Hi @user159739 ,
Isaac Sim does not support running ROS1 natively on Windows.
One option could be to run the ROS2 bridge and setup the robot with ROS2 OmniGraph nodes. And then you could run the ros1_bridge package on WSL on your Windows computer (this would bridge any ROS2 and ROS1 topics and let them communicate with each other). Alternatively you could run the ros1_bridge package on a separate Linux machine (or on the Pi4 directly which might be able handle bridging a small number of topics) provided it is connected to the same network.
For RL if you are manipulating an asset that has action graphs with ROS2 OmniGraph nodes setup, you wouldn’t need to use standalone workflow.
Hope this helps. Please let me know if you need any clarification.