How to Change Humanoid Appearance or Config Using env.reset()?

[wsakobe]

Hi! I am currently using Habitat 3.0 to establish a social navigation task that involves multiple humanoid agents in the environment. I have generated several episodes, where each episode specifies the corresponding URDF and motion data files for each humanoid agent based on their IDs.

My goal is to utilize env.reset() to automatically switch to the next episode, updating the configurations for each humanoid agent (e.g., appearance and motion files) dynamically, similar to how other tasks operate. To achieve this, I attempted to update these configurations using habitat.get_config() and invoked sim.reconfigure() within the simulator to apply the changes. However, this approach did not succeed, as the humanoid agents’ appearances remained unchanged across episodes.

I suspect that the issue lies in my implementation of the sim.reconfigure() function, which is largely based on the settings from RearrangeSim.

Could you kindly advise on how to dynamically update these humanoid configurations during episode transitions? I would greatly appreciate any guidance or suggestions you can provide.

Thank you for your time and assistance.

[0mdc]

Hi @wsakobe!

You may want to check out this early implementation: https://github.com/facebookresearch/habitat-lab/blob/9783e3d744175adc6bc93a58e8c182d2b83948a9/habitat-hitl/habitat_hitl/environment/avatar_switcher.py
The code is not yet factored in, but it should do the trick for handling your use case.