Initialize with different Agent Position and seeding

[AdriannaGmz]

Hi, From Section "Navigating ROS Agent in Habitat Sim", which uses the roam_with_joy. How can I change the agent initial position in the scene? And, is there a direct method from there that allows to seed this scenario? (I saw the seeding methods, but for other codes, not for "roam_with_joy.py"

[AdriannaGmz]

And another related question.. when I navigate towards the chairs and tables, they are "traversed", ie, the robot is not colliding against it as one would expect. Can you suggest on how to "further" enable the physics between the robot and the objects in the scene?