From 98986c2885eccc40cdc6a88a6468df357ebbfdf4 Mon Sep 17 00:00:00 2001
From: JCarosella <juancarosella96@creativa77.com.ar>
Date: Mon, 17 Jun 2024 10:39:01 -0300
Subject: [PATCH] Bumping Isaac version to 4.0.0

---
 docker/Dockerfile             | 2 +-
 launch/andino_isaac.launch.py | 6 +++++-
 tools/isaac_launch_script.py  | 5 -----
 tools/run_isaac_manually.sh   | 4 ++--
 4 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/docker/Dockerfile b/docker/Dockerfile
index d8470b8..c5674e9 100644
--- a/docker/Dockerfile
+++ b/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}
diff --git a/launch/andino_isaac.launch.py b/launch/andino_isaac.launch.py
index ca5a0a6..91a2d20 100644
--- a/launch/andino_isaac.launch.py
+++ b/launch/andino_isaac.launch.py
@@ -9,7 +9,7 @@
 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("~")
@@ -17,6 +17,10 @@ def search_isaac_install_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"
diff --git a/tools/isaac_launch_script.py b/tools/isaac_launch_script.py
index 9fc8190..f290f8f 100644
--- a/tools/isaac_launch_script.py
+++ b/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")
diff --git a/tools/run_isaac_manually.sh b/tools/run_isaac_manually.sh
index 4c4f5a5..8901ec6 100755
--- a/tools/run_isaac_manually.sh
+++ b/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