Skip to content

sync: update isaac_sim from OM1-ros2-sdk (867e903238c37fcb9de5525e3b78c81da3c6df06) #46

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
openminddev merged 2 commits into from
Jul 22, 2026
Merged

sync: update isaac_sim from OM1-ros2-sdk (867e903238c37fcb9de5525e3b78c81da3c6df06) #46

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
91bdd35
sync: replace isaac_sim from OM1-ros2-sdk@867e903238c37fcb9de5525e3b7…
openminddev Jul 22, 2026
0a50a27
Merge branch 'main' into sync/isaac-sim-867e903238c37fcb9de5525e3b78c…
openminddev Jul 22, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 9 additions & 0 deletions isaac_sim/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
```
9 changes: 9 additions & 0 deletions isaac_sim/run.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand All @@ -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())

Expand Down
Loading