Using replicator to modify local positions of items

Omniverse Synthetic Data Generation (SDG)
,
1

Hello,
I am using Replicator for randomizing the positions of items in a scene. I want to modify the positions such that the items move about their own local axis (i.e. they translate locally rather than globally). My current code looks like this:

import omni.replicator.core as rep
import random

seed = random.randint(545631, 1000000)

rep.set_global_seed(seed)

with rep.new_layer():
    camera = rep.create.render_product(
        "/Camera",
        resolution=(1920, 1080)
    )

    def item_randomizer():

        items = rep.get.prims(path_pattern='items', prim_types=['Xform'])

        with items:
            rep.modify.pose(
                position_x = rep.distribution.uniform(-30, 30),
            )

    rep.randomizer.register(item_randomizer)

    with rep.trigger.on_frame(num_frames=10):
        rep.randomizer.item_randomizer()

basic_writer = rep.WriterRegistry.get("BasicWriter")
basic_writer.initialize(
    output_dir="_Output",
    rgb=True,
)
basic_writer.attach([camera])
rep.orchestrator.run()

The command rep.modify.pose(position_x = rep.distribution.uniform(-30, 30),) moves all the items randomly to a global position between -30 and 30. What I want to do is that the items translate about their own current position by certain millimeters. I have searched far and wide but have not been able to find a solution for this. I would appreciate some insight on this topic.

2

Hello. Any update regarding the question?