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feat: route sensors by entity_name (M3.6 / ADR-0012 S4) - #138
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Sensors gain SensorCfg.entity_name (default "robot") and attach to / read from the named scene entity instead of the singular accessors. - sensor/_entity.py (new): entity_handle / entity_state / entity_articulation resolve env.articulations[entity_name] with a primary fallback (env.robot / env.robot_state / env.articulation, then env itself for minimal fakes). Lives in the sensor layer because mdp._helpers imports sensor.contact — a sensor importing it back would cycle. - All nine sensors (camera, force_torque, contact, self_contact, imu, ray_cast, body_velocity, frame_transformer, angular_momentum) reach their entity's gs_handle / RobotState / articulation via entity_name, and resolve link/joint indices against that entity's name tables (not the primary's) for heterogeneous-multi-robot correctness. Backward-compatible: entity_name defaults to primary "robot"; single-robot scenes unchanged (managers/scene wire sensors as before). Test fakes: the FT fake articulation gains joint_names (real entity has it); camera/FT error-message wording dropped the "env." prefix. Gates: ruff ✓, ruff format ✓ (full repo), pyright 0/0/0, lint-imports 6 kept / 0 broken, full suite 464 passed (+2). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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feat: route sensors by entity_name (M3.6 / ADR-0012 S4)
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What
Slice S4 — sensors gain
SensorCfg.entity_name(default"robot") and attach to / readfrom the named scene entity. Backward-compatible (default → primary; single-robot
scenes unchanged).
sensor/_entity.py(new):entity_handle/entity_state/entity_articulationresolve
env.articulations[entity_name]with a primary fallback. It lives in the sensorlayer on purpose —
mdp._helpersimportssensor.contact, so a sensor importing it backwould form a cycle.
camera,force_torque,contact,self_contact,imu,ray_cast,body_velocity,frame_transformer,angular_momentum) now reach their entity'sgs_handle/RobotState/ articulation and resolve their link/joint indicesagainst that entity's name tables (not the primary's) — correct for heterogeneous robots.
Reviewer-caught regressions (fixed)
The full suite earned its keep again:
entity_articulationfirst fell back toenv.articulationdirectly → 67 failures fromminimal fakes that expose
link_namesat env-level. Fixed togetattr(env, "articulation", env)(matching
mdp.resolve_articulation).joint_names(FT now resolves joints against the entity) → gaveit
joint_names.env.link_names→link_names).Tests
tests/test_multi_robot.py+2 — resolver selection/fallback + aForceTorqueSensorwithentity_name="robot_b"resolving/reading that entity. All sensor suites green.Gates
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