Add scene_prep utilities and update Isaac Sim launch scripts#324
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andrewjong merged 2 commits intomainfrom Mar 20, 2026
Merged
Add scene_prep utilities and update Isaac Sim launch scripts#324andrewjong merged 2 commits intomainfrom
andrewjong merged 2 commits intomainfrom
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Add simulation/isaac-sim/utils/scene_prep.py with four helpers: - scale_stage_prim: apply uniform XYZ scale to a stage prim - add_colliders: recursively apply CollisionAPI to all mesh prims - add_dome_light: add/update a dome light (intensity=3500, exposure=-3) - save_scene_as_contained_usd: collect Nucleus assets into a local directory Update example_one and example_two launch scripts to use scene_prep for environment scaling, collision setup, and lighting instead of inline UsdLux calls. Fix two_drone_scene_import. Update write-isaac-sim-scene SKILL.md to reference scene_prep utilities and ignore prepare_scene.py in .gitignore.
andrewjong
approved these changes
Mar 20, 2026
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Summary
simulation/isaac-sim/utils/scene_prep.pywith four reusable helpers:scale_stage_prim,add_colliders,add_dome_light,save_scene_as_contained_usdexample_oneandexample_twolaunch scripts to use scene_prep for environment scaling, collision setup, and lightingtwo_drone_scene_importwrite-isaac-sim-sceneSKILL.md to document and reference scene_prep utilities