Migrate habitat-lab to habitat-sim agent-sensor-decoupling API#2220
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Migrate habitat-lab to habitat-sim agent-sensor-decoupling API#2220
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Adapt habitat-lab to the new public sensor API from habitat-sim PR #2621 (agent-sensor-decoupling branch). Key changes: - Replace all private _sensors dict access with public sim.sensors property - Replace _sim._sensors[name]._sensor_object with sim.get_sensor(name).sensor_object - Replace agent._sensors with agent.sensors (live C++ subtree view) - Simplify instance_image_nav_task sensor lifecycle to use sim.remove_sensor() instead of manual multi-dict cleanup - Remove Python name-mangling (_Simulator__sensors) from debug_visualizer and its tests; use sim.sensors registry directly - Update CI workflow to build habitat-sim from the PR branch Companion to: facebookresearch/habitat-sim#2621
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Adapt habitat-lab to the new public sensor API from habitat-sim PR #2621 (agent-sensor-decoupling branch). Key changes: - Replace all private _sensors dict access with public sim.sensors property - Replace _sim._sensors[name]._sensor_object with sim.get_sensor(name).sensor_object - Replace agent._sensors with agent.sensors (live C++ subtree view) - Simplify instance_image_nav_task sensor lifecycle to use sim.remove_sensor() instead of manual multi-dict cleanup - Remove Python name-mangling (_Simulator__sensors) from debug_visualizer and its tests; use sim.sensors registry directly - Update CI workflow to build habitat-sim from the PR branch Companion to: facebookresearch/habitat-sim#2621
Bump language-formatters-pre-commit-hooks from v2.3.0 to v2.14.0 to resolve 'ModuleNotFoundError: No module named pkg_resources' on Python 3.12+ (pkg_resources was removed from setuptools). Also bump toml-sort from 0.21.0 to 0.23.1 as required by the updated hooks package (v2.14.0 requires toml-sort>=0.22.0). Includes auto-fixed formatting in mypy.ini, setup.cfg, and pyproject.toml from the updated pretty-format-ini and pretty-format-toml hooks.
…refactor" This reverts commit 4703d09.
habitat-sim has migrated from setup.py to scikit-build-core (pyproject.toml). Direct 'python setup.py install' no longer works. Updated: - CI workflow: use 'pip install . --no-build-isolation' with env vars (HABITAT_BUILD_GUI_VIEWERS=OFF, HABITAT_WITH_CUDA=ON, HABITAT_WITH_BULLET=ON) - Dockerfile: same pip-based build, bump Python to 3.12 - habitat-hitl README: update build example to new env var syntax
The --no-build-isolation flag skips automatic installation of build dependencies from pyproject.toml. Add explicit pip install of scikit-build-core and pybind11 which are required by habitat-sim's new scikit-build-core build system.
The aihabitat-nightly conda channel only has habitat-sim packages for Python 3.10 and 3.11. Pin the non-editable-install and bdist-install environments to Python 3.11 so they can install the nightly packages. The sdist-install environment inherits from bdist-install via clone. The main test environment stays at Python 3.12 (builds from source).
…ource Revert the habitat-sim build step to install from the aihabitat-nightly conda channel instead of cloning and building a specific branch. This will fail until the habitat-sim agent-sensor-decoupling PR is merged and a nightly build is published with the new API. Also pin the main test environment to Python 3.11 since the nightly conda channel only publishes habitat-sim packages for 3.10 and 3.11.
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Tests passed with build from source off the sim PR branch. These tests now won't pass until tomorrow when nightly is updated and both PRs are merged. Merging now. |
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Companion to: facebookresearch/habitat-sim#2621
Motivation and Context
Adapt habitat-lab to the new public sensor API from habitat-sim PR #2621 (agent-sensor-decoupling branch). Key changes:
How Has This Been Tested
Update CI workflow to build habitat-sim from the PR branch
Types of changes
Checklist