How can I import any robot as an agent into an example scene with functionality?

[G-KUMAR]

Habitat-Sim version

vx.x.x

Habitat is under active development, and we advise users to restrict themselves to stable releases. Are you using the latest release version of Habitat-Sim? Your question may already be addressed in the latest version. We may also not be able to help with problems in earlier versions because they sometimes lack the more verbose logging needed for debugging.

Main branch contains 'bleeding edge' code and should be used at your own risk.

Docs and Tutorials

Did you read the docs? https://aihabitat.org/docs/habitat-sim/ Yes

Did you check out the tutorials? https://aihabitat.org/tutorial/2020/ Yes

Perhaps your question is answered there. If not, carry on!

❓ Questions and Help

What are the files needed to be imported related to the robot and where in the existing repository should I make changes for its functionalities and configuration? Also how can I add additional sensors to the added robot?

[aclegg3]

@G-KUMAR this is really more of a habitat-lab question.

To clarify, habitat-sim treats ArticulatedObjects from URDF format in a standard way. You provide the URDF file, mesh assets, config, etc... and the simulator should be able to load it.

Habitat-lab defines the concept of an ArticulatedAgent. Here, sensors, action spaces, and specific treatment of robotic concepts are defined.