Error using hla in hybrid simulation

[mhzar]

Thanks for taking the time to fill an issue with MORSE!

Hi. thanks in advance for respoding to my issue. I'm trying morse tutorials of openrobot using hla and i was trying to use the hybrid simulation.
morse run ${MORSE_ROOT}/share/morse/examples/tutorials/multinode/tutorial-hla-hybrid.py
This is the error i get :

MULTINODE INITIALIZATION]
[ 0.183] This is node 'debian'
[ 0.240] [multinode.hla] Initializing HLA node.
[ 0.240] [middleware.hla_datastream] Initializing HLA node.
[ 0.289] [middleware.hla_datastream] MORSE federation created
[ 0.291] [middleware.hla_datastream] HLA middleware initialized.
Python script error - object 'Scene_Script_Holder', controller 'Initialize':
[ERROR][MORSE] Uncaught exception, quit Blender.
Traceback (most recent call last):
File "/usr/local/morse/blender/main.py", line 593, in init
init_multinode()
File "/usr/local/morse/blender/main.py", line 529, in init_multinode
node_name, server_address, server_port)
File "/usr/local/morse/helpers/loading.py", line 45, in create_instance
return klass(*args, **kwargs)
File "/usr/local/morse/core/multinode.py", line 18, in init
self.initialize()
File "/usr/local/morse/multinode/hla.py", line 99, in initialize
self.node.morse_ambassador.initialize()
File "/usr/local/morse/multinode/hla.py", line 54, in initialize
self.suscribe_attributes(obj.name, in_robot, [self.in_position, self.in_orientation])
UnboundLocalError: local variable 'obj' referenced before assignment
Traceback (most recent call last):
File "/usr/local/morse/blender/main.py", line 593, in init
init_multinode()
File "/usr/local/morse/blender/main.py", line 529, in init_multinode
node_name, server_address, server_port)
File "/usr/local/morse/helpers/loading.py", line 45, in create_instance
return klass(*args, **kwargs)
File "/usr/local/morse/core/multinode.py", line 18, in init
self.initialize()
File "/usr/local/morse/multinode/hla.py", line 99, in initialize
self.node.morse_ambassador.initialize()
File "/usr/local/morse/multinode/hla.py", line 54, in initialize
self.suscribe_attributes(obj.name, in_robot, [self.in_position, self.in_orientation])
UnboundLocalError: local variable 'obj' referenced before assignment

The file that causes the erros :

[import logging; logger = logging.getLogger("morse." + name)
import os

from morse.core import blenderapi, mathutils
from morse.core.exceptions import MorseMultinodeError
from morse.core.multinode import SimulationNodeClass
from morse.middleware.hla_datastream import MorseBaseAmbassador, HLABaseNode

try:
import hla.rti as rti
import hla.omt as fom
except (ImportError, SyntaxError):
logger.error("No HLA binding found or imported!")
raise MorseMultinodeError("'hla' python not found, or has syntax errors")

"""
Defines the 'MorseVector' type that will be transfered on the HLA federation.
"""
MorseVector = fom.HLAfixedArray("MorseVector", fom.HLAfloat32LE, 3)

class MorseAmbassador(MorseBaseAmbassador):
"""
The Federate Ambassador of the MORSE node.](url)

"""
def __init__(self, rtia, federation, time_regulation, timestep, lookahead):
    MorseBaseAmbassador.__init__(self, rtia, federation, time_regulation,
                                       timestep, lookahead)
    logger.debug("MorseAmbassador created.")

def initialize(self):
    try:
        out_robot = self.object_handle("Robot")
        self.out_position = self.attribute_handle("position", out_robot)
        self.out_orientation = self.attribute_handle("orientation", out_robot)
    except rti.NameNotFound:
        logger.error("'Robot' (or attributes) not declared in FOM." + \
            "Your '.fed' file may not be up-to-date.")
        return False

    self._rtia.publishObjectClass(out_robot,
        [self.out_position, self.out_orientation])

    robot_dict = blenderapi.persistantstorage().robotDict
    for obj in robot_dict.keys():
        self.register_object(out_robot, obj.name)
        logger.info(
            "Pose of robot %s will be published on the %s federation.", 
            obj.name, self.federation)
    
    in_robot = self.object_handle("Robot")
    self.in_position = self.attribute_handle("position", in_robot)
    self.in_orientation = self.attribute_handle("orientation", in_robot)
    self.suscribe_attributes(obj.name, in_robot, [self.in_position, self.in_orientation])

def discoverObjectInstance(self, object, objectclass, name):
    logger.info(
        "Robot %s will have its pose reflected in the current node...", 
        name)

def reflectAttributeValues(self, object, attributes, tag, order, transport, 
                           time=None, retraction=None):
    scene = blenderapi.scene()
    obj_name = self._rtia.getObjectInstanceName(object)
    logger.debug("RAV %s", obj_name)
    try:
        obj = scene.objects[obj_name]
        if self.in_position in attributes:
            pos, offset = MorseVector.unpack(attributes[self.in_position])
            # Update the positions of the robots
            obj.worldPosition = pos
        if self.in_orientation in attributes:
            ori, offset = MorseVector.unpack(attributes[self.in_orientation])
            # Update the orientations of the robots
            obj.worldOrientation = mathutils.Euler(ori).to_matrix()
    except KeyError as detail:
        logger.debug("Robot %s not found in this simulation scenario," + \
            "but present in another node. Ignoring it!", obj_name)

time_sync = False
fom = "morse.fed"
federation = "MORSE"

def initialize(self):
    logger.info("Initializing HLA node.")
    if os.getenv("CERTI_HTTP_PROXY") is None:
        os.environ["CERTI_HTTP_PROXY"] = ""
    os.environ["CERTI_HOST"] = str(self.host)
    os.environ["CERTI_TCP_PORT"] = str(self.port)

    self.node = HLABaseNode(MorseAmbassador, self.fom, self.node_name,
            self.federation, None, None, self.time_sync, 1.0, 1.0)

    self.node.morse_ambassador.initialize()

def finalize(self):
    """
    Close all open HLA connections.
    """
    del self.node

def synchronize(self):
    if not self.node:
        return

    scene = blenderapi.scene()
    for obj in self.node.morse_ambassador.registred_objects.values():
        obj_name = self.node.rtia.getObjectInstanceName(obj)
        obj_pos = scene.objects[obj_name].worldPosition.to_tuple()
        obj_ori = scene.objects[obj_name].worldOrientation.to_euler()
        hla_att = {
            self.node.morse_ambassador.out_position:
                MorseVector.pack([obj_pos[0], obj_pos[1], obj_pos[2]]),
            self.node.morse_ambassador.out_orientation:
                MorseVector.pack([obj_ori.x, obj_ori.y, obj_ori.z])}
        self.node.morse_ambassador.update_attribute(obj, hla_att)
    self.node.morse_ambassador.advance_time()](url)

I understand the error but i find weird that there is an error in the morse source code.
Has anyone already had this issue ? Or how can i fix it ? (i guess im not supposed to edit morse files)