[0.2.3]Hydra migration 3 v2 (facebookresearch#1000)

* updated md files * updated habitat2_gym_tutorial * updated Habitat2_Quickstart * updated Habitat_Lab * updated docs * partially removed YACS (note there are some inpedendent parts of code that still rely on YACS) * made all DictConfig imports to be from omegaconf using if TYPE_CHECKING * removed link to the outdated notebook * fixed tests * [Hydra Migration] Removing yacs and migratting the dataset generation code of rearrange (facebookresearch#1001) * removing yacs and migratting the dataset generation code of rearrange * addressing comments * typechecking corrections Co-authored-by: vincentpierre <vincentpierre@users.noreply.github.com> * renaming SensorConfig to LabSensorConfig * fixing svg link * fixing svg; * using relative path is better for svg * addressed comments * [0.2.3][Hydra Migration] Made agents to be of type Dict[str, AgentConfig] and added migration readme (facebookresearch#1007) * made habitat.simulator.agents be a Dict[str, AgentConfig] * addressed comments * refactored sim agents configuration * moved rearrange agents declarations to agents folder; finised agents configuration updates; updated docs * updated get_config import * Cfg sys migration readme (facebookresearch#2) * added habitat-lab config readme * addressed most of the comments * added main_agent alias * renamed habitat config reagme and added baselines config readme * Update habitat-lab/habitat/config/default.py Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com> * added desctiption for the agents_order field * added a dot :) Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com> * fixing conflicts Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com> Co-authored-by: vincentpierre <vincentpierre@users.noreply.github.com>
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diff --git a/DATASETS.md b/DATASETS.md
@@ -14,20 +14,20 @@ These datasets can be downloaded follow the instructions [here](https://github.c
 
 ### Task datasets
 
-| Task | Scenes | Link | Extract path | Config to use | Archive size |
-| --- | --- | --- | --- | --- | --- |
-| 🆕[Rearrange Pick](https://arxiv.org/abs/2106.14405) | ReplicaCAD | [rearrange_pick_replica_cad_v0.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/rearrange_pick/replica_cad/v0/rearrange_pick_replica_cad_v0.zip) | `data/datasets/rearrange_pick/replica_cad/v0/` |  [`datasets/rearrangepick/replica_cad.yaml`](habitat/config/habitat/dataset/rearrangement/replica_cad.yaml) | 11 MB |
-| [Point goal navigation](https://arxiv.org/abs/1807.06757) | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` |  [`datasets/pointnav/gibson.yaml`](habitat/config/habitat/dataset/pointnav/gibson.yaml) | 385 MB |
-| 🆕[Point goal navigation](https://arxiv.org/abs/1807.06757) | Gibson 0+ (train) | [pointnav_gibson_0_plus_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_0_plus_v1.zip) | `data/datasets/pointnav/gibson/v1/` |  [`datasets/pointnav/gibson_0_plus.yaml`](habitat/config/habitat/dataset/pointnav/gibson_0_plus.yaml) | 321 MB |
-| [Point goal navigation corresponding to Sim2LoCoBot experiment configuration](https://arxiv.org/abs/1912.06321) | Gibson | [pointnav_gibson_v2.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v2/pointnav_gibson_v2.zip) | `data/datasets/pointnav/gibson/v2/` |  [`datasets/pointnav/gibson_v2.yaml`](habitat/config/habitat/dataset/pointnav/gibson_v2.yaml) | 274 MB |
-| [Point goal navigation](https://arxiv.org/abs/1807.06757) | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/pointnav/mp3d.yaml`](habitat/config/habitat/dataset/pointnav/mp3d.yaml) | 400 MB |
-| 🆕[Point goal navigation](https://arxiv.org/abs/1807.06757) | HM3D | [pointnav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/hm3d/v1/pointnav_hm3d_v1.zip) | `data/datasets/pointnav/hm3d/v1/` |  [`datasets/pointnav/hm3d.yaml`](habitat/config/habitat/dataset/pointnav/hm3d.yaml) | 992 MB |
-| [Object goal navigation](https://arxiv.org/abs/2006.13171) | MatterPort3D | [objectnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/m3d/v1/objectnav_mp3d_v1.zip) | `data/datasets/objectnav/mp3d/v1/` | [`datasets/objectnav/mp3d.yaml`](habitat/config/habitat/dataset/objectnav/mp3d.yaml) | 170 MB |
-| 🆕[Object goal navigation](https://arxiv.org/abs/2006.13171) | HM3D | [objectnav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/hm3d/v1/objectnav_hm3d_v1.zip) | `data/datasets/objectnav/hm3d/v1/` |  [`datasets/objectnav/hm3d.yaml`](habitat/config/habitat/dataset/objetnav/hm3d.yaml) | 154 MB |
-| [Embodied Question Answering](https://embodiedqa.org/) | MatterPort3D | [eqa_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/eqa/mp3d/v1/eqa_mp3d_v1.zip) | `data/datasets/eqa/mp3d/v1/` | [`datasets/eqa/mp3d.yaml`](habitat/config/habitat/dataset/eqa/mp3d.yaml) | 44 MB |
-| [Visual Language Navigation](https://bringmeaspoon.org/) | MatterPort3D | [vln_r2r_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/vln/mp3d/r2r/v1/vln_r2r_mp3d_v1.zip) | `data/datasets/vln/mp3d/r2r/v1` | [`datasets/vln/mp3d_r2r.yaml`](habitat/config/habitat/dataset/vln/mp3d_r2r.yaml) | 2.7 MB |
-| 🆕[Instance image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/936) | HM3D | [instance_imagenav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/imagenav/hm3d/v1/instance_imagenav_hm3d_v1.zip) | `data/datasets/instance_imagenav/hm3d/v1/` |  [`datasets/instance_imagenav/hm3d.yaml`](habitat/config/habitat/dataset/instance_imagenav/hm3d.yaml) | 303 MB |
-| [Image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/333) | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` |  [`datasets/imagenav/gibson.yaml`](habitat/config/habitat/dataset/imagenav/gibson.yaml) | 385 MB |
-| [Image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/333) | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/imagenav/mp3d.yaml`](habitat/config/habitat/dataset/imagenav/mp3d.yaml) | 400 MB |
+| Task | Scenes | Link | Extract path | Config to use                                                                                                          | Archive size |
+| --- | --- | --- | --- |------------------------------------------------------------------------------------------------------------------------| --- |
+| 🆕[Rearrange Pick](https://arxiv.org/abs/2106.14405) | ReplicaCAD | [rearrange_pick_replica_cad_v0.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/rearrange_pick/replica_cad/v0/rearrange_pick_replica_cad_v0.zip) | `data/datasets/rearrange_pick/replica_cad/v0/` | [`datasets/rearrangepick/replica_cad.yaml`](habitat-lab/habitat/config/habitat/dataset/rearrangement/replica_cad.yaml) | 11 MB |
+| [Point goal navigation](https://arxiv.org/abs/1807.06757) | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` | [`datasets/pointnav/gibson.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/gibson.yaml)                                 | 385 MB |
+| 🆕[Point goal navigation](https://arxiv.org/abs/1807.06757) | Gibson 0+ (train) | [pointnav_gibson_0_plus_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_0_plus_v1.zip) | `data/datasets/pointnav/gibson/v1/` | [`datasets/pointnav/gibson_0_plus.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/gibson_0_plus.yaml)                   | 321 MB |
+| [Point goal navigation corresponding to Sim2LoCoBot experiment configuration](https://arxiv.org/abs/1912.06321) | Gibson | [pointnav_gibson_v2.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v2/pointnav_gibson_v2.zip) | `data/datasets/pointnav/gibson/v2/` | [`datasets/pointnav/gibson_v2.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/gibson_v2.yaml)                           | 274 MB |
+| [Point goal navigation](https://arxiv.org/abs/1807.06757) | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/pointnav/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/mp3d.yaml)                                     | 400 MB |
+| 🆕[Point goal navigation](https://arxiv.org/abs/1807.06757) | HM3D | [pointnav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/hm3d/v1/pointnav_hm3d_v1.zip) | `data/datasets/pointnav/hm3d/v1/` | [`datasets/pointnav/hm3d.yaml`](habitat-lab/habitat/config/habitat/dataset/pointnav/hm3d.yaml)                                     | 992 MB |
+| [Object goal navigation](https://arxiv.org/abs/2006.13171) | MatterPort3D | [objectnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/m3d/v1/objectnav_mp3d_v1.zip) | `data/datasets/objectnav/mp3d/v1/` | [`datasets/objectnav/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/objectnav/mp3d.yaml)                                   | 170 MB |
+| 🆕[Object goal navigation](https://arxiv.org/abs/2006.13171) | HM3D | [objectnav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/objectnav/hm3d/v1/objectnav_hm3d_v1.zip) | `data/datasets/objectnav/hm3d/v1/` | [`datasets/objectnav/hm3d.yaml`](habitat-lab/habitat/config/habitat/dataset/objectnav/hm3d.yaml)                                    | 154 MB |
+| [Embodied Question Answering](https://embodiedqa.org/) | MatterPort3D | [eqa_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/eqa/mp3d/v1/eqa_mp3d_v1.zip) | `data/datasets/eqa/mp3d/v1/` | [`datasets/eqa/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/eqa/mp3d.yaml)                                               | 44 MB |
+| [Visual Language Navigation](https://bringmeaspoon.org/) | MatterPort3D | [vln_r2r_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/vln/mp3d/r2r/v1/vln_r2r_mp3d_v1.zip) | `data/datasets/vln/mp3d/r2r/v1` | [`datasets/vln/mp3d_r2r.yaml`](habitat-lab/habitat/config/habitat/dataset/vln/mp3d_r2r.yaml)                                       | 2.7 MB |
+| 🆕[Instance image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/936) | HM3D | [instance_imagenav_hm3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/imagenav/hm3d/v1/instance_imagenav_hm3d_v1.zip) | `data/datasets/instance_imagenav/hm3d/v1/` | [`datasets/instance_imagenav/hm3d.yaml`](habitat-lab/habitat/config/habitat/dataset/instance_imagenav/hm3d.yaml)                   | 303 MB |
+| [Image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/333) | Gibson | [pointnav_gibson_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/gibson/v1/pointnav_gibson_v1.zip) | `data/datasets/pointnav/gibson/v1/` | [`datasets/imagenav/gibson.yaml`](habitat-lab/habitat/config/habitat/dataset/imagenav/gibson.yaml)                                 | 385 MB |
+| [Image goal navigation](https://github.com/facebookresearch/habitat-lab/pull/333) | MatterPort3D | [pointnav_mp3d_v1.zip](https://dl.fbaipublicfiles.com/habitat/data/datasets/pointnav/mp3d/v1/pointnav_mp3d_v1.zip) | `data/datasets/pointnav/mp3d/v1/` | [`datasets/imagenav/mp3d.yaml`](habitat-lab/habitat/config/habitat/dataset/imagenav/mp3d.yaml)                                     | 400 MB |
 
-To use an episode dataset, provide the related config to the Env in [the example](#example) or use the config for [RL agent training](habitat_baselines/README.md#reinforcement-learning-rl).
+To use an episode dataset, provide the related config to the Env in [the example](examples/example.py) or use the config for [RL agent training](habitat-baselines/habitat_baselines/README.md#reinforcement-learning-rl).
diff --git a/README.md b/README.md
@@ -129,10 +129,7 @@ If you use the Habitat platform in your research, please cite the [Habitat 1.0](
     import habitat
 
     # Load embodied AI task (RearrangePick) and a pre-specified virtual robot
-    env = habitat.Env(
-        config=habitat.get_config("habitat-lab/habitat/config/benchmark/rearrange/pick.yaml")
-      )
-
+    env = habitat.Env(config=habitat.get_config("benchmark/rearrange/pick.yaml"))
     observations = env.reset()
 
     # Step through environment with random actions
@@ -190,7 +187,7 @@ We provide docker containers for Habitat, updated approximately once per year fo
 [Common task and episode datasets used with Habitat-Lab](DATASETS.md).
 
 ## Baselines
-Habitat-Lab includes reinforcement learning (via PPO) and classical SLAM based baselines. For running PPO training on sample data and more details refer [habitat_baselines/README.md](habitat_baselines/README.md).
+Habitat-Lab includes reinforcement learning (via PPO) and classical SLAM based baselines. For running PPO training on sample data and more details refer [habitat_baselines/README.md](habitat-baselines/habitat_baselines/README.md).
 
 ## ROS-X-Habitat
 ROS-X-Habitat (https://github.com/ericchen321/ros_x_habitat) is a framework that bridges the AI Habitat platform (Habitat Lab + Habitat Sim) with other robotics resources via ROS. Compared with Habitat-PyRobot, ROS-X-Habitat places emphasis on 1) leveraging Habitat Sim v2's physics-based simulation capability and 2) allowing roboticists to access simulation assets from ROS. The work has also been made public as a [paper](https://arxiv.org/abs/2109.07703).
@@ -199,7 +196,7 @@ Note that ROS-X-Habitat was developed, and is maintained by the Lab for Computat
 
 
 ## License
-Habitat-Lab is MIT licensed. See the [LICENSE file](habitat_baselines/LICENSE) for details.
+Habitat-Lab is MIT licensed. See the [LICENSE file](/LICENSE) for details.
 
 The trained models and the task datasets are considered data derived from the correspondent scene datasets.
 

diff --git a/docs/conf.py b/docs/conf.py
@@ -32,8 +32,8 @@
     "registry",
     "vector_env",
 ]
-# yacs.config isn't ours, so don't document it
-habitat.config.__all__.remove("Config")
+# Hydra's DictConfig isn't ours, so don't document it
+habitat.config.__all__.remove("DictConfig")
 
 PROJECT_TITLE = "Habitat"
 PROJECT_SUBTITLE = "Lab Docs"

diff --git a/docs/pages/habitat-lab-demo.rst b/docs/pages/habitat-lab-demo.rst
@@ -6,18 +6,15 @@ Habitat Lab Demo
 
 .. code:: py
 
-    import habitat
-
-    import numpy as np
     import random
-    from omegaconf import read_write
-
-    %matplotlib inline
     import matplotlib.pyplot as plt
 
+    import habitat
+    from habitat.config import read_write
+
 All the boilerplate code in the habitat-sim to set sensor config and agent
-config is abstracted out in the Habitat Lab config system. Default config is at
-:gh:`habitat-lab/habitat/config/default.py <facebookresearch/habitat-lab/blob/main/habitat-lab/habitat/config/default.py>`.
+config is abstracted out in the Habitat Lab config system. Default habitat structured configs are at
+:gh:`habitat-lab/habitat/config/default_structured_configs.py <facebookresearch/habitat-lab/blob/main/habitat-lab/habitat/config/default_structured_configs.py>`.
 You can override defaults by specifying them in a separate file and pass it to
 the :ref:`habitat.config.get_config()` function or use `read_write` to edit
 the config object.
@@ -26,10 +23,9 @@ the config object.
 
     .. code:: py
 
-        config = habitat.get_config(config_paths='../habitat-lab/habitat/config/tasks/pointnav_mp3d.yaml')
+        config = habitat.get_config(config_paths="benchmark/nav/pointnav/pointnav_mp3d.yaml")
         with read_write(config):
-            config.habitat.dataset.data_path = '../data/datasets/pointnav/mp3d/v1/val/val.json.gz'
-            config.habitat.dataset.scenes_dir = '../data/scene_datasets/'
+            config.habitat.dataset.split = "val"
 
         env = habitat.Env(config=config)
 
@@ -106,6 +102,8 @@ the config object.
     import numpy as np
     from PIL import Image
     from habitat_sim.utils.common import d3_40_colors_rgb
+    from habitat.config.default import get_agent_config
+    from habitat.config.default_structured_configs import HabitatSimSemanticSensorConfig
 
     def display_sample(rgb_obs, semantic_obs, depth_obs):
         rgb_img = Image.fromarray(rgb_obs, mode="RGB")
@@ -128,13 +126,13 @@ the config object.
             plt.imshow(data)
         plt.show()
 
-    config = habitat.get_config(config_paths='../habitat-lab/habitat/config/tasks/pointnav_mp3d.yaml')
+    config = habitat.get_config(config_paths="benchmark/nav/pointnav/pointnav_mp3d.yaml")
     with read_write(config):
-        config.habitat.dataset.data_path = '../data/datasets/pointnav/mp3d/v1/val/val.json.gz'
-        config.habitat.dataset.scenes_dir = '../data/scene_datasets/'
-        config.habitat.simulator.agent_0.sensors = ['rgb_sensor', 'depth_sensor', 'semantic_sensor']
-        config.habitat.simulator.semantic_sensor.width = 256
-        config.habitat.simulator.semantic_sensor.height = 256
+        config.habitat.dataset.split = "val"
+        agent_config = get_agent_config(sim_config=config.habitat.simulator)
+        agent_config.sim_sensors.update(
+            {"semantic_sensor": HabitatSimSemanticSensorConfig(height=256, width=256)}
+        )
         config.habitat.simulator.turn_angle = 30
 
     env = habitat.Env(config=config)

diff --git a/docs/pages/quickstart.rst b/docs/pages/quickstart.rst
@@ -63,7 +63,7 @@ you can install using: :sh:`pip install opencv-python`.
 
     def example():
         env = habitat.Env(
-            config=habitat.get_config("habitat-lab/habitat/config/tasks/pointnav.yaml")
+            config=habitat.get_config("benchmark/nav/pointnav/pointnav_habitat_test.yaml")
         )
 
         print("Environment creation successful")

diff --git a/docs/pages/view-transform-warp.rst b/docs/pages/view-transform-warp.rst
@@ -1,11 +1,6 @@
 View, Transform and Warp
 ########################
 
-.. button-primary:: https://dl.fbaipublicfiles.com/habitat/notebooks/relative_camera_views_transform_and_warping_demo.ipynb
-
-    Download notebook
-
-    relative_cam…demo.ipynb
 
 .. contents::
     :class: m-block m-default
@@ -23,32 +18,29 @@ validate that transformation comparing projected and original views.
         import os
         import numpy as np
         import quaternion
-
         import matplotlib.pyplot as plt
-        %matplotlib inline
 
         import habitat
+        from habitat.config import read_write
+        from habitat.config.default import get_agent_config
 
         import torch.nn.functional as F
         import torch
         from torchvision.transforms import ToTensor
 
         # Set up the environment for testing
-        config = habitat.get_config(config_paths="../habitat-lab/habitat/config/tasks/pointnav_rgbd.yaml")
-        with read_write(config):
-            config.habitat.dataset.data_path = '../data/datasets/pointnav/habitat-test-scenes/v1/val/val.json.gz'
-            config.habitat.dataset.scenes_dir = '../data/scene_datasets/'
-
-        # Can also do directly in the config file
+        config = habitat.get_config(config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml")
         with read_write(config):
-            config.habitat.simulator.depth_sensor.normalize_depth = False
+            config.habitat.dataset.split = "val"
+            agent_config = get_agent_config(sim_config=config.habitat.simulator)
+            agent_config.sim_sensors.depth_sensor.normalize_depth = False
 
         # Intrinsic parameters, assuming width matches height. Requires a simple refactor otherwise
-        W = config.habitat.simulator.depth_sensor.width
-        H = config.habitat.simulator.depth_sensor.height
+        W = agent_config.sim_sensors.depth_sensor.width
+        H = agent_config.sim_sensors.depth_sensor.height
 
         assert(W == H)
-        hfov = float(config.habitat.simulator.depth_sensor.hfov) * np.pi / 180.
+        hfov = float(agent_config.sim_sensors.depth_sensor.hfov) * np.pi / 180.
 
 
         env = habitat.Env(config=config)
@@ -195,6 +187,7 @@ validate that transformation comparing projected and original views.
         ax1.imshow(np.abs(img2_warped.squeeze().permute(1,2,0) - img1_tensor.squeeze().permute(1,2,0)))
         ax1.set_title("Difference between warped \n and ground truth images", fontsize='large')
         ax1.axis('off')
+        plt.show()
 
     .. code:: shell-session
         :class: m-nopad

diff --git a/examples/interactive_play.py b/examples/interactive_play.py
@@ -55,6 +55,7 @@
 
 import habitat
 import habitat.tasks.rearrange.rearrange_task
+from habitat.config.default import get_agent_config
 from habitat.config.default_structured_configs import (
     GfxReplayMeasureMeasurementConfig,
     ThirdRGBSensorConfig,
@@ -635,7 +636,8 @@ def has_pygame():
 
         if not args.same_task:
             sim_config.debug_render = True
-            sim_config.agent_0.sim_sensors.update(
+            agent_config = get_agent_config(sim_config=sim_config)
+            agent_config.sim_sensors.update(
                 {
                     "third_rgb_sensor": ThirdRGBSensorConfig(
                         height=args.play_cam_res, width=args.play_cam_res

diff --git a/examples/new_actions.py b/examples/new_actions.py
@@ -150,7 +150,7 @@ def main():
     HabitatSimActions.extend_action_space("STRAFE_RIGHT")
 
     config = habitat.get_config(
-        config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
+        config_path="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
     )
     with habitat.config.read_write(config):
         # Add a simple action config to the config.habitat.task.actions dictionary