Filter deactivated sensors.

habitat-lab/habitat/config/default_structured_configs.py

@@ -1887,6 +1887,9 @@ class GymConfig(HabitatBaseConfig):
     action_keys: Optional[List[str]] = None
     achieved_goal_keys: List = field(default_factory=list)
     desired_goal_keys: List[str] = field(default_factory=list)
+    # When `True`, all visual sensors excluded from `obs_keys` are removed from the simulation.
+    # Beware: Some high-level sensors depend on other sensors, e.g. `humanoid_detector_sensor` depends on a RGB camera. In this case, if the RGB camera is not listed in `obs_keys`, it will be culled, breaking the parent sensor.
+    cull_unused_visual_sensors: Optional[bool] = False
 
 
 @dataclass

habitat-lab/habitat/core/env.py

@@ -111,6 +111,22 @@ def __init__(
         else:
             self.number_of_episodes = None
 
+        # Filter out visual sensors from the habitat-sim config that aren't used by this Gym env.
+        if config.gym.cull_unused_visual_sensors:
+            gym_sensors = config.gym.obs_keys
+            agent_configs = config.simulator.agents
+            with read_write(agent_configs):
+                for agent_name, agent_config in agent_configs.items():
+                    gym_sim_sensors = {}
+                    for (
+                        sensor_key,
+                        sensor_config,
+                    ) in agent_config.sim_sensors.items():
+                        sensor_uuid = f"{agent_name}_{sensor_config.uuid}"
+                        if sensor_uuid in gym_sensors:
+                            gym_sim_sensors[sensor_key] = sensor_config
+                    agent_config.sim_sensors = gym_sim_sensors
+
         self._sim = make_sim(
             id_sim=self._config.simulator.type, config=self._config.simulator
         )