Decouple Agents and Sensors; default GUI+Bullet#2621
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…public API Agent-Sensor Decoupling: - Extract Sensor class from simulator.py into sensors/sensor_wrapper.py, fully decoupled from Agent (no agent reference needed) - Flat sensor registry on Simulator (sim.sensors, create_sensor, remove_sensor, get_sensor, render_sensors) - Agent.sensors is now a live property backed by C++ subtree propagation - Backward-compat aliases preserved (_sensors, add_sensor, get_sensor_observations) Build Defaults: - Default HABITAT_BUILD_GUI_VIEWERS=ON and HABITAT_WITH_BULLET=ON across pyproject.toml, build.sh, and CMakeLists.txt - Updated BUILD_FROM_SOURCE.md, setup.py, CONTRIBUTING.md, and viewer example headers to reflect new defaults Example Migration: - Replace all internal API patterns (_sensors, _sensor_object, _spec, _Simulator__sensors) with public API (sensors, sensor_object, spec, node) across all viewer examples, Python tutorials, and Jupyter notebooks Tests: - New tests for sensor subtree discovery, create/remove lifecycle, render_sensors, registry consistency, and backward-compat aliases
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LGTM if it passes all the test and such.
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All tests passing on sim. We expect lab tests to fail as this is a breaking change. I'll put up a lab PR to accompany this one and test off that. |
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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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aclegg3
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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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* Migrate habitat-lab to habitat-sim agent-sensor-decoupling API 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 --------- Co-authored-by: Alexander William Clegg <alexclegg@meta.com>
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Motivation and Context
Agent-Sensor Decoupling:
Build Defaults:
Example Migration:
How Has This Been Tested
Tests:
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