Adding sensors to HITL app

[ambervg]

I am working on a simple HITL app and for this I am trying to add some more sensors via a config.yaml file. The final goal would be to export some video's from these sensors. I have been looking at default_structured_configs.py from the habitat-lab repo on how to structure that config.yaml file.

Below I will post a snippet. I also made a dummy project repo, which I will link here.

habitat:
  simulator:
    agents_order: ['agent_0', 'agent_1']
    agents:
      agent_0:
        sim_sensors:
          head_rgb_sensor:
            type: 'HabitatSimRGBSensor'
            height: 256
            width: 256
            position: [0.0, 1.25, 0.0]
            orientation: [0.0, 0.0, 0.0]
            uuid: 'head_rgb'
      agent_1:
        sim_sensors:
          head_rgb_sensor:
            type: 'HabitatSimRGBSensor'
            height: 224
            width: 224
            position: [0.0, 1.25, 0.0]
            orientation: [0.0, 0.0, 0.0]
  task:
    lab_sensors:
      compass_sensor:
        type: "CompassSensor"

However, when I try to access the sensor information through sim.get_sensor_observations().keys(), I don't see my newly created sensors. Is there something else I need to do so I can retrieve observations through these sensors? Looking at this tutorial it seems like adding them to the config should be enough.

Please let me know whether what I am asking is unclear, so I can elaborate. If anyone could help me out with this question, that would be greatly appreciated! I did checkout the documentation/tutorials before posting this issue, so I hope that I have not overlooked an obvious answer from there.

[ambervg]

System information & package versions

OS: Ubuntu 22.04.1
Architecture: x86_64
habitat-sim version: 0.3.0
habitat-lab version: 0.3.0
habitat-hitl version: 0.3.0

In case this is relevant 😃

[0mdc]

Hey @ambervg,

Thanks for the detailed info!
Sensors are indeed tricky to use in the current state of the stack. Something may be overwriting or incorrectly propagating your configuration.
I'll have a dive in the code and let you know what I find.