agent.reconfigure not working as expected?

[finnBsch]

Habitat-Sim version

v0.3.3

Problem

For my current project, I generate randomized data via habitat-sim. One of the parameters I want to randomize is camera FOV.

For this, I was trying to update the camera's FOV on-the-go (without constructing a new sim object). I was hoping to make use of agent.reconfigure, docs with the original agent spec but updated FOV.

However, when rendering new images, the updated FOV is not reflected, the rendered images have the old FOV. When inspecting Simulator._Simulator__sensors[agent_id].items() and the _sensor_object.fov attribute of the sensors found there, I can see that those still have the old FOV.

Does this mean that the sensorsuite somehow does not receive the updated sensor specs? If so, what can I do?

Of course I could just overwrite the _sensor_object.fov value, and that gives the expected result but this seems messy and leads to mismatch between agent spec and actual sensor FOV.

EDIT:

Figured the issue is that this line will not actually create the sensor if it already exists (with that uuid?).

My current workaround is this:

for _, sensor in sim._Simulator__sensors[agent_id].items():
    habitat_sim.SensorFactory.delete_sensor(sensor._sensor_object)

before reconfiguring the agent, and then:

agent_config = sim.get_agent(agent_id).agent_config
for i, sensor in enumerate(agent_config.sensor_specifications):
    if isinstance(sensor, habitat_sim.sensor.CameraSensorSpec):
        sensor.hfov = fov
        sensor.fov = fov
        sim.get_agent(agent_id).reconfigure(agent_config, reconfigure_sensors=True)
        sim._update_simulator_sensors(sensor.uuid, agent_id)

Is this how it's supposed to be done?