aarch64'",
Expand Down Expand Up @@ -381,6 +381,8 @@ environments = [
# Torch routes through [tool.uv.sources]. Values mirror [tool.isaaclab.versions] where applicable.
override-dependencies = [
"numpy>=2",
# Override Newton's stale <26.5 importer bound; OpenUSD 26.5 fixes concurrent collider parsing.
"usd-core>=26.5,<27.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64'",
"mujoco~=3.10.0",
"mujoco-warp~=3.10.0,>=3.10.0.2",
"newton[sim,importers] @ git+https://github.com/newton-physics/newton.git@831076f52f14612aecace894c81270c1e0ed9479",
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6 changes: 6 additions & 0 deletions source/isaaclab/changelog.d/antoiner-usd-core-26-5.major.rst
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@@ -0,0 +1,6 @@
Changed
^^^^^^^

* **Breaking:** Raised the minimum kit-less OpenUSD version to 26.5 to fix
crashes when parsing colliders concurrently. Extensions built against USD 25
must be rebuilt against USD 26.
6 changes: 3 additions & 3 deletions source/isaaclab/test/cli/test_source_package_metadata.py
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Expand Up @@ -23,8 +23,8 @@ 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_requires_usd26_abi():
"""The kit-less USD package must require the USD 26 ABI."""
with (_repo_root() / "pyproject.toml").open("rb") as f:
pyproject = tomllib.load(f)

Expand All @@ -33,7 +33,7 @@ def test_isaaclab_usd_core_pin_stays_on_isaacsim_compatible_usd25_abi():
]

assert usd_core_dependencies == [
"usd-core>=25.11,<26.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64'"
"usd-core>=26.5,<27.0 ; platform_machine == 'x86_64' or platform_machine == 'AMD64'"
]


Expand Down
10 changes: 5 additions & 5 deletions uv.lock
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