add version check in IK solver to support old versions

omnigibson/utils/control_utils.py

@@ -4,6 +4,7 @@
 import lula
 import numpy as np
 import omnigibson.utils.transform_utils as T
+from omnigibson.utils.sim_utils import meets_minimum_isaac_version
 
 
 class IKSolver:
@@ -65,9 +66,15 @@ def solve(
         self.config.cspace_seeds = [initial_joint_pos]
         self.config.position_tolerance = tolerance_pos
         self.config.orientation_tolerance = 100.0 if target_quat is None else tolerance_quat
-        self.config.ccd_position_weight = weight_pos
-        self.config.ccd_orientation_weight = 0.0 if target_quat is None else weight_quat
-        self.config.max_num_descents = max_iterations
+
+        if meets_minimum_isaac_version("2023.0.0"):
+            self.config.ccd_position_weight = weight_pos
+            self.config.ccd_orientation_weight = 0.0 if target_quat is None else weight_quat
+            self.config.max_num_descents = max_iterations
+        else:
+            self.config.position_weight = weight_pos
+            self.config.orientation_weight = 0.0 if target_quat is None else weight_quat
+            self.config.max_iterations_per_descent = max_iterations
 
         # Compute target joint positions
         ik_results = lula.compute_ik_ccd(self.kinematics, ik_target_pose, self.eef_name, self.config)