Add Lightwheel fetching asset retry handling

isaaclab_arena/assets/background_library.py

@@ -8,6 +8,7 @@
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 
 from isaaclab_arena.assets.background import Background
+from isaaclab_arena.assets.lightwheel_utils import acquire_lightwheel_asset
 from isaaclab_arena.assets.register import register_asset
 from isaaclab_arena.utils.pose import Pose
 
@@ -155,8 +156,14 @@ def __init__(self, layout_id: int = 1, style_id: int = 1):
 
         # Lazily download the USD
         self.usd_path = str(
-            floorplan_loader.get_usd(
-                scene="robocasakitchen", layout_id=layout_id, style_id=style_id, backend="robocasa"
+            acquire_lightwheel_asset(
+                floorplan_loader,
+                floorplan_loader.get_usd,
+                description=f"{self.name} background layout={layout_id} style={style_id}",
+                scene="robocasakitchen",
+                layout_id=layout_id,
+                style_id=style_id,
+                backend="robocasa",
             )[0]
         )
         super().__init__()

isaaclab_arena/assets/lightwheel_utils.py

@@ -0,0 +1,55 @@
+# Copyright (c) 2025-2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import time
+from collections.abc import Callable
+from typing import Any
+
+_MISSING = object()
+
+
+def acquire_lightwheel_asset(
+    loader: Any,
+    acquire_fn: Callable,
+    description: str,
+    attempts: int = 3,
+    timeout_sec: int | None = 60,
+    delay_sec: float = 2.0,
+    **kwargs,
+):
+    """Acquire a Lightwheel asset with scoped timeout and retry handling."""
+
+    assert attempts > 0, "attempts must be positive"
+    assert delay_sec >= 0, "delay_sec must be non-negative"
+
+    client = getattr(loader, "client", None)
+    old_timeout = getattr(client, "base_timeout", _MISSING)
+    for attempt in range(1, attempts + 1):
+        try:
+            if timeout_sec is not None and old_timeout is not _MISSING:
+                client.base_timeout = timeout_sec
+            return acquire_fn(**kwargs)
+        except Exception as exc:
+            if not _looks_like_timeout(exc) or attempt == attempts:
+                raise
+            print(f"[isaaclab-arena] {description} timed out; retrying {attempt + 1}/{attempts} in {delay_sec:g}s.")
+            if delay_sec > 0:
+                time.sleep(delay_sec)
+        finally:
+            if old_timeout is not _MISSING:
+                client.base_timeout = old_timeout
+
+    raise AssertionError("unreachable")
+
+
+def _looks_like_timeout(exc: BaseException) -> bool:
+    """Return whether an exception is a timeout."""
+    current: BaseException | None = exc
+    while current is not None:
+        text = f"{type(current).__name__}: {current}".lower()
+        if "timeout" in text or "timed out" in text:
+            return True
+        current = current.__cause__ or current.__context__
+    return False

isaaclab_arena/assets/object_library.py

@@ -18,6 +18,7 @@
 from isaaclab_arena.affordances.placeable import Placeable
 from isaaclab_arena.affordances.pressable import Pressable
 from isaaclab_arena.affordances.turnable import Turnable
+from isaaclab_arena.assets.lightwheel_utils import acquire_lightwheel_asset
 from isaaclab_arena.assets.object import Object
 from isaaclab_arena.assets.object_base import ObjectType
 from isaaclab_arena.assets.object_utils import (
@@ -176,8 +177,13 @@ class Microwave(LibraryObject, Openable):
 
     name = "microwave"
     tags = ["object", "openable"]
-    file_path, object_name, metadata = object_loader.acquire_by_registry(
-        registry_type="fixtures", file_name="Microwave039", file_type="USD"
+    file_path, object_name, metadata = acquire_lightwheel_asset(
+        object_loader,
+        object_loader.acquire_by_registry,
+        description="microwave asset",
+        registry_type="fixtures",
+        file_name="Microwave039",
+        file_type="USD",
     )
     usd_path = file_path
     object_type = ObjectType.ARTICULATION
@@ -209,8 +215,13 @@ class CoffeeMachine(LibraryObject, Pressable):
 
     name = "coffee_machine"
     tags = ["object", "pressable"]
-    file_path, object_name, metadata = object_loader.acquire_by_registry(
-        registry_type="fixtures", file_name="CoffeeMachine108", file_type="USD"
+    file_path, object_name, metadata = acquire_lightwheel_asset(
+        object_loader,
+        object_loader.acquire_by_registry,
+        description="coffee_machine asset",
+        registry_type="fixtures",
+        file_name="CoffeeMachine108",
+        file_type="USD",
     )
     usd_path = file_path
     object_type = ObjectType.ARTICULATION
@@ -677,8 +688,13 @@ class Broccoli(LibraryObject):
 
     name = "broccoli"
     tags = ["object", "vegetable", "graspable"]
-    file_path, object_name, metadata = object_loader.acquire_by_registry(
-        registry_type="objects", registry_name=["broccoli"], file_type="USD"
+    file_path, object_name, metadata = acquire_lightwheel_asset(
+        object_loader,
+        object_loader.acquire_by_registry,
+        description="broccoli asset",
+        registry_type="objects",
+        registry_name=["broccoli"],
+        file_type="USD",
     )
     usd_path = file_path
     object_type = ObjectType.RIGID
@@ -704,8 +720,13 @@ class SweetPotato(LibraryObject):
 
     name = "sweet_potato"
     tags = ["object", "vegetable", "graspable"]
-    file_path, object_name, metadata = object_loader.acquire_by_registry(
-        registry_type="objects", file_name="SweetPotato005", file_type="USD"
+    file_path, object_name, metadata = acquire_lightwheel_asset(
+        object_loader,
+        object_loader.acquire_by_registry,
+        description="sweet_potato asset",
+        registry_type="objects",
+        file_name="SweetPotato005",
+        file_type="USD",
     )
     usd_path = file_path
     object_type = ObjectType.RIGID
@@ -732,8 +753,13 @@ class Jug(LibraryObject):
 
     name = "jug"
     tags = ["object", "graspable"]
-    file_path, object_name, metadata = object_loader.acquire_by_registry(
-        registry_type="objects", file_name="Jug005", file_type="USD"
+    file_path, object_name, metadata = acquire_lightwheel_asset(
+        object_loader,
+        object_loader.acquire_by_registry,
+        description="jug asset",
+        registry_type="objects",
+        file_name="Jug005",
+        file_type="USD",
     )
     usd_path = file_path
     object_type = ObjectType.RIGID
@@ -760,8 +786,13 @@ class BeerBottle(LibraryObject):
 
     name = "beer_bottle"
     tags = ["object", "graspable"]
-    file_path, object_name, metadata = object_loader.acquire_by_registry(
-        registry_type="objects", file_name="beer016", file_type="USD"
+    file_path, object_name, metadata = acquire_lightwheel_asset(
+        object_loader,
+        object_loader.acquire_by_registry,
+        description="beer_bottle asset",
+        registry_type="objects",
+        file_name="beer016",
+        file_type="USD",
     )
     usd_path = file_path
     object_type = ObjectType.RIGID

isaaclab_arena/tests/test_lightwheel.py

@@ -0,0 +1,67 @@
+# Copyright (c) 2025-2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from pathlib import Path
+
+import pytest
+
+from isaaclab_arena.assets.lightwheel_utils import acquire_lightwheel_asset
+
+
+def test_acquire_lightwheel_asset_fetches_object():
+    loader_module = pytest.importorskip("lightwheel_sdk.loader")
+    object_loader = loader_module.object_loader
+    old_timeout = object_loader.client.base_timeout
+
+    file_path, object_name, metadata = acquire_lightwheel_asset(
+        object_loader,
+        object_loader.acquire_by_registry,
+        "microwave asset",
+        attempts=2,
+        delay_sec=0,
+        registry_type="fixtures",
+        file_name="Microwave039",
+        file_type="USD",
+    )
+
+    assert Path(file_path).exists()
+    assert object_name == "Microwave039"
+    assert metadata["fileName"].startswith("Microwave039")
+    assert object_loader.client.base_timeout == old_timeout
+
+
+def test_acquire_lightwheel_asset_retries_timeout_failure():
+    class Client:
+        base_timeout = 10
+
+    class Loader:
+        def __init__(self):
+            self.client = Client()
+            self.calls = 0
+            self.timeouts_seen = []
+
+        def acquire(self, **kwargs):
+            self.calls += 1
+            self.timeouts_seen.append(self.client.base_timeout)
+            if self.calls == 1:
+                raise TimeoutError("read timed out")
+            return kwargs["asset_name"]
+
+    loader = Loader()
+
+    result = acquire_lightwheel_asset(
+        loader,
+        loader.acquire,
+        "test asset",
+        attempts=2,
+        timeout_sec=45,
+        delay_sec=0,
+        asset_name="foo",
+    )
+
+    assert result == "foo"
+    assert loader.calls == 2
+    assert loader.timeouts_seen == [45, 45]
+    assert loader.client.base_timeout == 10