(bugfix): remove direct usage of hsim_bindings for audio and fix missing reexports (#1788)

* Remove direct usage of hsim_bindings for audio and fix missing reexports

* Add one more missing reexport

* Add missing stub

Author: Skylion007

examples/tutorials/audio_agent.py

@@ -9,7 +9,6 @@
 from numpy import ndarray  # noqa: F401
 
 import habitat_sim
-import habitat_sim._ext.habitat_sim_bindings as hsim_bindings
 import habitat_sim.sensor
 import habitat_sim.sim
 
@@ -36,13 +35,13 @@ def main():
     with habitat_sim.Simulator(cfg) as sim:
 
         # create the acoustic configs
-        acoustics_config = hsim_bindings.RLRAudioPropagationConfiguration()
+        acoustics_config = habitat_sim.sensor.RLRAudioPropagationConfiguration()
         acoustics_config.enableMaterials = True
 
         # create channel layout
-        channel_layout = hsim_bindings.RLRAudioPropagationChannelLayout()
+        channel_layout = habitat_sim.sensor.RLRAudioPropagationChannelLayout()
         channel_layout.channelType = (
-            hsim_bindings.RLRAudioPropagationChannelLayoutType.Binaural
+            habitat_sim.sensor.RLRAudioPropagationChannelLayoutType.Binaural
         )
         channel_layout.channelCount = 2
 

src/esp/bindings/SensorBindings.cpp

@@ -412,6 +412,7 @@ void initSensorBindings(py::module& m) {
   py::class_<AudioEmptyStubChannelLayoutClass>(
       m, "RLRAudioPropagationChannelLayout")
       .def(py::init<>());
+  m.attr("RLRAudioPropagationChannelLayoutType") = py::none();
 #endif  // ESP_BUILD_WITH_AUDIO
 
 #ifdef ESP_BUILD_WITH_AUDIO

src_python/habitat_sim/__init__.py

@@ -86,6 +86,7 @@
         FisheyeSensorModelType,
         FisheyeSensorSpec,
         RLRAudioPropagationChannelLayout,
+        RLRAudioPropagationChannelLayoutType,
         RLRAudioPropagationConfiguration,
         Sensor,
         SensorFactory,

src_python/habitat_sim/bindings/__init__.py

@@ -28,6 +28,7 @@
     PathFinder,
     RigidState,
     RLRAudioPropagationChannelLayout,
+    RLRAudioPropagationChannelLayoutType,
     RLRAudioPropagationConfiguration,
     SceneGraph,
     SceneNode,

src_python/habitat_sim/sensor.py

@@ -17,6 +17,7 @@
     FisheyeSensorSpec,
     Observation,
     RLRAudioPropagationChannelLayout,
+    RLRAudioPropagationChannelLayoutType,
     RLRAudioPropagationConfiguration,
     Sensor,
     SensorFactory,
@@ -49,5 +50,6 @@
     "AudioSensorSpec",
     "AudioSensor",
     "RLRAudioPropagationChannelLayout",
+    "RLRAudioPropagationChannelLayoutType",
     "RLRAudioPropagationConfiguration",
 ]