Bumping Isaac version to 4.0.0

docker/Dockerfile

@@ -1,4 +1,4 @@
-ARG ISAAC_SIM_VERSION=2023.1.1
+ARG ISAAC_SIM_VERSION=4.0.0
 
 # Download base image
 FROM nvcr.io/nvidia/isaac-sim:${ISAAC_SIM_VERSION}

launch/andino_isaac.launch.py

@@ -9,14 +9,18 @@
 from xacro import process_file
 
 def search_isaac_install_path():
-    ISAAC_VERSION = "isaac_sim-2023.1.1"
+    ISAAC_VERSION = "isaac-sim-4.0.0"
     isaac_install_path = ""
     # Check the install path for a non-Docker environment
     user_home_path = os.path.expanduser("~")
     for dirpath, dirnames, _ in os.walk(user_home_path):
         for dirname in dirnames:
             if dirname == ISAAC_VERSION:
                 isaac_install_path = os.path.join(dirpath, ISAAC_VERSION)
+                break
+        # Keep the first found path
+        if isaac_install_path:
+            break
     # If not found, check if the install path corresponds to one of a Docker environment
     if isaac_install_path == "":
         ISAAC_DOCKER_INSTALL_PATH = "/isaac-sim"

tools/isaac_launch_script.py

@@ -34,11 +34,6 @@
 try:
 	carb.log_info("Loading world please wait")
 	open_stage(args.world_file)
-	# Wait two frames so that stage starts loading
-	simulation_app.update()
-	simulation_app.update()
-	while is_stage_loading():
-		simulation_app.update()
 	world_settings = {"physics_dt": 1.0 / 60.0, "stage_units_in_meters": 1.0, "rendering_dt": 1.0 / 60.0}
 	world = World(**world_settings)
 	carb.log_info("World loaded")

tools/run_isaac_manually.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/$(whoami)/.local/share/ov/pkg/isaac_sim-2023.1.1/exts/omni.isaac.ros2_bridge/humble/lib
+LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/$(whoami)/.local/share/ov/pkg/isaac-sim-4.0.0/exts/omni.isaac.ros2_bridge/humble/lib
 
 
-/home/$(whoami)/.local/share/ov/pkg/isaac_sim-2023.1.1/isaac-sim.sh
+/home/$(whoami)/.local/share/ov/pkg/isaac-sim-4.0.0/isaac-sim.sh