--clean up imports

Apparently python 3 doesn't like class-scope imports.

src_python/habitat_sim/utils/sim_utils.py

@@ -10,6 +10,9 @@
 
 import magnum as mn
 import numpy as np
+from habitat.articulated_agents.robots.spot_robot import SpotRobot
+from habitat.datasets.rearrange.navmesh_utils import get_largest_island_index
+from omegaconf import DictConfig
 
 import habitat_sim
 from habitat_sim import physics as HSim_Phys
@@ -18,10 +21,6 @@
 # Class to instantiate and maneuver spot from a viewer
 # DEPENDENT ON HABITAT-LAB -
 class SpotAgent:
-    from habitat.articulated_agents.robots.spot_robot import SpotRobot
-    from habitat.datasets.rearrange.navmesh_utils import get_largest_island_index
-    from omegaconf import DictConfig
-
     SPOT_DIR = "data/robots/hab_spot_arm/urdf/hab_spot_arm.urdf"
     if not os.path.isfile(SPOT_DIR):
         # support other layout
@@ -255,10 +254,8 @@ def __init__(self, sim: habitat_sim.Simulator):
     def load_and_init(self):
         # add the robot to the world via the wrapper
         robot_path = SpotAgent.SPOT_DIR
-        agent_config = SpotAgent.DictConfig({"articulated_agent_urdf": robot_path})
-        self.spot: SpotAgent.SpotRobot = SpotAgent.SpotRobot(
-            agent_config, self.sim, fixed_base=True
-        )
+        agent_config = DictConfig({"articulated_agent_urdf": robot_path})
+        self.spot: SpotRobot = SpotRobot(agent_config, self.sim, fixed_base=True)
         self.spot.reconfigure()
         self.spot.update()
         self.spot_action: SpotAgent.ExtractedBaseVelNonCylinderAction = (
@@ -323,7 +320,7 @@ def base_pos(self):
 
     def place_on_navmesh(self):
         if self.sim.pathfinder.is_loaded:
-            self.largest_island_ix = SpotAgent.get_largest_island_index(
+            self.largest_island_ix = get_largest_island_index(
                 pathfinder=self.sim.pathfinder,
                 sim=self.sim,
                 allow_outdoor=False,