Add a new robot into one of the habitats scenes

[EftePA]

How can I add a new robot into one of the habitats scenes? I have the URDF of the robot, but I don't know where I have to add it. And next step would be to define a controller for it, which that also I don't know.
I could just find this answer but it was not clear for me what exactly I have to do, does anyone have any experiences in it? Thank you in advance.

[xavierpuigf]

This tutorial should give a good overview. Check out MultiAgent section
https://github.com/facebookresearch/habitat-lab/blob/main/examples/tutorials/articulated_agents_tutorial.ipynb