IsaacSim 2023.1.0 compatibility fixes

omnigibson/__init__.py

@@ -80,6 +80,11 @@ def create_app():
         config_kwargs["active_gpu"] = gpu_id
         config_kwargs["physics_gpu"] = gpu_id
     app = SimulationApp(config_kwargs)
+
+    # Omni overrides the global logger to be DEBUG, which is very annoying, so we re-override it to the default WARN
+    # TODO: Remove this once omniverse fixes it
+    logging.getLogger().setLevel(logging.WARNING)
+
     import omni
 
     # Enable additional extensions we need

omnigibson/objects/light_object.py

@@ -161,7 +161,7 @@ def radius(self):
         Returns:
             float: radius for this light
         """
-        return self._light_link.get_attribute("radius")
+        return self._light_link.get_attribute("inputs:radius" if meets_minimum_isaac_version("2023.0.0") else "radius")
 
     @radius.setter
     def radius(self, radius):
@@ -171,7 +171,7 @@ def radius(self, radius):
         Args:
             radius (float): radius to set
         """
-        self._light_link.set_attribute("radius", radius)
+        self._light_link.set_attribute("inputs:radius" if meets_minimum_isaac_version("2023.0.0") else "radius", radius)
 
     @property
     def intensity(self):

omnigibson/simulator.py

@@ -1027,6 +1027,11 @@ def _open_new_stage(self):
         with suppress_omni_log(None):
             create_new_stage()
 
+        # Clear physics context
+        self._physics_context = None
+        if meets_minimum_isaac_version("2023.0.0"):
+            self._physx_fabric_interface = None
+
         # Create world prim
         self.stage.DefinePrim("/World", "Xform")