How to access a node from my Custom Writer or Custom Annotator?

Omniverse Synthetic Data Generation (SDG)
1

I am trying to find aspects of the simulation such as the distance of the object from the camera, the rotation of the object respective to the camera, and the illumination settings. I am unsure how to access this information from my custom writer - can a writer access an information bundle by itself or does it need a custom annotator?

This is my AutoFunc node, I extract the prims locations from their names and compute the distance

# The AutoFunc decorator will create a new OmniGraph node with the specified inputs/output
# See https://docs.omniverse.nvidia.com/py/kit/source/extensions/omni.graph/docs/autonode.html
# For typing documentation https://docs.omniverse.nvidia.com/kit/docs/omni.graph.docs/latest/concepts/AutoNode.html
@og.AutoFunc(module_name="omni.replicator")
def ComputeDistance(category:str, numSamples:int = 1) -> og.Bundle:
    """Based on https://forums.developer.nvidia.com/t/how-to-get-current-frame-number-in-replicator/216711/6

    Args:
        category (str): _description_
        numSamples (int, optional): _description_. Defaults to 1.

    Returns:
        og.Bundle: _description_
    """
    # camera_pos:og.Int3, bracket_pos:og.Int3, 
    # Note 1: numSamples input currently required
    # Note 2: Only bundle output currently supported, this will be expanded in the future.

    # Use global to have access to a persistent `frame` variable
    global FRAME
    print("FRAME", FRAME)
    FRAME += 1
    
    stage = omni.usd.get_context().get_stage()
    prim = [x for x in stage.Traverse() if category.capitalize() in x.GetName()][0]
    matrix: Gf.Matrix4d = omni.usd.get_world_transform_matrix(prim) # from /opt/nvidia/omniverse/kit-sdk-launcher/extscore/omni.usd/omni/usd/_impl/utils.py
    bracket_pos: Gf.Vec3d = matrix.ExtractTranslation()
    print("BRACKET POSITION*****", matrix, bracket_pos)

    prim = [x for x in stage.Traverse() if "Camera" in x.GetName()][0]
    matrix: Gf.Matrix4d = omni.usd.get_world_transform_matrix(prim) # from /opt/nvidia/omniverse/kit-sdk-launcher/extscore/omni.usd/omni/usd/_impl/utils.py
    camera_pos: Gf.Vec3d = matrix.ExtractTranslation()
    print("CAMERA POSITION*****", matrix, camera_pos)    
 
    x1, y1, z1 = camera_pos
    x2, y2, z2 = bracket_pos

    distance = int(math.sqrt((x2 - x1)**2 + (y2 - y1)**2 + (z2 - z1)**2))
    
    print("DISTANCE", distance)
    
    # TODO try writing info here
    # or make distance global and access from the writer
    
    bundle = og.Bundle("return", False)
    bundle.create_attribute("values", og.Type(og.BaseDataType.INT, 1)).value = distance
    return bundle


# This will allow the AutoFunc return attribute `out_0` to be automatically connected to the pose node's `values` input
rep.utils.ATTRIBUTE_MAPPINGS.add(rep.utils.AttrMap("outputs_out_0", "inputs:values"))

# Register functionality into replicator
def compute_distance(category:str):
    return rep.utils.create_node("omni.replicator.ComputeDistance", category=category)
rep.randomizer.register(compute_distance)

Looking through the annotator registry files I see that an annotator is registered with a node

AnnotatorRegistry.register_annotator_from_node(
    name="semantic_segmentation",
    input_rendervars=[
        NodeConnectionTemplate("InstanceSegmentationSync", attributes_mapping={"outputs:execOut": "inputs:exec"}),
        "InstanceSegmentationSDExportRawArray",
        "InstanceMappingPtr",
        "InstanceMapping",
    ],
    node_type_id="omni.replicator.core.SemanticSegmentation",
    output_data_type=np.uint32,
    output_channels=1,
    output_is_2d=True,
)

How should I access the output of my node omni.replicator.ComputeDistance in the writer?