is loading of a URDF file possible

[Ukias]

Is there a possibility to load a URDF file into the simulator in the latest release of Habitat? There was a URDF tutorial at version 0.1.7 of the simulator which was deleted:

https://github.com/facebookresearch/habitat-sim/blob/a33eaab7a59439fa4b3e53df3f74cb1e99b73597/examples/tutorials/URDF_robotics_tutorial.py

For my work, it is desirable, that a URDF file can be loaded in the latest state of the main branch.

[aclegg3]

Hey @Ukias, thanks for reaching out.

Yes, URDF is supported in Habitat.

I'll refer you to:

• a set of python unit tests for the API.
• API documentation for ArticulatedObjects resulting from URDF import.
• URDF import feature in the python interactive viewer application with 't' key press.
• ReplicaCAD dataset which demonstrates adding URDF to a SceneDataset.

:hammer: :wrench: :notebook: :pencil2: We're aware that more straightforward documentation could exist for this feature set. I'll leave this issue open until that is available.