Keep camera transport helpers retryable after setup failures

source/extensions/isaacsim.hsb.nodes/python/nodes/OgnHSBCameraHelper.py

@@ -83,8 +83,10 @@ def compute(db: og.Database) -> bool:
             True if the node computed successfully.
         """
         if db.per_instance_state.initialized is False:
-            db.per_instance_state.initialized = True
             stage = omni.usd.get_context().get_stage()
+            if stage is None:
+                carb.log_warn("USD stage is not available yet, retrying on next call")
+                return False
             with Usd.EditContext(stage, stage.GetSessionLayer()):
                 render_product_path = db.inputs.renderProductPath
                 if not render_product_path:
@@ -146,6 +148,8 @@ def compute(db: og.Database) -> bool:
                     print(traceback.format_exc())
                     return False
 
+                db.per_instance_state.initialized = True
+
         db.outputs.execOut = og.ExecutionAttributeState.ENABLED
         return True
 

source/extensions/isaacsim.hsb.nodes/python/tests/test_camera_helper_validation.py

@@ -0,0 +1,57 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Retry-state tests for HSBCameraHelper."""
+
+import importlib.util
+from pathlib import Path
+from unittest.mock import MagicMock, patch
+
+import omni.kit.test
+from pxr import Usd
+
+MODULE_PATH = Path(__file__).resolve().parents[1] / "nodes" / "OgnHSBCameraHelper.py"
+SPEC = importlib.util.spec_from_file_location("_hsb_camera_helper_validation", MODULE_PATH)
+MODULE = importlib.util.module_from_spec(SPEC)
+SPEC.loader.exec_module(MODULE)
+OgnHSBCameraHelper = MODULE.OgnHSBCameraHelper
+
+
+class TestHSBCameraHelperValidation(omni.kit.test.AsyncTestCase):
+    """Verify transient setup failures leave the helper retryable."""
+
+    @staticmethod
+    def _db() -> MagicMock:
+        db = MagicMock()
+        db.per_instance_state.initialized = False
+        db.inputs.renderProductPath = "/Render/Product"
+        db.inputs.resetSimulationTimeOnStop = True
+        db.inputs.useSystemTime = False
+        db.inputs.type = "vb1940_csi_linux"
+        db.inputs.ipAddress = "127.0.0.1"
+        db.inputs.dataPlaneType = 0
+        db.inputs.dataPlaneId = 0
+        db.inputs.sensorId = 0
+        return db
+
+    @patch.object(MODULE.omni.usd, "get_context")
+    async def test_missing_stage_leaves_state_uninitialized(self, mock_get_context: MagicMock) -> None:
+        db = self._db()
+        mock_get_context.return_value.get_stage.return_value = None
+
+        self.assertFalse(OgnHSBCameraHelper.compute(db))
+        self.assertFalse(db.per_instance_state.initialized)
+
+    @patch.object(MODULE.rep.writers, "get", side_effect=RuntimeError("temporary writer failure"))
+    @patch.object(MODULE.omni.syntheticdata.SyntheticData, "convert_sensor_type_to_rendervar", return_value="LdrColor")
+    @patch.object(MODULE.omni.usd, "get_context")
+    async def test_writer_failure_leaves_state_uninitialized(
+        self, mock_get_context: MagicMock, _mock_convert: MagicMock, _mock_writer_get: MagicMock
+    ) -> None:
+        db = self._db()
+        stage = Usd.Stage.CreateInMemory()
+        stage.DefinePrim("/Render/Product")
+        mock_get_context.return_value.get_stage.return_value = stage
+
+        self.assertFalse(OgnHSBCameraHelper.compute(db))
+        self.assertFalse(db.per_instance_state.initialized)

source/extensions/isaacsim.ucx.nodes/python/nodes/OgnUCXCameraHelper.py

@@ -83,18 +83,20 @@ def compute(db: og.Database) -> bool:
             True if the node computes successfully, otherwise false.
         """
         if db.per_instance_state.initialized is False:
-            db.per_instance_state.initialized = True
             stage = omni.usd.get_context().get_stage()
+            if stage is None:
+                carb.log_warn("USD stage is not available yet, retrying on next call")
+                return False
             with Usd.EditContext(stage, stage.GetSessionLayer()):
                 render_product_path = db.inputs.renderProductPath
                 if not render_product_path:
                     carb.log_warn("Render product not valid")
                     db.per_instance_state.initialized = False
                     return False
 
-                if stage.GetPrimAtPath(render_product_path) is None:
+                render_product_prim = stage.GetPrimAtPath(render_product_path)
+                if not render_product_prim or not render_product_prim.IsValid():
                     carb.log_warn("Render product not created yet, retrying on next call")
-                    db.per_instance_state.initialized = False
                     return False
                 db.per_instance_state.resetSimulationTimeOnStop = db.inputs.resetSimulationTimeOnStop
 
@@ -120,20 +122,22 @@ def compute(db: og.Database) -> bool:
                         sd.SensorType.Rgb.name
                     )
                     writer = rep.writers.get(db.per_instance_state.rv + f"UCX{time_type}PublishImage")
+                    if writer is None:
+                        carb.log_error("UCX camera image writer was not found")
+                        return False
                     writer.initialize(
                         port=db.inputs.port,
                         tag=db.inputs.tag,
                         sendCudaBuffer=bool(db.inputs.sendCudaBuffer),
                     )
-
-                    if writer is not None:
-                        db.per_instance_state.append_writer(writer)
-
+                    db.per_instance_state.append_writer(writer)
                     db.per_instance_state.attach_writers(render_product_path)
                 except Exception:
-                    print(traceback.format_exc())
+                    carb.log_error(f"UCXCameraHelper: Failed to setup writer: {traceback.format_exc()}")
                     return False
 
+                db.per_instance_state.initialized = True
+
         db.outputs.execOut = og.ExecutionAttributeState.ENABLED
         return True
 

source/extensions/isaacsim.ucx.nodes/python/tests/test_camera_helper_validation.py

@@ -0,0 +1,56 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Retry-state tests for UCXCameraHelper."""
+
+import importlib.util
+from pathlib import Path
+from unittest.mock import MagicMock, patch
+
+import omni.kit.test
+from pxr import Usd
+
+MODULE_PATH = Path(__file__).resolve().parents[1] / "nodes" / "OgnUCXCameraHelper.py"
+SPEC = importlib.util.spec_from_file_location("_ucx_camera_helper_validation", MODULE_PATH)
+MODULE = importlib.util.module_from_spec(SPEC)
+SPEC.loader.exec_module(MODULE)
+OgnUCXCameraHelper = MODULE.OgnUCXCameraHelper
+
+
+class TestUCXCameraHelperValidation(omni.kit.test.AsyncTestCase):
+    """Verify transient setup failures leave the helper retryable."""
+
+    @staticmethod
+    def _db() -> MagicMock:
+        db = MagicMock()
+        db.per_instance_state.initialized = False
+        db.inputs.renderProductPath = "/Render/Product"
+        db.inputs.resetSimulationTimeOnStop = True
+        db.inputs.frameSkipCount = 0
+        db.inputs.useSystemTime = False
+        db.inputs.port = 13337
+        db.inputs.tag = 10
+        db.inputs.sendCudaBuffer = True
+        return db
+
+    @patch.object(MODULE.omni.usd, "get_context")
+    async def test_missing_stage_leaves_state_uninitialized(self, mock_get_context: MagicMock) -> None:
+        db = self._db()
+        mock_get_context.return_value.get_stage.return_value = None
+
+        self.assertFalse(OgnUCXCameraHelper.compute(db))
+        self.assertFalse(db.per_instance_state.initialized)
+
+    @patch.object(MODULE.rep.writers, "get", side_effect=RuntimeError("temporary writer failure"))
+    @patch.object(MODULE.omni.syntheticdata.SyntheticData, "convert_sensor_type_to_rendervar", return_value="LdrColor")
+    @patch.object(MODULE.omni.usd, "get_context")
+    async def test_writer_failure_leaves_state_uninitialized(
+        self, mock_get_context: MagicMock, _mock_convert: MagicMock, _mock_writer_get: MagicMock
+    ) -> None:
+        db = self._db()
+        stage = Usd.Stage.CreateInMemory()
+        stage.DefinePrim("/Render/Product")
+        mock_get_context.return_value.get_stage.return_value = stage
+
+        self.assertFalse(OgnUCXCameraHelper.compute(db))
+        self.assertFalse(db.per_instance_state.initialized)