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[Test] Fix OpenUSD thread limit in LEAPP tests #7229

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Merged
StafaH merged 2 commits into from
Aug 21, 2026
Merged

[Test] Fix OpenUSD thread limit in LEAPP tests #7229

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ff1f2dc
Limit OpenUSD threads in LEAPP tests
StafaH Aug 20, 2026
705e012
Merge branch 'develop' into mh/fix-leapp-openusd-thread-limit
StafaH Aug 21, 2026
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Empty file added source/isaaclab_rl/changelog.d/mh-fix-leapp-openusd-thread-limit.skip
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17 changes: 15 additions & 2 deletions source/isaaclab_rl/test/export/test_leapp_export_flow.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@

from __future__ import annotations

import os
import subprocess
import sys
import tempfile
Expand All @@ -27,8 +28,10 @@
_SUBPROCESS_TIMEOUT = 600
_CHECKPOINT_BATCH_TIMEOUT = 1200
_OUTPUT_TAIL_CHARS = 5000
# TODO: Remove once usd-core>=26.5 is the minimum. Earlier OpenUSD releases
# can corrupt the heap while parsing the Newton Franka payload concurrently.
# TODO: Remove once usd-core>=26.5 is the minimum. Earlier OpenUSD releases can
# corrupt the heap while parsing the Newton Franka payload concurrently. OpenUSD
# reads PXR_WORK_THREAD_LIMIT during process startup, before AppLauncher can apply
# its matching SimulationApp limit.
_LEAPP_TEST_CPU_THREAD_LIMIT = 1


Expand Down Expand Up @@ -132,6 +135,7 @@ def _run_checked(
list(cmd),
cwd=_REPO_ROOT,
capture_output=True,
env={**os.environ, "PXR_WORK_THREAD_LIMIT": str(_LEAPP_TEST_CPU_THREAD_LIMIT)},
text=True,
timeout=timeout,
)
Expand Down Expand Up @@ -266,6 +270,15 @@ def test_initialized_checkpoints(initialized_checkpoints: Path):
assert not missing, f"Missing initialized checkpoints for: {', '.join(missing)}"


def test_openusd_thread_limit_is_set_before_subprocess_startup():
"""Assert LEAPP subprocesses start with OpenUSD concurrency disabled."""
result = _run_checked(
[sys.executable, "-c", "import os; print(os.environ['PXR_WORK_THREAD_LIMIT'])"],
label="OpenUSD thread-limit probe",
)
assert result.stdout.strip() == str(_LEAPP_TEST_CPU_THREAD_LIMIT)


@pytest.mark.parametrize(("backend", "task_name"), _export_cases())
def test_leapp_export_flow(backend: ExportFlowBackend, task_name: str, initialized_checkpoints: Path):
"""Export one backend/task pair using the shared initialized checkpoint."""
Expand Down
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