Replicatorwrapper got error message

[baikaixin]

I use the code below to modify the object pose in the Isaac sim stage, and got error message:

>>> rep.modify.pose(position=(1,0,0), input_prims=["/Replicator/Sphere_Xform"])
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/ar_admin/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/scripts/utils/utils.py", line 295, in __call__
    return ReplicatorItem(self.__fn, *args, **kwargs)
  File "/home/ar_admin/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/scripts/utils/utils.py", line 312, in __init__
    self.node = self.__fn(*args, **kwargs)
  File "/home/ar_admin/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/scripts/modify.py", line 113, in pose
    _position(position, input_prims)
  File "/home/ar_admin/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/scripts/utils/utils.py", line 295, in __call__
    return ReplicatorItem(self.__fn, *args, **kwargs)
  File "/home/ar_admin/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/scripts/utils/utils.py", line 312, in __init__
    self.node = self.__fn(*args, **kwargs)
  File "/home/ar_admin/.local/share/ov/pkg/isaac_sim-2022.1.1/exts/omni.replicator.core-1.4.3+lx64.r.cp37/omni/replicator/core/scripts/modify.py", line 333, in _position
    return node
UnboundLocalError: local variable 'node' referenced before assignment

local variable 'node' referenced before assignment

The reason is that in the omni/replicator/core/scripts/modify.py ==> def _position() if the input_prims is given, the code will turn into the 2rd branch, which the node is not defined!

@ReplicatorWrapper
def _position(position: ReplicatorItem, input_prims: Union[ReplicatorItem, List[str]] = None) -> og.Node:
    """Modify the position of the prims specified in `input_prims`.

    Args:
        position: XYZ coordinates in world space.
        input_prims: The prims to be modified. If using `with` syntax, this argument can be omitted.

    Example:
        >>> import omni.replicator.core as rep
        >>> cube = rep.create.cube()
        >>> with cube:
        ...     rep.modify._position(rep.distribution.uniform((0, 0, 0), (100, 100, 100)))
        omni.replicator.core.modify._position
    """
    if isinstance(position, ReplicatorItem):
        node = create_node(
            "omni.replicator.core.OgnWritePrimAttribute", attribute="xformOp:translate", attributeType="double3"
        )
        utils._setup_random_attribute(write_node=node, attribute_value=position, prim_path=input_prims)
    elif input_prims:
        _set_position(input_prims, position)
    else:
        # Still creating a distr node because we don't want to dynamically set the resolved type.
        distr_node = uniform(position, position)
        node = create_node(
            "omni.replicator.core.OgnWritePrimAttribute", attribute="xformOp:translate", attributeType="double3"
        )
        utils._setup_random_attribute(write_node=node, attribute_value=distr_node, prim_path=input_prims)

    return node

I followed the API documentation: API — omni_replicator 1.6.4 documentation

ps. The position do changed after i run the code, that means it really works, but the code given in replicator definitely have problems.

[ahaidu]

Hi there, can you write the steps/script you are running which causes you this issue? Thanks!

[rthaker]

Hi @baikaixin , were you able to resolve the issue?, if not then please provide the steps/script to help you find the solution.

[baikaixin]

just add a sphere in isaac sim and then use the command above the modify the position, then we could get the error.

[ahaidu]

Can you provide the location you are running the command from (e.g, script editor, standalone app etc.)?

[rthaker]

@baikaixin, can you provide a response as requested in earlier message to understand the issue and help you provide the solution.

If the issue is resolved then please update the comment and mark it “Closed”.

[ahaidu]

This does not seem to be an issue on newer versions, the following snippet works as intended:

import omni.replicator.core as rep

rep.create.sphere()
rep.modify.pose(position=(1, 1, 1), input_prims=["/Replicator/Sphere_Xform"])

[baikaixin]

I am using version isaac_sim-2022.1.1. Which newer version are you referring to?

[Simplychenable]

2022.2.1? at least that’s the newest release available from the Launcher.

[ahaidu]

yes, 2022.2.1