diff --git a/isaac_sim/README.md b/isaac_sim/README.md
index d79d22c..2b613a6 100644
--- a/isaac_sim/README.md
+++ b/isaac_sim/README.md
@@ -55,3 +55,12 @@ source env_isaacsim/bin/activate
 python3 run.py --robot_type g1 # using default policy
 python3 run.py --robot_type g1 --policy_dir YOUR_POLICY_DIR # using your own policy
 ```
+
+### Optional Scene Elements
+
+Some environment features are disabled by default and must be opted into with a flag:
+
+```bash
+python3 run.py --vehicles   # enable scripted waypoint vehicles (forklifts/carts)
+python3 run.py --platforms  # enable elevated platforms/ramps (e.g. the warehouse mezzanine)
+```
diff --git a/isaac_sim/run.py b/isaac_sim/run.py
index fdaf2ed..59bd3cc 100644
--- a/isaac_sim/run.py
+++ b/isaac_sim/run.py
@@ -727,6 +727,13 @@ def main():
         choices=sim_config.available_environment_types(),
         help="Scene to load (one per configs/environments/*.yaml)",
     )
+    parser.add_argument(
+        "--platforms",
+        action="store_true",
+        default=False,
+        help="Enable elevated platforms/ramps (e.g. the warehouse mezzanine) "
+        "from the environment config. Disabled by default.",
+    )
     args, _ = parser.parse_known_args()
 
     robot_cfg = sim_config.load_robot_config(args.robot_type)
@@ -744,6 +751,8 @@ def main():
             args.scan_source,
             "enabled" if robot_cfg.enable_2d_lidar else "disabled",
         )
+    if not args.platforms:
+        env_config.platforms = None
 
     logger.info("Running %s robot simulation", args.robot_type.upper())