diff --git a/examples/sensors/carla/data_generation/data_generation.scenic b/examples/sensors/carla/data_generation/data_generation.scenic
deleted file mode 100644
index 234c98b39..000000000
--- a/examples/sensors/carla/data_generation/data_generation.scenic
+++ /dev/null
@@ -1,32 +0,0 @@
-param map = localPath('../../../../assets/maps/CARLA/Town05.xodr')
-param carla_map = 'Town05'
-model scenic.simulators.carla.model
-
-# Sample a lane at random
-lane = Uniform(*network.lanes)
-
-spot = new OrientedPoint on lane.centerline
-
-attrs = {"convert": "CityScapesPalette"}
-
-car_model = "vehicle.tesla.model3"
-
-# Spawn car on that spot with logging autopilot behavior and
-# - an RGB Camera pointing forward with specific attributes
-# - a semantic segmentation sensor
-ego = new Car at spot,
-    with blueprint car_model,
-    with behavior AutopilotBehavior(),
-    with sensors {"front_ss": SSSensor(offset=(1.6, 0, 1.7), width=1056, height=704, attributes=attrs),
-                  "front_rgb": RGBSensor(offset=(1.6, 0, 1.7), width=1056, height=704, attributes=attrs)
-                  }
-
-
-other = new Car offset by 0 @ Range(10, 30),
-    with behavior AutopilotBehavior()
-
-param recordFolder = "out/{simulation}"
-record ego.observations["front_ss"] every 0.5 seconds after 5 seconds to "frontss_{time}.jpg"
-record ego.observations["front_rgb"] after 5 seconds to "frontrgb.mp4"
-
-terminate after 15 seconds
diff --git a/examples/sensors/conftest.py b/examples/sensors/conftest.py
new file mode 100644
index 000000000..d40f9442c
--- /dev/null
+++ b/examples/sensors/conftest.py
@@ -0,0 +1,6 @@
+import pytest
+
+
+@pytest.fixture
+def options():
+    return dict(mode2D=True)
diff --git a/src/scenic/domains/driving/model.scenic b/src/scenic/domains/driving/model.scenic
index b6d0754af..40191b14b 100644
--- a/src/scenic/domains/driving/model.scenic
+++ b/src/scenic/domains/driving/model.scenic
@@ -43,6 +43,7 @@ from scenic.domains.driving.roads import (ManeuverType, Network, Road, Lane, Lan
 from scenic.domains.driving.actions import *
 from scenic.domains.driving.behaviors import *
 
+from scenic.core.sensors import Sensor
 from scenic.core.distributions import RejectionException
 from scenic.simulators.utils.colors import Color
 
@@ -325,6 +326,22 @@ class Pedestrian(DrivingObject):
     length: 0.75
     color: [0, 0.5, 1]
 
+## Stub sensor implementations
+
+class SSSensor(Sensor):
+    def __init__(self, *args, **kwargs):
+        pass
+
+    def getObservation(self):
+        raise RuntimeError("This simulator does not support SSSensor")
+
+class RGBSensor(Sensor):
+    def __init__(self, *args, **kwargs):
+        pass
+
+    def getObservation(self):
+        raise RuntimeError("This simulator does not support RGBSensor")
+
 ## Utility functions
 
 def withinDistanceToAnyCars(car, thresholdDistance):
diff --git a/tests/utils.py b/tests/utils.py
index 3ae1cf8c1..d8b284fcf 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -504,7 +504,14 @@ def ignorable(attr):
             cache,
             debug,
             ignoreCacheAttrs=True,
-            extraIgnores=("__module__",),
+            extraIgnores=(
+                "__module__",
+                "_abc_impl",
+                "_abc_registry",
+                "_abc_cache",
+                "_abc_negative_cache",
+                "_abc_negative_cache_version",
+            ),
         ):
             fail()
             return False