From c0f25eaa806ed740702a2a9acb1e33c5423d6268 Mon Sep 17 00:00:00 2001
From: Antonio Serrano Munoz <aserranomuno@nvidia.com>
Date: Mon, 7 Oct 2024 10:34:55 -0400
Subject: [PATCH 1/2] Check for installation using Isaac Sim pip and get the
 Python entry point

---
 isaaclab.sh | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/isaaclab.sh b/isaaclab.sh
index 297424b9c21..a604706e703 100755
--- a/isaaclab.sh
+++ b/isaaclab.sh
@@ -90,8 +90,14 @@ extract_isaacsim_exe() {
     local isaacsim_exe=${isaac_path}/isaac-sim.sh
     # check if there is a python path available
     if [ ! -f "${isaacsim_exe}" ]; then
-        echo "[ERROR] No Isaac Sim executable found at path: ${isaacsim_exe}" >&2
-        exit 1
+        # check for installation using Isaac Sim pip
+        if [ $(python -m pip list | grep -c 'isaacsim-rl') -gt 0 ]; then
+            # Isaac Sim - Python packages entry point
+            local isaacsim_exe="isaacsim omni.isaac.sim"
+        else
+            echo "[ERROR] No Isaac Sim executable found at path: ${isaac_path}" >&2
+            exit 1
+        fi
     fi
     # return the result
     echo ${isaacsim_exe}

From 9864a9a6a8c8e56af80ca903cc79cbe1c5e36292 Mon Sep 17 00:00:00 2001
From: Antonio Serrano Munoz <aserranomuno@nvidia.com>
Date: Mon, 7 Oct 2024 11:37:25 -0400
Subject: [PATCH 2/2] Add omni.isaac.sim as default experience file for Isaac
 Sim PIP executable

---
 isaaclab.bat | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/isaaclab.bat b/isaaclab.bat
index 53674d71f8f..b415ef1a13d 100644
--- a/isaaclab.bat
+++ b/isaaclab.bat
@@ -81,7 +81,7 @@ if errorlevel 1 (
     set isaacsim_exe=!isaac_path!\isaac-sim.bat
 ) else (
     rem if isaac sim installed from pip
-    set isaacsim_exe=isaacsim
+    set isaacsim_exe=isaacsim omni.isaac.sim
 )
 rem check if there is a python path available
 if not exist "%isaacsim_exe%" (