diff --git a/habitat/sims/habitat_simulator/habitat_simulator.py b/habitat/sims/habitat_simulator/habitat_simulator.py
index b5b896b34cb83c00358b376e41b049bdc1f90f97..d77e13face1e8f683d02a01c02be9a905c4fe574 100644
--- a/habitat/sims/habitat_simulator/habitat_simulator.py
+++ b/habitat/sims/habitat_simulator/habitat_simulator.py
@@ -189,13 +189,6 @@ class HabitatSim(Simulator):
             sim_sensor_cfg.sensor_type = sensor.sim_sensor_type  # type: ignore
             sensor_specifications.append(sim_sensor_cfg)
 
-        # If there is no sensors specified create a dummy sensor so simulator
-        # won't throw an error
-        if not _sensor_suite.sensors.values():
-            sim_sensor_cfg = habitat_sim.SensorSpec()
-            sim_sensor_cfg.resolution = [1, 1]
-            sensor_specifications.append(sim_sensor_cfg)
-
         agent_config.sensor_specifications = sensor_specifications
         agent_config.action_space = registry.get_action_space_configuration(
             self.config.ACTION_SPACE_CONFIG