From the US embassy site If your passport was issued on or after October 26, 2006, you will require a biometric passport. If it was issued between October 26, 2005 and October 25, 2006 it need only be machine readable, and the photograph digital. If issued before October 26, 2005 it need only be machine readable.
If you’re just visiting I think it just needs to be machine readable. And you’ll need to apply for an ESTA.
It’s probably easier to go through the “I need a passport today” route at a passport office rather than stand in line on grosvenor square.