We demonstrate in this paper the interoperability and the dynamism capabilities in SCA-based systems in the context of smart habitats. These capabilities are due to three developed tools: a Python-based OSGi runtime and service-oriented component model (Pelix and iPOPO, respectively); a tool to publish SCA services as OSGi services (NaSCAr) ; and a tool to publish UPnP devices as SCA services (UPnPServiceFactory). By this, we have developed a service robot and robot pilot agent, which can dynamically add and remove sensors and widgets. This use case follows and responds to the ubiquitous computing trend and the runtime adaptivity needed in such systems.