diff --git a/scripts/environments/teleoperation/teleop_se3_agent.py b/scripts/environments/teleoperation/teleop_se3_agent.py
index 32f125b194f..85f1cbdf2f8 100644
--- a/scripts/environments/teleoperation/teleop_se3_agent.py
+++ b/scripts/environments/teleoperation/teleop_se3_agent.py
@@ -56,10 +56,9 @@
 
 
 import gymnasium as gym
+import logging
 import torch
 
-import omni.log
-
 from isaaclab.devices import Se3Gamepad, Se3GamepadCfg, Se3Keyboard, Se3KeyboardCfg, Se3SpaceMouse, Se3SpaceMouseCfg
 from isaaclab.devices.openxr import remove_camera_configs
 from isaaclab.devices.teleop_device_factory import create_teleop_device
@@ -73,6 +72,9 @@
     import isaaclab_tasks.manager_based.locomanipulation.pick_place  # noqa: F401
     import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 def main() -> None:
     """
@@ -106,12 +108,12 @@ def main() -> None:
         env = gym.make(args_cli.task, cfg=env_cfg).unwrapped
         # check environment name (for reach , we don't allow the gripper)
         if "Reach" in args_cli.task:
-            omni.log.warn(
+            logger.warning(
                 f"The environment '{args_cli.task}' does not support gripper control. The device command will be"
                 " ignored."
             )
     except Exception as e:
-        omni.log.error(f"Failed to create environment: {e}")
+        logger.error(f"Failed to create environment: {e}")
         simulation_app.close()
         return
 
@@ -183,7 +185,9 @@ def stop_teleoperation() -> None:
                 args_cli.teleop_device, env_cfg.teleop_devices.devices, teleoperation_callbacks
             )
         else:
-            omni.log.warn(f"No teleop device '{args_cli.teleop_device}' found in environment config. Creating default.")
+            logger.warning(
+                f"No teleop device '{args_cli.teleop_device}' found in environment config. Creating default."
+            )
             # Create fallback teleop device
             sensitivity = args_cli.sensitivity
             if args_cli.teleop_device.lower() == "keyboard":
@@ -199,8 +203,8 @@ def stop_teleoperation() -> None:
                     Se3GamepadCfg(pos_sensitivity=0.1 * sensitivity, rot_sensitivity=0.1 * sensitivity)
                 )
             else:
-                omni.log.error(f"Unsupported teleop device: {args_cli.teleop_device}")
-                omni.log.error("Supported devices: keyboard, spacemouse, gamepad, handtracking")
+                logger.error(f"Unsupported teleop device: {args_cli.teleop_device}")
+                logger.error("Supported devices: keyboard, spacemouse, gamepad, handtracking")
                 env.close()
                 simulation_app.close()
                 return
@@ -210,15 +214,15 @@ def stop_teleoperation() -> None:
                 try:
                     teleop_interface.add_callback(key, callback)
                 except (ValueError, TypeError) as e:
-                    omni.log.warn(f"Failed to add callback for key {key}: {e}")
+                    logger.warning(f"Failed to add callback for key {key}: {e}")
     except Exception as e:
-        omni.log.error(f"Failed to create teleop device: {e}")
+        logger.error(f"Failed to create teleop device: {e}")
         env.close()
         simulation_app.close()
         return
 
     if teleop_interface is None:
-        omni.log.error("Failed to create teleop interface")
+        logger.error("Failed to create teleop interface")
         env.close()
         simulation_app.close()
         return
@@ -253,7 +257,7 @@ def stop_teleoperation() -> None:
                     should_reset_recording_instance = False
                     print("Environment reset complete")
         except Exception as e:
-            omni.log.error(f"Error during simulation step: {e}")
+            logger.error(f"Error during simulation step: {e}")
             break
 
     # close the simulator
diff --git a/scripts/imitation_learning/isaaclab_mimic/generate_dataset.py b/scripts/imitation_learning/isaaclab_mimic/generate_dataset.py
index a260151f4b1..019a65ddcde 100644
--- a/scripts/imitation_learning/isaaclab_mimic/generate_dataset.py
+++ b/scripts/imitation_learning/isaaclab_mimic/generate_dataset.py
@@ -64,23 +64,26 @@
 import asyncio
 import gymnasium as gym
 import inspect
+import logging
 import numpy as np
 import random
 import torch
 
-import omni
-
 from isaaclab.envs import ManagerBasedRLMimicEnv
 
 import isaaclab_mimic.envs  # noqa: F401
 
 if args_cli.enable_pinocchio:
     import isaaclab_mimic.envs.pinocchio_envs  # noqa: F401
+
 from isaaclab_mimic.datagen.generation import env_loop, setup_async_generation, setup_env_config
 from isaaclab_mimic.datagen.utils import get_env_name_from_dataset, setup_output_paths
 
 import isaaclab_tasks  # noqa: F401
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 def main():
     num_envs = args_cli.num_envs
@@ -110,7 +113,7 @@ def main():
 
     # Check if the mimic API from this environment contains decprecated signatures
     if "action_noise_dict" not in inspect.signature(env.target_eef_pose_to_action).parameters:
-        omni.log.warn(
+        logger.warning(
             f'The "noise" parameter in the "{env_name}" environment\'s mimic API "target_eef_pose_to_action", '
             "is deprecated. Please update the API to take action_noise_dict instead."
         )
diff --git a/scripts/reinforcement_learning/ray/mlflow_to_local_tensorboard.py b/scripts/reinforcement_learning/ray/mlflow_to_local_tensorboard.py
index 64f3cb707ba..232673d4444 100644
--- a/scripts/reinforcement_learning/ray/mlflow_to_local_tensorboard.py
+++ b/scripts/reinforcement_learning/ray/mlflow_to_local_tensorboard.py
@@ -66,6 +66,7 @@ def process_run(args):
 
 def download_experiment_tensorboard_logs(uri: str, experiment_name: str, download_dir: str) -> None:
     """Download MLflow experiment logs and convert to TensorBoard format."""
+    # import logger
     logger = logging.getLogger(__name__)
 
     try:
diff --git a/scripts/reinforcement_learning/rl_games/train.py b/scripts/reinforcement_learning/rl_games/train.py
index f4952df5f2f..22d82229930 100644
--- a/scripts/reinforcement_learning/rl_games/train.py
+++ b/scripts/reinforcement_learning/rl_games/train.py
@@ -60,12 +60,12 @@
 """Rest everything follows."""
 
 import gymnasium as gym
+import logging
 import math
 import os
 import random
 from datetime import datetime
 
-import omni
 from rl_games.common import env_configurations, vecenv
 from rl_games.common.algo_observer import IsaacAlgoObserver
 from rl_games.torch_runner import Runner
@@ -86,6 +86,9 @@
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 
@@ -169,7 +172,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     if isinstance(env_cfg, ManagerBasedRLEnvCfg):
         env_cfg.export_io_descriptors = args_cli.export_io_descriptors
     else:
-        omni.log.warn(
+        logger.warning(
             "IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."
         )
 
diff --git a/scripts/reinforcement_learning/rsl_rl/train.py b/scripts/reinforcement_learning/rsl_rl/train.py
index 8b66feb28aa..77ab3caee1b 100644
--- a/scripts/reinforcement_learning/rsl_rl/train.py
+++ b/scripts/reinforcement_learning/rsl_rl/train.py
@@ -73,11 +73,11 @@
 """Rest everything follows."""
 
 import gymnasium as gym
+import logging
 import os
 import torch
 from datetime import datetime
 
-import omni
 from rsl_rl.runners import DistillationRunner, OnPolicyRunner
 
 from isaaclab.envs import (
@@ -96,6 +96,9 @@
 from isaaclab_tasks.utils import get_checkpoint_path
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 torch.backends.cuda.matmul.allow_tf32 = True
@@ -151,7 +154,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     if isinstance(env_cfg, ManagerBasedRLEnvCfg):
         env_cfg.export_io_descriptors = args_cli.export_io_descriptors
     else:
-        omni.log.warn(
+        logger.warning(
             "IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."
         )
 
diff --git a/scripts/reinforcement_learning/sb3/train.py b/scripts/reinforcement_learning/sb3/train.py
index be43b3b8ac8..94e76dec8ad 100644
--- a/scripts/reinforcement_learning/sb3/train.py
+++ b/scripts/reinforcement_learning/sb3/train.py
@@ -73,12 +73,12 @@ def cleanup_pbar(*args):
 """Rest everything follows."""
 
 import gymnasium as gym
+import logging
 import numpy as np
 import os
 import random
 from datetime import datetime
 
-import omni
 from stable_baselines3 import PPO
 from stable_baselines3.common.callbacks import CheckpointCallback, LogEveryNTimesteps
 from stable_baselines3.common.vec_env import VecNormalize
@@ -98,6 +98,8 @@ def cleanup_pbar(*args):
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# import logger
+logger = logging.getLogger(__name__)
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 
@@ -145,7 +147,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     if isinstance(env_cfg, ManagerBasedRLEnvCfg):
         env_cfg.export_io_descriptors = args_cli.export_io_descriptors
     else:
-        omni.log.warn(
+        logger.warning(
             "IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."
         )
 
diff --git a/scripts/reinforcement_learning/skrl/train.py b/scripts/reinforcement_learning/skrl/train.py
index d73a2a40262..8dc051ee8a4 100644
--- a/scripts/reinforcement_learning/skrl/train.py
+++ b/scripts/reinforcement_learning/skrl/train.py
@@ -73,11 +73,11 @@
 """Rest everything follows."""
 
 import gymnasium as gym
+import logging
 import os
 import random
 from datetime import datetime
 
-import omni
 import skrl
 from packaging import version
 
@@ -111,6 +111,9 @@
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.hydra import hydra_task_config
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # PLACEHOLDER: Extension template (do not remove this comment)
 
 # config shortcuts
@@ -183,7 +186,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     if isinstance(env_cfg, ManagerBasedRLEnvCfg):
         env_cfg.export_io_descriptors = args_cli.export_io_descriptors
     else:
-        omni.log.warn(
+        logger.warning(
             "IO descriptors are only supported for manager based RL environments. No IO descriptors will be exported."
         )
 
diff --git a/scripts/tools/record_demos.py b/scripts/tools/record_demos.py
index 4eeef711a1c..8fe3ad387e8 100644
--- a/scripts/tools/record_demos.py
+++ b/scripts/tools/record_demos.py
@@ -90,12 +90,11 @@
 
 # Third-party imports
 import gymnasium as gym
+import logging
 import os
 import time
 import torch
 
-# Omniverse logger
-import omni.log
 import omni.ui as ui
 
 from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg, Se3SpaceMouse, Se3SpaceMouseCfg
@@ -119,6 +118,9 @@
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import parse_env_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class RateLimiter:
     """Convenience class for enforcing rates in loops."""
@@ -201,7 +203,7 @@ def create_environment_config(
         env_cfg = parse_env_cfg(args_cli.task, device=args_cli.device, num_envs=1)
         env_cfg.env_name = args_cli.task.split(":")[-1]
     except Exception as e:
-        omni.log.error(f"Failed to parse environment configuration: {e}")
+        logger.error(f"Failed to parse environment configuration: {e}")
         exit(1)
 
     # extract success checking function to invoke in the main loop
@@ -210,7 +212,7 @@ def create_environment_config(
         success_term = env_cfg.terminations.success
         env_cfg.terminations.success = None
     else:
-        omni.log.warn(
+        logger.warning(
             "No success termination term was found in the environment."
             " Will not be able to mark recorded demos as successful."
         )
@@ -251,7 +253,7 @@ def create_environment(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg) -> gym.En
         env = gym.make(args_cli.task, cfg=env_cfg).unwrapped
         return env
     except Exception as e:
-        omni.log.error(f"Failed to create environment: {e}")
+        logger.error(f"Failed to create environment: {e}")
         exit(1)
 
 
@@ -276,26 +278,28 @@ def setup_teleop_device(callbacks: dict[str, Callable]) -> object:
         if hasattr(env_cfg, "teleop_devices") and args_cli.teleop_device in env_cfg.teleop_devices.devices:
             teleop_interface = create_teleop_device(args_cli.teleop_device, env_cfg.teleop_devices.devices, callbacks)
         else:
-            omni.log.warn(f"No teleop device '{args_cli.teleop_device}' found in environment config. Creating default.")
+            logger.warning(
+                f"No teleop device '{args_cli.teleop_device}' found in environment config. Creating default."
+            )
             # Create fallback teleop device
             if args_cli.teleop_device.lower() == "keyboard":
                 teleop_interface = Se3Keyboard(Se3KeyboardCfg(pos_sensitivity=0.2, rot_sensitivity=0.5))
             elif args_cli.teleop_device.lower() == "spacemouse":
                 teleop_interface = Se3SpaceMouse(Se3SpaceMouseCfg(pos_sensitivity=0.2, rot_sensitivity=0.5))
             else:
-                omni.log.error(f"Unsupported teleop device: {args_cli.teleop_device}")
-                omni.log.error("Supported devices: keyboard, spacemouse, handtracking")
+                logger.error(f"Unsupported teleop device: {args_cli.teleop_device}")
+                logger.error("Supported devices: keyboard, spacemouse, handtracking")
                 exit(1)
 
             # Add callbacks to fallback device
             for key, callback in callbacks.items():
                 teleop_interface.add_callback(key, callback)
     except Exception as e:
-        omni.log.error(f"Failed to create teleop device: {e}")
+        logger.error(f"Failed to create teleop device: {e}")
         exit(1)
 
     if teleop_interface is None:
-        omni.log.error("Failed to create teleop interface")
+        logger.error("Failed to create teleop interface")
         exit(1)
 
     return teleop_interface
diff --git a/source/isaaclab/isaaclab/actuators/actuator_pd.py b/source/isaaclab/isaaclab/actuators/actuator_pd.py
index 162005dfd17..9caf72415d1 100644
--- a/source/isaaclab/isaaclab/actuators/actuator_pd.py
+++ b/source/isaaclab/isaaclab/actuators/actuator_pd.py
@@ -5,12 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
-
 from isaaclab.utils import DelayBuffer, LinearInterpolation
 from isaaclab.utils.types import ArticulationActions
 
@@ -25,6 +24,8 @@
         RemotizedPDActuatorCfg,
     )
 
+# import logger
+logger = logging.getLogger(__name__)
 
 """
 Implicit Actuator Models.
@@ -57,7 +58,7 @@ def __init__(self, cfg: ImplicitActuatorCfg, *args, **kwargs):
         # effort limits
         if cfg.effort_limit_sim is None and cfg.effort_limit is not None:
             # throw a warning that we have a replacement for the deprecated parameter
-            omni.log.warn(
+            logger.warning(
                 "The <ImplicitActuatorCfg> object has a value for 'effort_limit'."
                 " This parameter will be removed in the future."
                 " To set the effort limit, please use 'effort_limit_sim' instead."
@@ -79,7 +80,7 @@ def __init__(self, cfg: ImplicitActuatorCfg, *args, **kwargs):
         if cfg.velocity_limit_sim is None and cfg.velocity_limit is not None:
             # throw a warning that previously this was not set
             # it leads to different simulation behavior so we want to remain backwards compatible
-            omni.log.warn(
+            logger.warning(
                 "The <ImplicitActuatorCfg> object has a value for 'velocity_limit'."
                 " Previously, although this value was specified, it was not getting used by implicit"
                 " actuators. Since this parameter affects the simulation behavior, we continue to not"
diff --git a/source/isaaclab/isaaclab/assets/articulation/articulation.py b/source/isaaclab/isaaclab/assets/articulation/articulation.py
index deb8b6479f5..bbdb1dfbff3 100644
--- a/source/isaaclab/isaaclab/assets/articulation/articulation.py
+++ b/source/isaaclab/isaaclab/assets/articulation/articulation.py
@@ -8,12 +8,12 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
 
-import omni.log
 import omni.physics.tensors.impl.api as physx
 from isaacsim.core.simulation_manager import SimulationManager
 from isaacsim.core.version import get_version
@@ -31,6 +31,9 @@
 if TYPE_CHECKING:
     from .articulation_cfg import ArticulationCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class Articulation(AssetBase):
     """An articulation asset class.
@@ -706,10 +709,10 @@ def write_joint_position_limit_to_sim(
             )
             if warn_limit_violation:
                 # warn level will show in console
-                omni.log.warn(violation_message)
+                logger.warning(violation_message)
             else:
                 # info level is only written to log file
-                omni.log.info(violation_message)
+                logger.info(violation_message)
         # set into simulation
         self.root_physx_view.set_dof_limits(self._data.joint_pos_limits.cpu(), indices=physx_env_ids.cpu())
 
@@ -907,7 +910,7 @@ def write_joint_dynamic_friction_coefficient_to_sim(
         env_ids: Sequence[int] | None = None,
     ):
         if int(get_version()[2]) < 5:
-            omni.log.warn("Setting joint dynamic friction coefficients are not supported in Isaac Sim < 5.0")
+            logger.warning("Setting joint dynamic friction coefficients are not supported in Isaac Sim < 5.0")
             return
         # resolve indices
         physx_env_ids = env_ids
@@ -933,7 +936,7 @@ def write_joint_viscous_friction_coefficient_to_sim(
         env_ids: Sequence[int] | None = None,
     ):
         if int(get_version()[2]) < 5:
-            omni.log.warn("Setting joint viscous friction coefficients are not supported in Isaac Sim < 5.0")
+            logger.warning("Setting joint viscous friction coefficients are not supported in Isaac Sim < 5.0")
             return
         # resolve indices
         physx_env_ids = env_ids
@@ -1037,7 +1040,7 @@ def set_external_force_and_torque(
         self._external_torque_b.flatten(0, 1)[indices] = torques.flatten(0, 1)
 
         if is_global != self._use_global_wrench_frame:
-            omni.log.warn(
+            logger.warning(
                 f"The external wrench frame has been changed from {self._use_global_wrench_frame} to {is_global}. This"
                 " may lead to unexpected behavior."
             )
@@ -1332,7 +1335,7 @@ def set_spatial_tendon_stiffness(
             env_ids: The environment indices to set the stiffness for. Defaults to None (all environments).
         """
         if int(get_version()[2]) < 5:
-            omni.log.warn(
+            logger.warning(
                 "Spatial tendons are not supported in Isaac Sim < 5.0. Please update to Isaac Sim 5.0 or later."
             )
             return
@@ -1363,7 +1366,7 @@ def set_spatial_tendon_damping(
             env_ids: The environment indices to set the damping for. Defaults to None (all environments).
         """
         if int(get_version()[2]) < 5:
-            omni.log.warn(
+            logger.warning(
                 "Spatial tendons are not supported in Isaac Sim < 5.0. Please update to Isaac Sim 5.0 or later."
             )
             return
@@ -1394,7 +1397,7 @@ def set_spatial_tendon_limit_stiffness(
             env_ids: The environment indices to set the limit stiffness for. Defaults to None (all environments).
         """
         if int(get_version()[2]) < 5:
-            omni.log.warn(
+            logger.warning(
                 "Spatial tendons are not supported in Isaac Sim < 5.0. Please update to Isaac Sim 5.0 or later."
             )
             return
@@ -1425,7 +1428,7 @@ def set_spatial_tendon_offset(
             env_ids: The environment indices to set the offset for. Defaults to None (all environments).
         """
         if int(get_version()[2]) < 5:
-            omni.log.warn(
+            logger.warning(
                 "Spatial tendons are not supported in Isaac Sim < 5.0. Please update to Isaac Sim 5.0 or later."
             )
             return
@@ -1518,7 +1521,7 @@ def _initialize_impl(self):
             raise RuntimeError(f"Failed to create articulation at: {root_prim_path_expr}. Please check PhysX logs.")
 
         if int(get_version()[2]) < 5:
-            omni.log.warn(
+            logger.warning(
                 "Spatial tendons are not supported in Isaac Sim < 5.0: patching spatial-tendon getter"
                 " and setter to use dummy value"
             )
@@ -1527,19 +1530,19 @@ def _initialize_impl(self):
             self._root_physx_view.get_spatial_tendon_dampings = lambda: torch.empty(0, device=self.device)
             self._root_physx_view.get_spatial_tendon_limit_stiffnesses = lambda: torch.empty(0, device=self.device)
             self._root_physx_view.get_spatial_tendon_offsets = lambda: torch.empty(0, device=self.device)
-            self._root_physx_view.set_spatial_tendon_properties = lambda *args, **kwargs: omni.log.warn(
+            self._root_physx_view.set_spatial_tendon_properties = lambda *args, **kwargs: logger.warning(
                 "Spatial tendons are not supported in Isaac Sim < 5.0: Calling"
                 " set_spatial_tendon_properties has no effect"
             )
 
         # log information about the articulation
-        omni.log.info(f"Articulation initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
-        omni.log.info(f"Is fixed root: {self.is_fixed_base}")
-        omni.log.info(f"Number of bodies: {self.num_bodies}")
-        omni.log.info(f"Body names: {self.body_names}")
-        omni.log.info(f"Number of joints: {self.num_joints}")
-        omni.log.info(f"Joint names: {self.joint_names}")
-        omni.log.info(f"Number of fixed tendons: {self.num_fixed_tendons}")
+        logger.info(f"Articulation initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
+        logger.info(f"Is fixed root: {self.is_fixed_base}")
+        logger.info(f"Number of bodies: {self.num_bodies}")
+        logger.info(f"Body names: {self.body_names}")
+        logger.info(f"Number of joints: {self.num_joints}")
+        logger.info(f"Joint names: {self.joint_names}")
+        logger.info(f"Number of fixed tendons: {self.num_fixed_tendons}")
 
         # container for data access
         self._data = ArticulationData(self.root_physx_view, self.device)
@@ -1718,7 +1721,7 @@ def _process_actuators_cfg(self):
             )
             # log information on actuator groups
             model_type = "implicit" if actuator.is_implicit_model else "explicit"
-            omni.log.info(
+            logger.info(
                 f"Actuator collection: {actuator_name} with model '{actuator_cfg.class_type.__name__}'"
                 f" (type: {model_type}) and joint names: {joint_names} [{joint_ids}]."
             )
@@ -1762,7 +1765,7 @@ def _process_actuators_cfg(self):
         # perform some sanity checks to ensure actuators are prepared correctly
         total_act_joints = sum(actuator.num_joints for actuator in self.actuators.values())
         if total_act_joints != (self.num_joints - self.num_fixed_tendons):
-            omni.log.warn(
+            logger.warning(
                 "Not all actuators are configured! Total number of actuated joints not equal to number of"
                 f" joints available: {total_act_joints} != {self.num_joints - self.num_fixed_tendons}."
             )
@@ -1778,7 +1781,7 @@ def _process_actuators_cfg(self):
                         fmt = [f"{v:.2e}" if isinstance(v, float) else str(v) for v in resolution_detail]
                         t.add_row([actuator_group_str, property_str, *fmt])
                         group_count += 1
-            omni.log.warn(f"\nActuatorCfg-USD Value Discrepancy Resolution (matching values are skipped): \n{t}")
+            logger.warning(f"\nActuatorCfg-USD Value Discrepancy Resolution (matching values are skipped): \n{t}")
 
     def _process_tendons(self):
         """Process fixed and spatial tendons."""
@@ -2002,7 +2005,7 @@ def _log_articulation_info(self):
                     effort_limits[index],
                 ])
         # convert table to string
-        omni.log.info(f"Simulation parameters for joints in {self.cfg.prim_path}:\n" + joint_table.get_string())
+        logger.info(f"Simulation parameters for joints in {self.cfg.prim_path}:\n" + joint_table.get_string())
 
         # read out all fixed tendon parameters from simulation
         if self.num_fixed_tendons > 0:
@@ -2040,7 +2043,7 @@ def _log_articulation_info(self):
                     ft_offsets[index],
                 ])
             # convert table to string
-            omni.log.info(
+            logger.info(
                 f"Simulation parameters for fixed tendons in {self.cfg.prim_path}:\n" + tendon_table.get_string()
             )
 
@@ -2072,7 +2075,7 @@ def _log_articulation_info(self):
                     st_offsets[index],
                 ])
             # convert table to string
-            omni.log.info(
+            logger.info(
                 f"Simulation parameters for spatial tendons in {self.cfg.prim_path}:\n" + tendon_table.get_string()
             )
 
@@ -2091,7 +2094,7 @@ def write_joint_friction_to_sim(
         .. deprecated:: 2.1.0
             Please use :meth:`write_joint_friction_coefficient_to_sim` instead.
         """
-        omni.log.warn(
+        logger.warning(
             "The function 'write_joint_friction_to_sim' will be deprecated in a future release. Please"
             " use 'write_joint_friction_coefficient_to_sim' instead."
         )
@@ -2109,7 +2112,7 @@ def write_joint_limits_to_sim(
         .. deprecated:: 2.1.0
             Please use :meth:`write_joint_position_limit_to_sim` instead.
         """
-        omni.log.warn(
+        logger.warning(
             "The function 'write_joint_limits_to_sim' will be deprecated in a future release. Please"
             " use 'write_joint_position_limit_to_sim' instead."
         )
@@ -2128,7 +2131,7 @@ def set_fixed_tendon_limit(
         .. deprecated:: 2.1.0
             Please use :meth:`set_fixed_tendon_position_limit` instead.
         """
-        omni.log.warn(
+        logger.warning(
             "The function 'set_fixed_tendon_limit' will be deprecated in a future release. Please"
             " use 'set_fixed_tendon_position_limit' instead."
         )
diff --git a/source/isaaclab/isaaclab/assets/articulation/articulation_data.py b/source/isaaclab/isaaclab/assets/articulation/articulation_data.py
index 6d974dd37d6..172a002a3a3 100644
--- a/source/isaaclab/isaaclab/assets/articulation/articulation_data.py
+++ b/source/isaaclab/isaaclab/assets/articulation/articulation_data.py
@@ -3,16 +3,19 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import logging
 import torch
 import weakref
 
-import omni.log
 import omni.physics.tensors.impl.api as physx
 from isaacsim.core.simulation_manager import SimulationManager
 
 import isaaclab.utils.math as math_utils
 from isaaclab.utils.buffers import TimestampedBuffer
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class ArticulationData:
     """Data container for an articulation.
@@ -1091,7 +1094,7 @@ def com_quat_b(self) -> torch.Tensor:
     @property
     def joint_limits(self) -> torch.Tensor:
         """Deprecated property. Please use :attr:`joint_pos_limits` instead."""
-        omni.log.warn(
+        logger.warning(
             "The `joint_limits` property will be deprecated in a future release. Please use `joint_pos_limits` instead."
         )
         return self.joint_pos_limits
@@ -1099,7 +1102,7 @@ def joint_limits(self) -> torch.Tensor:
     @property
     def default_joint_limits(self) -> torch.Tensor:
         """Deprecated property. Please use :attr:`default_joint_pos_limits` instead."""
-        omni.log.warn(
+        logger.warning(
             "The `default_joint_limits` property will be deprecated in a future release. Please use"
             " `default_joint_pos_limits` instead."
         )
@@ -1108,7 +1111,7 @@ def default_joint_limits(self) -> torch.Tensor:
     @property
     def joint_velocity_limits(self) -> torch.Tensor:
         """Deprecated property. Please use :attr:`joint_vel_limits` instead."""
-        omni.log.warn(
+        logger.warning(
             "The `joint_velocity_limits` property will be deprecated in a future release. Please use"
             " `joint_vel_limits` instead."
         )
@@ -1117,7 +1120,7 @@ def joint_velocity_limits(self) -> torch.Tensor:
     @property
     def joint_friction(self) -> torch.Tensor:
         """Deprecated property. Please use :attr:`joint_friction_coeff` instead."""
-        omni.log.warn(
+        logger.warning(
             "The `joint_friction` property will be deprecated in a future release. Please use"
             " `joint_friction_coeff` instead."
         )
@@ -1126,7 +1129,7 @@ def joint_friction(self) -> torch.Tensor:
     @property
     def default_joint_friction(self) -> torch.Tensor:
         """Deprecated property. Please use :attr:`default_joint_friction_coeff` instead."""
-        omni.log.warn(
+        logger.warning(
             "The `default_joint_friction` property will be deprecated in a future release. Please use"
             " `default_joint_friction_coeff` instead."
         )
@@ -1135,7 +1138,7 @@ def default_joint_friction(self) -> torch.Tensor:
     @property
     def fixed_tendon_limit(self) -> torch.Tensor:
         """Deprecated property. Please use :attr:`fixed_tendon_pos_limits` instead."""
-        omni.log.warn(
+        logger.warning(
             "The `fixed_tendon_limit` property will be deprecated in a future release. Please use"
             " `fixed_tendon_pos_limits` instead."
         )
@@ -1144,7 +1147,7 @@ def fixed_tendon_limit(self) -> torch.Tensor:
     @property
     def default_fixed_tendon_limit(self) -> torch.Tensor:
         """Deprecated property. Please use :attr:`default_fixed_tendon_pos_limits` instead."""
-        omni.log.warn(
+        logger.warning(
             "The `default_fixed_tendon_limit` property will be deprecated in a future release. Please use"
             " `default_fixed_tendon_pos_limits` instead."
         )
diff --git a/source/isaaclab/isaaclab/assets/deformable_object/deformable_object.py b/source/isaaclab/isaaclab/assets/deformable_object/deformable_object.py
index 982b2f72c81..a98a8f42f60 100644
--- a/source/isaaclab/isaaclab/assets/deformable_object/deformable_object.py
+++ b/source/isaaclab/isaaclab/assets/deformable_object/deformable_object.py
@@ -5,11 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
 import omni.physics.tensors.impl.api as physx
 from isaacsim.core.simulation_manager import SimulationManager
 from pxr import PhysxSchema, UsdShade
@@ -24,6 +24,9 @@
 if TYPE_CHECKING:
     from .deformable_object_cfg import DeformableObjectCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class DeformableObject(AssetBase):
     """A deformable object asset class.
@@ -307,7 +310,7 @@ def _initialize_impl(self):
                         material_prim = mat_prim
                         break
         if material_prim is None:
-            omni.log.info(
+            logger.info(
                 f"Failed to find a deformable material binding for '{root_prim.GetPath().pathString}'."
                 " The material properties will be set to default values and are not modifiable at runtime."
                 " If you want to modify the material properties, please ensure that the material is bound"
@@ -343,14 +346,14 @@ def _initialize_impl(self):
             self._material_physx_view = None
 
         # log information about the deformable body
-        omni.log.info(f"Deformable body initialized at: {root_prim_path_expr}")
-        omni.log.info(f"Number of instances: {self.num_instances}")
-        omni.log.info(f"Number of bodies: {self.num_bodies}")
+        logger.info(f"Deformable body initialized at: {root_prim_path_expr}")
+        logger.info(f"Number of instances: {self.num_instances}")
+        logger.info(f"Number of bodies: {self.num_bodies}")
         if self._material_physx_view is not None:
-            omni.log.info(f"Deformable material initialized at: {material_prim_path_expr}")
-            omni.log.info(f"Number of instances: {self._material_physx_view.count}")
+            logger.info(f"Deformable material initialized at: {material_prim_path_expr}")
+            logger.info(f"Number of instances: {self._material_physx_view.count}")
         else:
-            omni.log.info("No deformable material found. Material properties will be set to default values.")
+            logger.info("No deformable material found. Material properties will be set to default values.")
 
         # container for data access
         self._data = DeformableObjectData(self.root_physx_view, self.device)
diff --git a/source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py b/source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py
index 9de2a137636..ee13c56ee19 100644
--- a/source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py
+++ b/source/isaaclab/isaaclab/assets/rigid_object/rigid_object.py
@@ -5,11 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
 import omni.physics.tensors.impl.api as physx
 from isaacsim.core.simulation_manager import SimulationManager
 from pxr import UsdPhysics
@@ -24,6 +24,9 @@
 if TYPE_CHECKING:
     from .rigid_object_cfg import RigidObjectCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class RigidObject(AssetBase):
     """A rigid object asset class.
@@ -436,7 +439,7 @@ def set_external_force_and_torque(
         self._external_torque_b[env_ids, body_ids] = torques
 
         if is_global != self._use_global_wrench_frame:
-            omni.log.warn(
+            logger.warning(
                 f"The external wrench frame has been changed from {self._use_global_wrench_frame} to {is_global}. This"
                 " may lead to unexpected behavior."
             )
@@ -505,10 +508,10 @@ def _initialize_impl(self):
             raise RuntimeError(f"Failed to create rigid body at: {self.cfg.prim_path}. Please check PhysX logs.")
 
         # log information about the rigid body
-        omni.log.info(f"Rigid body initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
-        omni.log.info(f"Number of instances: {self.num_instances}")
-        omni.log.info(f"Number of bodies: {self.num_bodies}")
-        omni.log.info(f"Body names: {self.body_names}")
+        logger.info(f"Rigid body initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
+        logger.info(f"Number of instances: {self.num_instances}")
+        logger.info(f"Number of bodies: {self.num_bodies}")
+        logger.info(f"Body names: {self.body_names}")
 
         # container for data access
         self._data = RigidObjectData(self.root_physx_view, self.device)
diff --git a/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py b/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py
index b607f06d088..ff223d7c5bc 100644
--- a/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py
+++ b/source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py
@@ -5,15 +5,13 @@
 
 from __future__ import annotations
 
+import logging
 import re
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.kit.app
-import omni.log
 import omni.physics.tensors.impl.api as physx
-import omni.timeline
 from isaacsim.core.simulation_manager import SimulationManager
 from pxr import UsdPhysics
 
@@ -27,6 +25,9 @@
 if TYPE_CHECKING:
     from .rigid_object_collection_cfg import RigidObjectCollectionCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class RigidObjectCollection(AssetBase):
     """A rigid object collection class.
@@ -545,7 +546,7 @@ def set_external_force_and_torque(
         self._external_torque_b[env_ids[:, None], object_ids] = torques
 
         if is_global != self._use_global_wrench_frame:
-            omni.log.warn(
+            logger.warning(
                 f"The external wrench frame has been changed from {self._use_global_wrench_frame} to {is_global}. This"
                 " may lead to unexpected behavior."
             )
@@ -648,9 +649,9 @@ def _initialize_impl(self):
             raise RuntimeError("Failed to create rigid body collection. Please check PhysX logs.")
 
         # log information about the rigid body
-        omni.log.info(f"Number of instances: {self.num_instances}")
-        omni.log.info(f"Number of distinct objects: {self.num_objects}")
-        omni.log.info(f"Object names: {self.object_names}")
+        logger.info(f"Number of instances: {self.num_instances}")
+        logger.info(f"Number of distinct objects: {self.num_objects}")
+        logger.info(f"Object names: {self.object_names}")
 
         # container for data access
         self._data = RigidObjectCollectionData(self.root_physx_view, self.num_objects, self.device)
diff --git a/source/isaaclab/isaaclab/assets/surface_gripper/surface_gripper.py b/source/isaaclab/isaaclab/assets/surface_gripper/surface_gripper.py
index 50a17d85efe..0e510852f79 100644
--- a/source/isaaclab/isaaclab/assets/surface_gripper/surface_gripper.py
+++ b/source/isaaclab/isaaclab/assets/surface_gripper/surface_gripper.py
@@ -5,11 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 import warnings
 from typing import TYPE_CHECKING
 
-import omni.log
 from isaacsim.core.utils.extensions import enable_extension
 from isaacsim.core.version import get_version
 
@@ -21,6 +21,9 @@
 
     from .surface_gripper_cfg import SurfaceGripperCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class SurfaceGripper(AssetBase):
     """A surface gripper actuator class.
@@ -315,8 +318,8 @@ def _initialize_impl(self) -> None:
         )
 
         # log information about the surface gripper
-        omni.log.info(f"Surface gripper initialized at: {self._cfg.prim_path} with root '{gripper_prim_path_expr}'.")
-        omni.log.info(f"Number of instances: {self._num_envs}")
+        logger.info(f"Surface gripper initialized at: {self._cfg.prim_path} with root '{gripper_prim_path_expr}'.")
+        logger.info(f"Number of instances: {self._num_envs}")
 
         # Reset grippers
         self.reset()
diff --git a/source/isaaclab/isaaclab/controllers/utils.py b/source/isaaclab/isaaclab/controllers/utils.py
index b674b267acb..b1341f4b04f 100644
--- a/source/isaaclab/isaaclab/controllers/utils.py
+++ b/source/isaaclab/isaaclab/controllers/utils.py
@@ -8,6 +8,7 @@
 This module provides utility functions to help with controller implementations.
 """
 
+import logging
 import os
 import re
 
@@ -15,10 +16,11 @@
 
 enable_extension("isaacsim.asset.exporter.urdf")
 
-import nvidia.srl.tools.logger as logger
-import omni.log
 from nvidia.srl.from_usd.to_urdf import UsdToUrdf
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 def convert_usd_to_urdf(usd_path: str, output_path: str, force_conversion: bool = True) -> tuple[str, str]:
     """Convert a USD file to URDF format.
@@ -35,7 +37,7 @@ def convert_usd_to_urdf(usd_path: str, output_path: str, force_conversion: bool
         "edge_names_to_remove": None,
         "root": None,
         "parent_link_is_body_1": None,
-        "log_level": logger.level_from_name("ERROR"),
+        "log_level": logging.ERROR,
     }
 
     urdf_output_dir = os.path.join(output_path, "urdf")
@@ -90,11 +92,11 @@ def change_revolute_to_fixed(urdf_path: str, fixed_joints: list[str], verbose: b
         old_str = f'<joint name="{joint}" type="revolute">'
         new_str = f'<joint name="{joint}" type="fixed">'
         if verbose:
-            omni.log.warn(f"Replacing {joint} with fixed joint")
-            omni.log.warn(old_str)
-            omni.log.warn(new_str)
+            logger.warning(f"Replacing {joint} with fixed joint")
+            logger.warning(old_str)
+            logger.warning(new_str)
             if old_str not in content:
-                omni.log.warn(f"Error: Could not find revolute joint named '{joint}' in URDF file")
+                logger.warning(f"Error: Could not find revolute joint named '{joint}' in URDF file")
         content = content.replace(old_str, new_str)
 
     with open(urdf_path, "w") as file:
@@ -127,9 +129,9 @@ def change_revolute_to_fixed_regex(urdf_path: str, fixed_joints: list[str], verb
             old_str = f'<joint name="{joint}" type="revolute">'
             new_str = f'<joint name="{joint}" type="fixed">'
             if verbose:
-                omni.log.warn(f"Replacing {joint} with fixed joint")
-                omni.log.warn(old_str)
-                omni.log.warn(new_str)
+                logger.warning(f"Replacing {joint} with fixed joint")
+                logger.warning(old_str)
+                logger.warning(new_str)
             content = content.replace(old_str, new_str)
 
     with open(urdf_path, "w") as file:
diff --git a/source/isaaclab/isaaclab/devices/openxr/manus_vive_utils.py b/source/isaaclab/isaaclab/devices/openxr/manus_vive_utils.py
index 3044579136e..db22628dfaa 100644
--- a/source/isaaclab/isaaclab/devices/openxr/manus_vive_utils.py
+++ b/source/isaaclab/isaaclab/devices/openxr/manus_vive_utils.py
@@ -4,10 +4,10 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import contextlib
+import logging
 import numpy as np
 from time import time
 
-import omni.log
 from isaacsim.core.utils.extensions import enable_extension
 
 # For testing purposes, we need to mock the XRCore
@@ -18,6 +18,9 @@
 
 from pxr import Gf
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # Mapping from Manus joint index (0-24) to joint name. Palm (25) is calculated from middle metacarpal and proximal.
 HAND_JOINT_MAP = {
     # Wrist
@@ -144,7 +147,7 @@ def update_vive(self):
             if self.scene_T_lighthouse_static is None:
                 self._initialize_coordinate_transformation()
         except Exception as e:
-            omni.log.error(f"Vive tracker update failed: {e}")
+            logger.error(f"Vive tracker update failed: {e}")
 
     def _initialize_coordinate_transformation(self):
         """
@@ -216,7 +219,7 @@ def _initialize_coordinate_transformation(self):
                     choose_A = False
                 elif len(self._pairA_trans_errs) % 10 == 0 or len(self._pairB_trans_errs) % 10 == 0:
                     print("Computing pairing of Vive trackers with wrists")
-                    omni.log.info(
+                    logger.info(
                         f"Pairing Vive trackers with wrists: error of pairing A: {errA}, error of pairing B: {errB}"
                     )
             if choose_A is None:
@@ -245,7 +248,7 @@ def _initialize_coordinate_transformation(self):
                     )
 
         except Exception as e:
-            omni.log.error(f"Failed to initialize coordinate transformation: {e}")
+            logger.error(f"Failed to initialize coordinate transformation: {e}")
 
     def _transform_vive_data(self, device_data: dict) -> dict:
         """Transform Vive tracker poses to scene coordinates.
@@ -433,7 +436,7 @@ def get_openxr_wrist_matrix(hand: str) -> Gf.Matrix4d:
             return None
         return joint.pose_matrix
     except Exception as e:
-        omni.log.warn(f"OpenXR {hand} wrist fetch failed: {e}")
+        logger.warning(f"OpenXR {hand} wrist fetch failed: {e}")
         return None
 
 
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1_t2_dex_retargeting_utils.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1_t2_dex_retargeting_utils.py
index c0a7b056e81..929456f7509 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1_t2_dex_retargeting_utils.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/fourier/gr1_t2_dex_retargeting_utils.py
@@ -3,17 +3,20 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import logging
 import numpy as np
 import os
 import torch
 import yaml
 from scipy.spatial.transform import Rotation as R
 
-import omni.log
 from dex_retargeting.retargeting_config import RetargetingConfig
 
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # The index to map the OpenXR hand joints to the hand joints used
 # in Dex-retargeting.
 _HAND_JOINTS_INDEX = [1, 2, 3, 4, 5, 7, 8, 9, 10, 12, 13, 14, 15, 17, 18, 19, 20, 22, 23, 24, 25]
@@ -104,7 +107,7 @@ def __init__(
         self.dof_names = self.left_dof_names + self.right_dof_names
         self.isaac_lab_hand_joint_names = hand_joint_names
 
-        omni.log.info("[GR1T2DexRetargeter] init done.")
+        logger.info("[GR1T2DexRetargeter] init done.")
 
     def _update_yaml_with_urdf_path(self, yaml_path: str, urdf_path: str):
         """Update YAML file with the correct URDF path.
@@ -121,16 +124,16 @@ def _update_yaml_with_urdf_path(self, yaml_path: str, urdf_path: str):
             # Update the URDF path in the configuration
             if "retargeting" in config:
                 config["retargeting"]["urdf_path"] = urdf_path
-                omni.log.info(f"Updated URDF path in {yaml_path} to {urdf_path}")
+                logger.info(f"Updated URDF path in {yaml_path} to {urdf_path}")
             else:
-                omni.log.warn(f"Unable to find 'retargeting' section in {yaml_path}")
+                logger.warning(f"Unable to find 'retargeting' section in {yaml_path}")
 
             # Write the updated configuration back to the file
             with open(yaml_path, "w") as file:
                 yaml.dump(config, file)
 
         except Exception as e:
-            omni.log.error(f"Error updating YAML file {yaml_path}: {e}")
+            logger.error(f"Error updating YAML file {yaml_path}: {e}")
 
     def convert_hand_joints(self, hand_poses: dict[str, np.ndarray], operator2mano: np.ndarray) -> np.ndarray:
         """Prepares the hand joints data for retargeting.
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_dex_retargeting_utils.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_dex_retargeting_utils.py
index 802e73aca4a..3f637bb49f8 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_dex_retargeting_utils.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/inspire/g1_dex_retargeting_utils.py
@@ -3,17 +3,20 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import logging
 import numpy as np
 import os
 import torch
 import yaml
 from scipy.spatial.transform import Rotation as R
 
-import omni.log
 from dex_retargeting.retargeting_config import RetargetingConfig
 
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # The index to map the OpenXR hand joints to the hand joints used
 # in Dex-retargeting.
 _HAND_JOINTS_INDEX = [1, 2, 3, 4, 5, 7, 8, 9, 10, 12, 13, 14, 15, 17, 18, 19, 20, 22, 23, 24, 25]
@@ -107,7 +110,7 @@ def __init__(
         self.dof_names = self.left_dof_names + self.right_dof_names
         self.isaac_lab_hand_joint_names = hand_joint_names
 
-        omni.log.info("[UnitreeG1DexRetargeter] init done.")
+        logger.info("[UnitreeG1DexRetargeter] init done.")
 
     def _update_yaml_with_urdf_path(self, yaml_path: str, urdf_path: str):
         """Update YAML file with the correct URDF path.
@@ -124,16 +127,16 @@ def _update_yaml_with_urdf_path(self, yaml_path: str, urdf_path: str):
             # Update the URDF path in the configuration
             if "retargeting" in config:
                 config["retargeting"]["urdf_path"] = urdf_path
-                omni.log.info(f"Updated URDF path in {yaml_path} to {urdf_path}")
+                logger.info(f"Updated URDF path in {yaml_path} to {urdf_path}")
             else:
-                omni.log.warn(f"Unable to find 'retargeting' section in {yaml_path}")
+                logger.warning(f"Unable to find 'retargeting' section in {yaml_path}")
 
             # Write the updated configuration back to the file
             with open(yaml_path, "w") as file:
                 yaml.dump(config, file)
 
         except Exception as e:
-            omni.log.error(f"Error updating YAML file {yaml_path}: {e}")
+            logger.error(f"Error updating YAML file {yaml_path}: {e}")
 
     def convert_hand_joints(self, hand_poses: dict[str, np.ndarray], operator2mano: np.ndarray) -> np.ndarray:
         """Prepares the hand joints data for retargeting.
diff --git a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_dex_retargeting_utils.py b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_dex_retargeting_utils.py
index 78d8ed667f9..0e474043869 100644
--- a/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_dex_retargeting_utils.py
+++ b/source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_dex_retargeting_utils.py
@@ -10,11 +10,13 @@
 import yaml
 from scipy.spatial.transform import Rotation as R
 
-import omni.log
 from dex_retargeting.retargeting_config import RetargetingConfig
 
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR, retrieve_file_path
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # yourdfpy loads visual/collision meshes with the hand URDFs; these aren't needed for
 # retargeting and clutter the logs, so we suppress them.
 logging.getLogger("dex_retargeting.yourdfpy").setLevel(logging.ERROR)
@@ -101,7 +103,7 @@ def __init__(
         self.dof_names = self.left_dof_names + self.right_dof_names
         self.isaac_lab_hand_joint_names = hand_joint_names
 
-        omni.log.info("[G1DexRetargeter] init done.")
+        logger.info("[G1DexRetargeter] init done.")
 
     def _update_yaml_with_urdf_path(self, yaml_path: str, urdf_path: str):
         """Update YAML file with the correct URDF path.
@@ -118,16 +120,16 @@ def _update_yaml_with_urdf_path(self, yaml_path: str, urdf_path: str):
             # Update the URDF path in the configuration
             if "retargeting" in config:
                 config["retargeting"]["urdf_path"] = urdf_path
-                omni.log.info(f"Updated URDF path in {yaml_path} to {urdf_path}")
+                logger.info(f"Updated URDF path in {yaml_path} to {urdf_path}")
             else:
-                omni.log.warn(f"Unable to find 'retargeting' section in {yaml_path}")
+                logger.warning(f"Unable to find 'retargeting' section in {yaml_path}")
 
             # Write the updated configuration back to the file
             with open(yaml_path, "w") as file:
                 yaml.dump(config, file)
 
         except Exception as e:
-            omni.log.error(f"Error updating YAML file {yaml_path}: {e}")
+            logger.error(f"Error updating YAML file {yaml_path}: {e}")
 
     def convert_hand_joints(self, hand_poses: dict[str, np.ndarray], operator2mano: np.ndarray) -> np.ndarray:
         """Prepares the hand joints data for retargeting.
diff --git a/source/isaaclab/isaaclab/devices/openxr/xr_cfg.py b/source/isaaclab/isaaclab/devices/openxr/xr_cfg.py
index 41e13078eb5..7da044f0211 100644
--- a/source/isaaclab/isaaclab/devices/openxr/xr_cfg.py
+++ b/source/isaaclab/isaaclab/devices/openxr/xr_cfg.py
@@ -55,7 +55,10 @@ def remove_camera_configs(env_cfg: Any) -> Any:
         The modified environment configuration with cameras removed.
     """
 
-    import omni.log
+    import logging
+
+    # import logger
+    logger = logging.getLogger(__name__)
 
     from isaaclab.managers import SceneEntityCfg
     from isaaclab.sensors import CameraCfg
@@ -64,7 +67,7 @@ def remove_camera_configs(env_cfg: Any) -> Any:
         attr = getattr(env_cfg.scene, attr_name)
         if isinstance(attr, CameraCfg):
             delattr(env_cfg.scene, attr_name)
-            omni.log.info(f"Removed camera config: {attr_name}")
+            logger.info(f"Removed camera config: {attr_name}")
 
             # Remove any ObsTerms for the camera
             if hasattr(env_cfg.observations, "policy"):
@@ -74,6 +77,6 @@ def remove_camera_configs(env_cfg: Any) -> Any:
                         for param_value in obsterm.params.values():
                             if isinstance(param_value, SceneEntityCfg) and param_value.name == attr_name:
                                 delattr(env_cfg.observations.policy, attr_name)
-                                omni.log.info(f"Removed camera observation term: {attr_name}")
+                                logger.info(f"Removed camera observation term: {attr_name}")
                                 break
     return env_cfg
diff --git a/source/isaaclab/isaaclab/devices/teleop_device_factory.py b/source/isaaclab/isaaclab/devices/teleop_device_factory.py
index a02029645b6..addc1fec0ad 100644
--- a/source/isaaclab/isaaclab/devices/teleop_device_factory.py
+++ b/source/isaaclab/isaaclab/devices/teleop_device_factory.py
@@ -7,10 +7,9 @@
 
 import contextlib
 import inspect
+import logging
 from collections.abc import Callable
 
-import omni.log
-
 from isaaclab.devices import DeviceBase, DeviceCfg
 from isaaclab.devices.gamepad import Se2Gamepad, Se2GamepadCfg, Se3Gamepad, Se3GamepadCfg
 from isaaclab.devices.keyboard import Se2Keyboard, Se2KeyboardCfg, Se3Keyboard, Se3KeyboardCfg
@@ -37,6 +36,9 @@
     # May fail if xr is not in use
     from isaaclab.devices.openxr import ManusVive, ManusViveCfg, OpenXRDevice, OpenXRDeviceCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # Map device types to their constructor and expected config type
 DEVICE_MAP: dict[type[DeviceCfg], type[DeviceBase]] = {
     Se3KeyboardCfg: Se3Keyboard,
@@ -120,5 +122,5 @@ def create_teleop_device(
     for key, callback in callbacks.items():
         device.add_callback(key, callback)
 
-    omni.log.info(f"Created teleoperation device: {device_name}")
+    logger.info(f"Created teleoperation device: {device_name}")
     return device
diff --git a/source/isaaclab/isaaclab/envs/direct_marl_env.py b/source/isaaclab/isaaclab/envs/direct_marl_env.py
index 0e7429117fc..98b1682586a 100644
--- a/source/isaaclab/isaaclab/envs/direct_marl_env.py
+++ b/source/isaaclab/isaaclab/envs/direct_marl_env.py
@@ -8,6 +8,7 @@
 import builtins
 import gymnasium as gym
 import inspect
+import logging
 import math
 import numpy as np
 import torch
@@ -19,7 +20,6 @@
 
 import isaacsim.core.utils.torch as torch_utils
 import omni.kit.app
-import omni.log
 import omni.physx
 from isaacsim.core.version import get_version
 
@@ -35,6 +35,9 @@
 from .ui import ViewportCameraController
 from .utils.spaces import sample_space, spec_to_gym_space
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class DirectMARLEnv(gym.Env):
     """The superclass for the direct workflow to design multi-agent environments.
@@ -89,7 +92,7 @@ def __init__(self, cfg: DirectMARLEnvCfg, render_mode: str | None = None, **kwar
         if self.cfg.seed is not None:
             self.cfg.seed = self.seed(self.cfg.seed)
         else:
-            omni.log.warn("Seed not set for the environment. The environment creation may not be deterministic.")
+            logger.warning("Seed not set for the environment. The environment creation may not be deterministic.")
 
         # create a simulation context to control the simulator
         if SimulationContext.instance() is None:
@@ -115,7 +118,7 @@ def __init__(self, cfg: DirectMARLEnvCfg, render_mode: str | None = None, **kwar
                 f"({self.cfg.decimation}). Multiple render calls will happen for each environment step."
                 "If this is not intended, set the render interval to be equal to the decimation."
             )
-            omni.log.warn(msg)
+            logger.warning(msg)
 
         # generate scene
         with Timer("[INFO]: Time taken for scene creation", "scene_creation"):
@@ -602,17 +605,17 @@ def _configure_env_spaces(self):
 
         # show deprecation message and overwrite configuration
         if self.cfg.num_actions is not None:
-            omni.log.warn("DirectMARLEnvCfg.num_actions is deprecated. Use DirectMARLEnvCfg.action_spaces instead.")
+            logger.warning("DirectMARLEnvCfg.num_actions is deprecated. Use DirectMARLEnvCfg.action_spaces instead.")
             if isinstance(self.cfg.action_spaces, type(MISSING)):
                 self.cfg.action_spaces = self.cfg.num_actions
         if self.cfg.num_observations is not None:
-            omni.log.warn(
+            logger.warning(
                 "DirectMARLEnvCfg.num_observations is deprecated. Use DirectMARLEnvCfg.observation_spaces instead."
             )
             if isinstance(self.cfg.observation_spaces, type(MISSING)):
                 self.cfg.observation_spaces = self.cfg.num_observations
         if self.cfg.num_states is not None:
-            omni.log.warn("DirectMARLEnvCfg.num_states is deprecated. Use DirectMARLEnvCfg.state_space instead.")
+            logger.warning("DirectMARLEnvCfg.num_states is deprecated. Use DirectMARLEnvCfg.state_space instead.")
             if isinstance(self.cfg.state_space, type(MISSING)):
                 self.cfg.state_space = self.cfg.num_states
 
diff --git a/source/isaaclab/isaaclab/envs/direct_rl_env.py b/source/isaaclab/isaaclab/envs/direct_rl_env.py
index e43c4db7a28..c83cce768ad 100644
--- a/source/isaaclab/isaaclab/envs/direct_rl_env.py
+++ b/source/isaaclab/isaaclab/envs/direct_rl_env.py
@@ -8,6 +8,7 @@
 import builtins
 import gymnasium as gym
 import inspect
+import logging
 import math
 import numpy as np
 import torch
@@ -19,7 +20,6 @@
 
 import isaacsim.core.utils.torch as torch_utils
 import omni.kit.app
-import omni.log
 import omni.physx
 from isaacsim.core.simulation_manager import SimulationManager
 from isaacsim.core.version import get_version
@@ -36,6 +36,9 @@
 from .ui import ViewportCameraController
 from .utils.spaces import sample_space, spec_to_gym_space
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class DirectRLEnv(gym.Env):
     """The superclass for the direct workflow to design environments.
@@ -95,7 +98,7 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
         if self.cfg.seed is not None:
             self.cfg.seed = self.seed(self.cfg.seed)
         else:
-            omni.log.warn("Seed not set for the environment. The environment creation may not be deterministic.")
+            logger.warning("Seed not set for the environment. The environment creation may not be deterministic.")
 
         # create a simulation context to control the simulator
         if SimulationContext.instance() is None:
@@ -121,7 +124,7 @@ def __init__(self, cfg: DirectRLEnvCfg, render_mode: str | None = None, **kwargs
                 f"({self.cfg.decimation}). Multiple render calls will happen for each environment step."
                 "If this is not intended, set the render interval to be equal to the decimation."
             )
-            omni.log.warn(msg)
+            logger.warning(msg)
 
         # generate scene
         with Timer("[INFO]: Time taken for scene creation", "scene_creation"):
@@ -551,17 +554,17 @@ def _configure_gym_env_spaces(self):
         """Configure the action and observation spaces for the Gym environment."""
         # show deprecation message and overwrite configuration
         if self.cfg.num_actions is not None:
-            omni.log.warn("DirectRLEnvCfg.num_actions is deprecated. Use DirectRLEnvCfg.action_space instead.")
+            logger.warning("DirectRLEnvCfg.num_actions is deprecated. Use DirectRLEnvCfg.action_space instead.")
             if isinstance(self.cfg.action_space, type(MISSING)):
                 self.cfg.action_space = self.cfg.num_actions
         if self.cfg.num_observations is not None:
-            omni.log.warn(
+            logger.warning(
                 "DirectRLEnvCfg.num_observations is deprecated. Use DirectRLEnvCfg.observation_space instead."
             )
             if isinstance(self.cfg.observation_space, type(MISSING)):
                 self.cfg.observation_space = self.cfg.num_observations
         if self.cfg.num_states is not None:
-            omni.log.warn("DirectRLEnvCfg.num_states is deprecated. Use DirectRLEnvCfg.state_space instead.")
+            logger.warning("DirectRLEnvCfg.num_states is deprecated. Use DirectRLEnvCfg.state_space instead.")
             if isinstance(self.cfg.state_space, type(MISSING)):
                 self.cfg.state_space = self.cfg.num_states
 
diff --git a/source/isaaclab/isaaclab/envs/manager_based_env.py b/source/isaaclab/isaaclab/envs/manager_based_env.py
index 9ddc538aa41..8ace2a7d8f6 100644
--- a/source/isaaclab/isaaclab/envs/manager_based_env.py
+++ b/source/isaaclab/isaaclab/envs/manager_based_env.py
@@ -4,12 +4,12 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import builtins
+import logging
 import torch
 from collections.abc import Sequence
 from typing import Any
 
 import isaacsim.core.utils.torch as torch_utils
-import omni.log
 import omni.physx
 from isaacsim.core.simulation_manager import SimulationManager
 from isaacsim.core.version import get_version
@@ -26,6 +26,9 @@
 from .ui import ViewportCameraController
 from .utils.io_descriptors import export_articulations_data, export_scene_data
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class ManagerBasedEnv:
     """The base environment encapsulates the simulation scene and the environment managers for the manager-based workflow.
@@ -89,7 +92,7 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
         if self.cfg.seed is not None:
             self.cfg.seed = self.seed(self.cfg.seed)
         else:
-            omni.log.warn("Seed not set for the environment. The environment creation may not be deterministic.")
+            logger.warning("Seed not set for the environment. The environment creation may not be deterministic.")
 
         # create a simulation context to control the simulator
         if SimulationContext.instance() is None:
@@ -121,7 +124,7 @@ def __init__(self, cfg: ManagerBasedEnvCfg):
                 f"({self.cfg.decimation}). Multiple render calls will happen for each environment step. "
                 "If this is not intended, set the render interval to be equal to the decimation."
             )
-            omni.log.warn(msg)
+            logger.warning(msg)
 
         # counter for simulation steps
         self._sim_step_counter = 0
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/binary_joint_actions.py b/source/isaaclab/isaaclab/envs/mdp/actions/binary_joint_actions.py
index 501c221dec6..3ef078b6627 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/binary_joint_actions.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/binary_joint_actions.py
@@ -5,12 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
-
 import isaaclab.utils.string as string_utils
 from isaaclab.assets.articulation import Articulation
 from isaaclab.managers.action_manager import ActionTerm
@@ -21,6 +20,9 @@
 
     from . import actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class BinaryJointAction(ActionTerm):
     """Base class for binary joint actions.
@@ -54,7 +56,7 @@ def __init__(self, cfg: actions_cfg.BinaryJointActionCfg, env: ManagerBasedEnv)
         self._joint_ids, self._joint_names = self._asset.find_joints(self.cfg.joint_names)
         self._num_joints = len(self._joint_ids)
         # log the resolved joint names for debugging
-        omni.log.info(
+        logger.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions.py b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions.py
index 8d5e7ebd4b3..6f48dd6dfdc 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions.py
@@ -5,12 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
-
 import isaaclab.utils.string as string_utils
 from isaaclab.assets.articulation import Articulation
 from isaaclab.managers.action_manager import ActionTerm
@@ -21,6 +20,9 @@
 
     from . import actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class JointAction(ActionTerm):
     r"""Base class for joint actions.
@@ -64,7 +66,7 @@ def __init__(self, cfg: actions_cfg.JointActionCfg, env: ManagerBasedEnv) -> Non
         )
         self._num_joints = len(self._joint_ids)
         # log the resolved joint names for debugging
-        omni.log.info(
+        logger.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
index 2667f7e86a6..a944a83a438 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
@@ -5,12 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
-
 import isaaclab.utils.math as math_utils
 import isaaclab.utils.string as string_utils
 from isaaclab.assets.articulation import Articulation
@@ -22,6 +21,9 @@
 
     from . import actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class JointPositionToLimitsAction(ActionTerm):
     """Joint position action term that scales the input actions to the joint limits and applies them to the
@@ -56,7 +58,7 @@ def __init__(self, cfg: actions_cfg.JointPositionToLimitsActionCfg, env: Manager
         self._joint_ids, self._joint_names = self._asset.find_joints(self.cfg.joint_names)
         self._num_joints = len(self._joint_ids)
         # log the resolved joint names for debugging
-        omni.log.info(
+        logger.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/non_holonomic_actions.py b/source/isaaclab/isaaclab/envs/mdp/actions/non_holonomic_actions.py
index 1fb50f1fea8..298eaefd946 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/non_holonomic_actions.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/non_holonomic_actions.py
@@ -5,12 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
-
 import isaaclab.utils.string as string_utils
 from isaaclab.assets.articulation import Articulation
 from isaaclab.managers.action_manager import ActionTerm
@@ -22,6 +21,9 @@
 
     from . import actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class NonHolonomicAction(ActionTerm):
     r"""Non-holonomic action that maps a two dimensional action to the velocity of the robot in
@@ -92,11 +94,11 @@ def __init__(self, cfg: actions_cfg.NonHolonomicActionCfg, env: ManagerBasedEnv)
         self._joint_ids = [x_joint_id[0], y_joint_id[0], yaw_joint_id[0]]
         self._joint_names = [x_joint_name[0], y_joint_name[0], yaw_joint_name[0]]
         # log info for debugging
-        omni.log.info(
+        logger.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
-        omni.log.info(
+        logger.info(
             f"Resolved body name for the action term {self.__class__.__name__}: {self._body_name} [{self._body_idx}]"
         )
 
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_task_space_actions.py b/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_task_space_actions.py
index b270a7b92c1..fa3e819eb5d 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_task_space_actions.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/rmpflow_task_space_actions.py
@@ -5,12 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
-
 import isaaclab.utils.math as math_utils
 import isaaclab.utils.string as string_utils
 from isaaclab.assets.articulation import Articulation
@@ -22,6 +21,9 @@
 
     from . import rmpflow_actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class RMPFlowAction(ActionTerm):
 
@@ -62,11 +64,11 @@ def __init__(self, cfg: rmpflow_actions_cfg.RMPFlowActionCfg, env: ManagerBasedE
             self._jacobi_joint_ids = [i + 6 for i in self._joint_ids]
 
         # log info for debugging
-        omni.log.info(
+        logger.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
-        omni.log.info(
+        logger.info(
             f"Resolved body name for the action term {self.__class__.__name__}: {self._body_name} [{self._body_idx}]"
         )
         # Avoid indexing across all joints for efficiency
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/surface_gripper_actions.py b/source/isaaclab/isaaclab/envs/mdp/actions/surface_gripper_actions.py
index 4313fbeacd2..ad2e6fe2ee2 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/surface_gripper_actions.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/surface_gripper_actions.py
@@ -5,12 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
-
 from isaaclab.assets.surface_gripper import SurfaceGripper
 from isaaclab.managers.action_manager import ActionTerm
 
@@ -19,6 +18,9 @@
 
     from . import actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class SurfaceGripperBinaryAction(ActionTerm):
     """Surface gripper binary action.
@@ -48,7 +50,7 @@ def __init__(self, cfg: actions_cfg.SurfaceGripperBinaryActionCfg, env: ManagerB
         super().__init__(cfg, env)
 
         # log the resolved asset name for debugging
-        omni.log.info(
+        logger.info(
             f"Resolved surface gripper asset for the action term {self.__class__.__name__}: {self.cfg.asset_name}"
         )
 
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/task_space_actions.py b/source/isaaclab/isaaclab/envs/mdp/actions/task_space_actions.py
index a764c1f0aff..0c996d654a2 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/task_space_actions.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/task_space_actions.py
@@ -5,11 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
 from pxr import UsdPhysics
 
 import isaaclab.utils.math as math_utils
@@ -27,6 +27,9 @@
 
     from . import actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class DifferentialInverseKinematicsAction(ActionTerm):
     r"""Inverse Kinematics action term.
@@ -78,11 +81,11 @@ def __init__(self, cfg: actions_cfg.DifferentialInverseKinematicsActionCfg, env:
             self._jacobi_joint_ids = [i + 6 for i in self._joint_ids]
 
         # log info for debugging
-        omni.log.info(
+        logger.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
-        omni.log.info(
+        logger.info(
             f"Resolved body name for the action term {self.__class__.__name__}: {self._body_name} [{self._body_idx}]"
         )
         # Avoid indexing across all joints for efficiency
@@ -306,11 +309,11 @@ def __init__(self, cfg: actions_cfg.OperationalSpaceControllerActionCfg, env: Ma
             self._jacobi_joint_idx = [i + 6 for i in self._joint_ids]
 
         # log info for debugging
-        omni.log.info(
+        logger.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
-        omni.log.info(
+        logger.info(
             f"Resolved ee body name for the action term {self.__class__.__name__}:"
             f" {self._ee_body_name} [{self._ee_body_idx}]"
         )
diff --git a/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py b/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py
index 64d22b4003f..5b7e3ade4f6 100644
--- a/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py
+++ b/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py
@@ -7,12 +7,11 @@
 
 from __future__ import annotations
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
-
 import isaaclab.utils.math as math_utils
 from isaaclab.assets import Articulation
 from isaaclab.managers import CommandTerm
@@ -23,6 +22,9 @@
 
     from .commands_cfg import NormalVelocityCommandCfg, UniformVelocityCommandCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class UniformVelocityCommand(CommandTerm):
     r"""Command generator that generates a velocity command in SE(2) from uniform distribution.
@@ -65,7 +67,7 @@ def __init__(self, cfg: UniformVelocityCommandCfg, env: ManagerBasedEnv):
                 " parameter is set to None."
             )
         if self.cfg.ranges.heading and not self.cfg.heading_command:
-            omni.log.warn(
+            logger.warning(
                 f"The velocity command has the 'ranges.heading' attribute set to '{self.cfg.ranges.heading}'"
                 " but the heading command is not active. Consider setting the flag for the heading command to True."
             )
diff --git a/source/isaaclab/isaaclab/managers/event_manager.py b/source/isaaclab/isaaclab/managers/event_manager.py
index 639be925e0a..a23cec17863 100644
--- a/source/isaaclab/isaaclab/managers/event_manager.py
+++ b/source/isaaclab/isaaclab/managers/event_manager.py
@@ -8,19 +8,21 @@
 from __future__ import annotations
 
 import inspect
+import logging
 import torch
 from collections.abc import Sequence
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
 
-import omni.log
-
 from .manager_base import ManagerBase
 from .manager_term_cfg import EventTermCfg
 
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class EventManager(ManagerBase):
     """Manager for orchestrating operations based on different simulation events.
@@ -185,7 +187,7 @@ def apply(
         """
         # check if mode is valid
         if mode not in self._mode_term_names:
-            omni.log.warn(f"Event mode '{mode}' is not defined. Skipping event.")
+            logger.warning(f"Event mode '{mode}' is not defined. Skipping event.")
             return
 
         # check if mode is interval and dt is not provided
@@ -348,7 +350,7 @@ def _prepare_terms(self):
                 )
 
             if term_cfg.mode != "reset" and term_cfg.min_step_count_between_reset != 0:
-                omni.log.warn(
+                logger.warning(
                     f"Event term '{term_name}' has 'min_step_count_between_reset' set to a non-zero value"
                     " but the mode is not 'reset'. Ignoring the 'min_step_count_between_reset' value."
                 )
@@ -370,7 +372,7 @@ def _prepare_terms(self):
             # can be initialized before the simulation starts.
             # this is done to ensure that the USD-level randomization is possible before the simulation starts.
             if inspect.isclass(term_cfg.func) and term_cfg.mode == "prestartup":
-                omni.log.info(f"Initializing term '{term_name}' with class '{term_cfg.func.__name__}'.")
+                logger.info(f"Initializing term '{term_name}' with class '{term_cfg.func.__name__}'.")
                 term_cfg.func = term_cfg.func(cfg=term_cfg, env=self._env)
 
             # check if mode is a new mode
diff --git a/source/isaaclab/isaaclab/managers/manager_base.py b/source/isaaclab/isaaclab/managers/manager_base.py
index 081c3e271ec..11ed7e3defc 100644
--- a/source/isaaclab/isaaclab/managers/manager_base.py
+++ b/source/isaaclab/isaaclab/managers/manager_base.py
@@ -7,12 +7,12 @@
 
 import copy
 import inspect
+import logging
 import weakref
 from abc import ABC, abstractmethod
 from collections.abc import Sequence
 from typing import TYPE_CHECKING, Any
 
-import omni.log
 import omni.timeline
 
 import isaaclab.utils.string as string_utils
@@ -24,6 +24,9 @@
 if TYPE_CHECKING:
     from isaaclab.envs import ManagerBasedEnv
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class ManagerTermBase(ABC):
     """Base class for manager terms.
@@ -404,11 +407,11 @@ def _process_term_cfg_at_play(self, term_name: str, term_cfg: ManagerTermBaseCfg
                 if value.body_ids is not None:
                     msg += f"\n\tBody names: {value.body_names} [{value.body_ids}]"
                 # print the information
-                omni.log.info(msg)
+                logger.info(msg)
             # store the entity
             term_cfg.params[key] = value
 
         # initialize the term if it is a class
         if inspect.isclass(term_cfg.func):
-            omni.log.info(f"Initializing term '{term_name}' with class '{term_cfg.func.__name__}'.")
+            logger.info(f"Initializing term '{term_name}' with class '{term_cfg.func.__name__}'.")
             term_cfg.func = term_cfg.func(cfg=term_cfg, env=self._env)
diff --git a/source/isaaclab/isaaclab/markers/visualization_markers.py b/source/isaaclab/isaaclab/markers/visualization_markers.py
index ce4611289bc..ab38d06d2c3 100644
--- a/source/isaaclab/isaaclab/markers/visualization_markers.py
+++ b/source/isaaclab/isaaclab/markers/visualization_markers.py
@@ -19,13 +19,13 @@
 # needed to import for allowing type-hinting: np.ndarray | torch.Tensor | None
 from __future__ import annotations
 
+import logging
 import numpy as np
 import torch
 from dataclasses import MISSING
 
 import isaacsim.core.utils.stage as stage_utils
 import omni.kit.commands
-import omni.log
 import omni.physx.scripts.utils as physx_utils
 from isaacsim.core.utils.stage import get_current_stage
 from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, Vt
@@ -36,6 +36,9 @@
 from isaaclab.utils.configclass import configclass
 from isaaclab.utils.math import convert_quat
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 @configclass
 class VisualizationMarkersCfg:
diff --git a/source/isaaclab/isaaclab/scene/interactive_scene.py b/source/isaaclab/isaaclab/scene/interactive_scene.py
index 15739c33ad7..6772f77bba7 100644
--- a/source/isaaclab/isaaclab/scene/interactive_scene.py
+++ b/source/isaaclab/isaaclab/scene/interactive_scene.py
@@ -3,13 +3,12 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import logging
 import torch
 from collections.abc import Sequence
 from typing import Any
 
 import carb
-import omni.log
-import omni.usd
 from isaacsim.core.cloner import GridCloner
 from isaacsim.core.prims import XFormPrim
 from isaacsim.core.utils.stage import get_current_stage
@@ -37,6 +36,9 @@
 
 from .interactive_scene_cfg import InteractiveSceneCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class InteractiveScene:
     """A scene that contains entities added to the simulation.
@@ -222,7 +224,7 @@ def clone_environments(self, copy_from_source: bool = False):
         carb_settings_iface = carb.settings.get_settings()
         has_multi_assets = carb_settings_iface.get("/isaaclab/spawn/multi_assets")
         if has_multi_assets and self.cfg.replicate_physics:
-            omni.log.warn(
+            logger.warning(
                 "Varying assets might have been spawned under different environments."
                 " However, the replicate physics flag is enabled in the 'InteractiveScene' configuration."
                 " This may adversely affect PhysX parsing. We recommend disabling this property."
@@ -260,7 +262,7 @@ def clone_environments(self, copy_from_source: bool = False):
         if (not self.cfg.replicate_physics and self.cfg.filter_collisions) or self.device == "cpu":
             # if scene is specified through cfg, this is already taken care of
             if not self._is_scene_setup_from_cfg():
-                omni.log.warn(
+                logger.warning(
                     "Collision filtering can only be automatically enabled when replicate_physics=True and using GPU"
                     " simulation. Please call scene.filter_collisions(global_prim_paths) to filter collisions across"
                     " environments."
@@ -324,7 +326,7 @@ def physics_scene_path(self) -> str:
             for prim in self.stage.Traverse():
                 if prim.HasAPI(PhysxSchema.PhysxSceneAPI):
                     self._physics_scene_path = prim.GetPrimPath().pathString
-                    omni.log.info(f"Physics scene prim path: {self._physics_scene_path}")
+                    logger.info(f"Physics scene prim path: {self._physics_scene_path}")
                     break
             if self._physics_scene_path is None:
                 raise RuntimeError("No physics scene found! Please make sure one exists.")
diff --git a/source/isaaclab/isaaclab/sensors/camera/camera.py b/source/isaaclab/isaaclab/sensors/camera/camera.py
index 8d3fe257df6..c7a208ba8ec 100644
--- a/source/isaaclab/isaaclab/sensors/camera/camera.py
+++ b/source/isaaclab/isaaclab/sensors/camera/camera.py
@@ -6,6 +6,7 @@
 from __future__ import annotations
 
 import json
+import logging
 import numpy as np
 import re
 import torch
@@ -36,6 +37,9 @@
 if TYPE_CHECKING:
     from .camera_cfg import CameraCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class Camera(SensorBase):
     r"""The camera sensor for acquiring visual data.
@@ -148,7 +152,7 @@ def __init__(self, cfg: CameraCfg):
         # checks for Isaac Sim v4.5 as this issue exists there
         if int(isaac_sim_version[2]) == 4 and int(isaac_sim_version[3]) == 5:
             if "semantic_segmentation" in self.cfg.data_types or "instance_segmentation_fast" in self.cfg.data_types:
-                omni.log.warn(
+                logger.warning(
                     "Isaac Sim 4.5 introduced a bug in Camera and TiledCamera when outputting instance and semantic"
                     " segmentation outputs for instanceable assets. As a workaround, the instanceable flag on assets"
                     " will be disabled in the current workflow and may lead to longer load times and increased memory"
diff --git a/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer.py b/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer.py
index ae7811d31ec..b6d2e766302 100644
--- a/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer.py
+++ b/source/isaaclab/isaaclab/sensors/frame_transformer/frame_transformer.py
@@ -5,12 +5,12 @@
 
 from __future__ import annotations
 
+import logging
 import re
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
 from isaacsim.core.simulation_manager import SimulationManager
 from pxr import UsdPhysics
 
@@ -32,6 +32,9 @@
 if TYPE_CHECKING:
     from .frame_transformer_cfg import FrameTransformerCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class FrameTransformer(SensorBase):
     """A sensor for reporting frame transforms.
@@ -149,10 +152,10 @@ def _initialize_impl(self):
         self._apply_source_frame_offset = True
         # Handle source frame offsets
         if is_identity_pose(source_frame_offset_pos, source_frame_offset_quat):
-            omni.log.verbose(f"No offset application needed for source frame as it is identity: {self.cfg.prim_path}")
+            logger.debug(f"No offset application needed for source frame as it is identity: {self.cfg.prim_path}")
             self._apply_source_frame_offset = False
         else:
-            omni.log.verbose(f"Applying offset to source frame as it is not identity: {self.cfg.prim_path}")
+            logger.debug(f"Applying offset to source frame as it is not identity: {self.cfg.prim_path}")
             # Store offsets as tensors (duplicating each env's offsets for ease of multiplication later)
             self._source_frame_offset_pos = source_frame_offset_pos.unsqueeze(0).repeat(self._num_envs, 1)
             self._source_frame_offset_quat = source_frame_offset_quat.unsqueeze(0).repeat(self._num_envs, 1)
@@ -229,12 +232,12 @@ def _initialize_impl(self):
                     target_offsets[frame_name] = {"pos": offset_pos, "quat": offset_quat}
 
         if not self._apply_target_frame_offset:
-            omni.log.info(
+            logger.info(
                 f"No offsets application needed from '{self.cfg.prim_path}' to target frames as all"
                 f" are identity: {frames[1:]}"
             )
         else:
-            omni.log.info(
+            logger.info(
                 f"Offsets application needed from '{self.cfg.prim_path}' to the following target frames:"
                 f" {non_identity_offset_frames}"
             )
diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py
index 8e2f6541fe9..723d669d8a0 100644
--- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py
+++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py
@@ -5,13 +5,14 @@
 
 from __future__ import annotations
 
+import logging
 import numpy as np
 import re
 import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import omni.log
+import omni
 import omni.physics.tensors.impl.api as physx
 import warp as wp
 from isaacsim.core.prims import XFormPrim
@@ -31,6 +32,9 @@
 if TYPE_CHECKING:
     from .ray_caster_cfg import RayCasterCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class RayCaster(SensorBase):
     """A ray-casting sensor.
@@ -149,7 +153,7 @@ def _initialize_impl(self):
         else:
             self._view = XFormPrim(self.cfg.prim_path, reset_xform_properties=False)
             found_supported_prim_class = True
-            omni.log.warn(f"The prim at path {prim.GetPath().pathString} is not a physics prim! Using XFormPrim.")
+            logger.warning(f"The prim at path {prim.GetPath().pathString} is not a physics prim! Using XFormPrim.")
         # check if prim view class is found
         if not found_supported_prim_class:
             raise RuntimeError(f"Failed to find a valid prim view class for the prim paths: {self.cfg.prim_path}")
@@ -192,14 +196,14 @@ def _initialize_warp_meshes(self):
                 indices = np.asarray(mesh_prim.GetFaceVertexIndicesAttr().Get())
                 wp_mesh = convert_to_warp_mesh(points, indices, device=self.device)
                 # print info
-                omni.log.info(
+                logger.info(
                     f"Read mesh prim: {mesh_prim.GetPath()} with {len(points)} vertices and {len(indices)} faces."
                 )
             else:
                 mesh = make_plane(size=(2e6, 2e6), height=0.0, center_zero=True)
                 wp_mesh = convert_to_warp_mesh(mesh.vertices, mesh.faces, device=self.device)
                 # print info
-                omni.log.info(f"Created infinite plane mesh prim: {mesh_prim.GetPath()}.")
+                logger.info(f"Created infinite plane mesh prim: {mesh_prim.GetPath()}.")
             # add the warp mesh to the list
             self.meshes[mesh_prim_path] = wp_mesh
 
@@ -265,7 +269,7 @@ def _update_buffers_impl(self, env_ids: Sequence[int]):
                 self.cfg.ray_alignment = "base"
                 msg += " Setting ray_alignment to 'base'."
             # log the warning
-            omni.log.warn(msg)
+            logger.warning(msg)
         # ray cast based on the sensor poses
         if self.cfg.ray_alignment == "world":
             # apply horizontal drift to ray starting position in ray caster frame
diff --git a/source/isaaclab/isaaclab/sim/converters/mesh_converter.py b/source/isaaclab/isaaclab/sim/converters/mesh_converter.py
index a35167fad99..30ea04c28df 100644
--- a/source/isaaclab/isaaclab/sim/converters/mesh_converter.py
+++ b/source/isaaclab/isaaclab/sim/converters/mesh_converter.py
@@ -4,6 +4,7 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import asyncio
+import logging
 import os
 
 import omni
@@ -17,6 +18,9 @@
 from isaaclab.sim.schemas import schemas
 from isaaclab.sim.utils import export_prim_to_file
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class MeshConverter(AssetConverterBase):
     """Converter for a mesh file in OBJ / STL / FBX format to a USD file.
@@ -87,7 +91,7 @@ def _convert_asset(self, cfg: MeshConverterCfg):
             # Correct the name to a valid identifier and update the basename
             mesh_file_basename_original = mesh_file_basename
             mesh_file_basename = Tf.MakeValidIdentifier(mesh_file_basename)
-            omni.log.warn(
+            logger.warning(
                 f"Input file name '{mesh_file_basename_original}' is an invalid identifier for the mesh prim path."
                 f" Renaming it to '{mesh_file_basename}' for the conversion."
             )
diff --git a/source/isaaclab/isaaclab/sim/schemas/schemas.py b/source/isaaclab/isaaclab/sim/schemas/schemas.py
index 482b6745842..20ea93bb703 100644
--- a/source/isaaclab/isaaclab/sim/schemas/schemas.py
+++ b/source/isaaclab/isaaclab/sim/schemas/schemas.py
@@ -6,9 +6,9 @@
 # needed to import for allowing type-hinting: Usd.Stage | None
 from __future__ import annotations
 
+import logging
 import math
 
-import omni.log
 import omni.physx.scripts.utils as physx_utils
 from isaacsim.core.utils.stage import get_current_stage
 from omni.physx.scripts import deformableUtils as deformable_utils
@@ -22,6 +22,9 @@
 )
 from . import schemas_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 """
 Articulation root properties.
 """
@@ -151,12 +154,12 @@ def modify_articulation_root_properties(
         # if we found a fixed joint, enable/disable it based on the input
         # otherwise, create a fixed joint between the world and the root link
         if existing_fixed_joint_prim is not None:
-            omni.log.info(
+            logger.info(
                 f"Found an existing fixed joint for the articulation: '{prim_path}'. Setting it to: {fix_root_link}."
             )
             existing_fixed_joint_prim.GetJointEnabledAttr().Set(fix_root_link)
         elif fix_root_link:
-            omni.log.info(f"Creating a fixed joint for the articulation: '{prim_path}'.")
+            logger.info(f"Creating a fixed joint for the articulation: '{prim_path}'.")
 
             # note: we have to assume that the root prim is a rigid body,
             #   i.e. we don't handle the case where the root prim is not a rigid body but has articulation api on it
@@ -527,10 +530,10 @@ def activate_contact_sensors(prim_path: str, threshold: float = 0.0, stage: Usd.
             rb.CreateSleepThresholdAttr().Set(0.0)
             # add contact report API with threshold of zero
             if not child_prim.HasAPI(PhysxSchema.PhysxContactReportAPI):
-                omni.log.verbose(f"Adding contact report API to prim: '{child_prim.GetPrimPath()}'")
+                logger.debug(f"Adding contact report API to prim: '{child_prim.GetPrimPath()}'")
                 cr_api = PhysxSchema.PhysxContactReportAPI.Apply(child_prim)
             else:
-                omni.log.verbose(f"Contact report API already exists on prim: '{child_prim.GetPrimPath()}'")
+                logger.debug(f"Contact report API already exists on prim: '{child_prim.GetPrimPath()}'")
                 cr_api = PhysxSchema.PhysxContactReportAPI.Get(stage, child_prim.GetPrimPath())
             # set threshold to zero
             cr_api.CreateThresholdAttr().Set(threshold)
diff --git a/source/isaaclab/isaaclab/sim/simulation_cfg.py b/source/isaaclab/isaaclab/sim/simulation_cfg.py
index 380dba26c51..9cf7f71c369 100644
--- a/source/isaaclab/isaaclab/sim/simulation_cfg.py
+++ b/source/isaaclab/isaaclab/sim/simulation_cfg.py
@@ -410,3 +410,9 @@ class SimulationCfg:
 
     Creating the stage in memory can reduce start-up time.
     """
+
+    logging_level: Literal["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "WARNING"
+    """The logging level. Default is "WARNING"."""
+
+    save_logs_to_file: bool = True
+    """Save logs to a file. Default is True."""
diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
index 83277635acf..fb260421f99 100644
--- a/source/isaaclab/isaaclab/sim/simulation_context.py
+++ b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -6,9 +6,12 @@
 import builtins
 import enum
 import glob
+import logging
 import numpy as np
 import os
 import re
+import sys
+import tempfile
 import time
 import toml
 import torch
@@ -22,7 +25,6 @@
 import carb
 import flatdict
 import isaacsim.core.utils.stage as stage_utils
-import omni.log
 import omni.physx
 import omni.usd
 from isaacsim.core.api.simulation_context import SimulationContext as _SimulationContext
@@ -36,7 +38,7 @@
 
 from .simulation_cfg import SimulationCfg
 from .spawners import DomeLightCfg, GroundPlaneCfg
-from .utils import bind_physics_material
+from .utils import ColoredFormatter, RateLimitFilter, bind_physics_material
 
 
 class SimulationContext(_SimulationContext):
@@ -132,6 +134,9 @@ def __init__(self, cfg: SimulationCfg | None = None):
         if stage_utils.get_current_stage() is None:
             raise RuntimeError("The stage has not been created. Did you run the simulator?")
 
+        # setup logger
+        self.logger = self._setup_logger()
+
         # create stage in memory if requested
         if self.cfg.create_stage_in_memory:
             self._initial_stage = create_new_stage_in_memory()
@@ -254,7 +259,7 @@ def __init__(self, cfg: SimulationCfg | None = None):
 
         # add warning about enabling stabilization for large step sizes
         if not self.cfg.physx.enable_stabilization and (self.cfg.dt > 0.0333):
-            omni.log.warn(
+            self.logger.warning(
                 "Large simulation step size (> 0.0333 seconds) is not recommended without enabling stabilization."
                 " Consider setting the `enable_stabilization` flag to True in the PhysxCfg, or reducing the"
                 " simulation step size if you run into physics issues."
@@ -408,7 +413,7 @@ def set_render_mode(self, mode: RenderMode):
         """
         # check if mode change is possible -- not possible when no GUI is available
         if not self._has_gui:
-            omni.log.warn(
+            self.logger.warning(
                 f"Cannot change render mode when GUI is disabled. Using the default render mode: {self.render_mode}."
             )
             return
@@ -661,7 +666,7 @@ def _apply_physics_settings(self):
         # note: we disable it by default to avoid the overhead of contact processing when it isn't needed.
         #   The physics flag gets enabled when a contact sensor is created.
         if hasattr(self.cfg, "disable_contact_processing"):
-            omni.log.warn(
+            self.logger.warning(
                 "The `disable_contact_processing` attribute is deprecated and always set to True"
                 " to avoid unnecessary overhead. Contact processing is automatically enabled when"
                 " a contact sensor is created, so manual configuration is no longer required."
@@ -979,6 +984,46 @@ def _app_control_on_stop_handle_fn(self, event: carb.events.IEvent):
                 self.render()
         return
 
+    """
+    Logger.
+    """
+
+    def _setup_logger(self):
+        """Sets up the logger."""
+        root_logger = logging.getLogger()
+        root_logger.setLevel(self.cfg.logging_level)
+
+        # remove existing handlers
+        if root_logger.hasHandlers():
+            for handler in root_logger.handlers:
+                root_logger.removeHandler(handler)
+
+        handler = logging.StreamHandler(sys.stdout)
+        handler.setLevel(self.cfg.logging_level)
+
+        formatter = ColoredFormatter(fmt="%(asctime)s [%(filename)s] %(levelname)s: %(message)s", datefmt="%H:%M:%S")
+        handler.setFormatter(formatter)
+        handler.addFilter(RateLimitFilter(interval_seconds=5))
+        root_logger.addHandler(handler)
+
+        # --- File handler (optional) ---
+        if self.cfg.save_logs_to_file:
+            temp_dir = tempfile.gettempdir()
+            log_file_path = os.path.join(temp_dir, f"isaaclab_{datetime.now().strftime('%Y-%m-%d_%H-%M-%S')}.log")
+
+            file_handler = logging.FileHandler(log_file_path, mode="w", encoding="utf-8")
+            file_handler.setLevel(logging.DEBUG)
+            file_formatter = logging.Formatter(
+                fmt="%(asctime)s [%(filename)s:%(lineno)d] %(levelname)s: %(message)s", datefmt="%Y-%m-%d %H:%M:%S"
+            )
+            file_handler.setFormatter(file_formatter)
+            root_logger.addHandler(file_handler)
+
+            # Print the log file path once at startup
+            print(f"[INFO] IsaacLab logging to file: {log_file_path}")
+
+        return root_logger
+
 
 @contextmanager
 def build_simulation_context(
@@ -1066,7 +1111,7 @@ def build_simulation_context(
         yield sim
 
     except Exception:
-        omni.log.error(traceback.format_exc())
+        sim.logger.error(traceback.format_exc())
         raise
     finally:
         if not sim.has_gui():
diff --git a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py
index a3c8a44015a..04592a4066d 100644
--- a/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py
+++ b/source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py
@@ -5,11 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 from typing import TYPE_CHECKING
 
 import isaacsim.core.utils.prims as prim_utils
 import omni.kit.commands
-import omni.log
 from pxr import Gf, Sdf, Usd
 
 # from Isaac Sim 4.2 onwards, pxr.Semantics is deprecated
@@ -33,6 +33,9 @@
 if TYPE_CHECKING:
     from . import from_files_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 @clone
 def spawn_from_usd(
@@ -183,7 +186,7 @@ def spawn_ground_plane(
         # avoiding this step if stage is in memory since the "ChangePropertyCommand" kit command
         # is not supported in stage in memory
         if is_current_stage_in_memory():
-            omni.log.warn(
+            logger.warning(
                 "Ground plane color modification is not supported while the stage is in memory. Skipping operation."
             )
 
@@ -282,7 +285,7 @@ def _spawn_from_usd_file(
             scale=cfg.scale,
         )
     else:
-        omni.log.warn(f"A prim already exists at prim path: '{prim_path}'.")
+        logger.warning(f"A prim already exists at prim path: '{prim_path}'.")
 
     # modify variants
     if hasattr(cfg, "variants") and cfg.variants is not None:
diff --git a/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials.py b/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials.py
index 3c79f6f679e..30cd153a79c 100644
--- a/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials.py
+++ b/source/isaaclab/isaaclab/sim/spawners/materials/visual_materials.py
@@ -5,11 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 from typing import TYPE_CHECKING
 
 import isaacsim.core.utils.prims as prim_utils
 import omni.kit.commands
-import omni.log
 from pxr import Usd
 
 from isaaclab.sim.utils import attach_stage_to_usd_context, clone, safe_set_attribute_on_usd_prim
@@ -18,6 +18,9 @@
 if TYPE_CHECKING:
     from . import visual_materials_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 @clone
 def spawn_preview_surface(prim_path: str, cfg: visual_materials_cfg.PreviewSurfaceCfg) -> Usd.Prim:
diff --git a/source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py b/source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py
index 0a385902a55..e10bf63b5c3 100644
--- a/source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py
+++ b/source/isaaclab/isaaclab/sim/spawners/sensors/sensors.py
@@ -5,11 +5,11 @@
 
 from __future__ import annotations
 
+import logging
 from typing import TYPE_CHECKING
 
 import isaacsim.core.utils.prims as prim_utils
 import omni.kit.commands
-import omni.log
 from pxr import Sdf, Usd
 
 from isaaclab.sim.utils import attach_stage_to_usd_context, clone
@@ -18,6 +18,8 @@
 if TYPE_CHECKING:
     from . import sensors_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
 
 CUSTOM_PINHOLE_CAMERA_ATTRIBUTES = {
     "projection_type": ("cameraProjectionType", Sdf.ValueTypeNames.Token),
@@ -110,7 +112,7 @@ def spawn_camera(
     # TODO: Adjust to handle aperture offsets once supported by omniverse
     #   Internal ticket from rendering team: OM-42611
     if cfg.horizontal_aperture_offset > 1e-4 or cfg.vertical_aperture_offset > 1e-4:
-        omni.log.warn("Camera aperture offsets are not supported by Omniverse. These parameters will be ignored.")
+        logger.warning("Camera aperture offsets are not supported by Omniverse. These parameters will be ignored.")
 
     # custom attributes in the config that are not USD Camera parameters
     non_usd_cfg_param_names = [
diff --git a/source/isaaclab/isaaclab/sim/utils.py b/source/isaaclab/isaaclab/sim/utils.py
index 338ec5d843a..158f2fc6112 100644
--- a/source/isaaclab/isaaclab/sim/utils.py
+++ b/source/isaaclab/isaaclab/sim/utils.py
@@ -10,7 +10,9 @@
 import contextlib
 import functools
 import inspect
+import logging
 import re
+import time
 from collections.abc import Callable, Generator
 from typing import TYPE_CHECKING, Any
 
@@ -18,7 +20,6 @@
 import isaacsim.core.utils.stage as stage_utils
 import omni
 import omni.kit.commands
-import omni.log
 from isaacsim.core.cloner import Cloner
 from isaacsim.core.utils.carb import get_carb_setting
 from isaacsim.core.utils.stage import get_current_stage
@@ -38,6 +39,9 @@
 if TYPE_CHECKING:
     from .spawners.spawner_cfg import SpawnerCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 """
 Attribute - Setters.
 """
@@ -76,7 +80,7 @@ def safe_set_attribute_on_usd_schema(schema_api: Usd.APISchemaBase, name: str, v
     else:
         # think: do we ever need to create the attribute if it doesn't exist?
         #   currently, we are not doing this since the schemas are already created with some defaults.
-        omni.log.error(f"Attribute '{attr_name}' does not exist on prim '{schema_api.GetPath()}'.")
+        logger.error(f"Attribute '{attr_name}' does not exist on prim '{schema_api.GetPath()}'.")
         raise TypeError(f"Attribute '{attr_name}' does not exist on prim '{schema_api.GetPath()}'.")
 
 
@@ -201,7 +205,7 @@ def wrapper(prim_path: str | Sdf.Path, *args, **kwargs):
                 count_success += 1
         # check if we were successful in applying the function to any prim
         if count_success == 0:
-            omni.log.warn(
+            logger.warning(
                 f"Could not perform '{func.__name__}' on any prims under: '{prim_path}'."
                 " This might be because of the following reasons:"
                 "\n\t(1) The desired attribute does not exist on any of the prims."
@@ -424,7 +428,7 @@ def bind_physics_material(
     has_deformable_body = prim.HasAPI(PhysxSchema.PhysxDeformableBodyAPI)
     has_particle_system = prim.IsA(PhysxSchema.PhysxParticleSystem)
     if not (has_physics_scene_api or has_collider or has_deformable_body or has_particle_system):
-        omni.log.verbose(
+        logger.debug(
             f"Cannot apply physics material '{material_path}' on prim '{prim_path}'. It is neither a"
             " PhysX scene, collider, a deformable body, nor a particle system."
         )
@@ -1022,14 +1026,14 @@ class TableVariants:
     for variant_set_name, variant_selection in variants.items():
         # Check if the variant set exists on the prim.
         if not existing_variant_sets.HasVariantSet(variant_set_name):
-            omni.log.warn(f"Variant set '{variant_set_name}' does not exist on prim '{prim_path}'.")
+            logger.warning(f"Variant set '{variant_set_name}' does not exist on prim '{prim_path}'.")
             continue
 
         variant_set = existing_variant_sets.GetVariantSet(variant_set_name)
         # Only set the variant selection if it is different from the current selection.
         if variant_set.GetVariantSelection() != variant_selection:
             variant_set.SetVariantSelection(variant_selection)
-            omni.log.info(
+            logger.info(
                 f"Setting variant selection '{variant_selection}' for variant set '{variant_set_name}' on"
                 f" prim '{prim_path}'."
             )
@@ -1080,7 +1084,7 @@ def attach_stage_to_usd_context(attaching_early: bool = False):
 
     # early attach warning msg
     if attaching_early:
-        omni.log.warn(
+        logger.warning(
             "Attaching stage in memory to USD context early to support an operation which doesn't support stage in"
             " memory."
         )
@@ -1140,7 +1144,7 @@ def use_stage(stage: Usd.Stage) -> Generator[None, None, None]:
     """
     isaac_sim_version = float(".".join(get_version()[2]))
     if isaac_sim_version < 5:
-        omni.log.warn("[Compat] Isaac Sim < 5.0 does not support thread-local stage contexts. Skipping use_stage().")
+        logger.warning("[Compat] Isaac Sim < 5.0 does not support thread-local stage contexts. Skipping use_stage().")
         yield  # no-op
     else:
         with stage_utils.use_stage(stage):
@@ -1155,7 +1159,7 @@ def create_new_stage_in_memory() -> Usd.Stage:
     """
     isaac_sim_version = float(".".join(get_version()[2]))
     if isaac_sim_version < 5:
-        omni.log.warn(
+        logger.warning(
             "[Compat] Isaac Sim < 5.0 does not support creating a new stage in memory. Falling back to creating a new"
             " stage attached to USD context."
         )
@@ -1179,3 +1183,44 @@ def get_current_stage_id() -> int:
     if stage_id < 0:
         stage_id = stage_cache.Insert(stage).ToLongInt()
     return stage_id
+
+
+"""
+Logger.
+"""
+
+
+# --- Colored formatter ---
+class ColoredFormatter(logging.Formatter):
+    COLORS = {
+        "WARNING": "\033[33m",  # orange/yellow
+        "ERROR": "\033[31m",  # red
+        "CRITICAL": "\033[31m",  # red
+        "INFO": "\033[0m",  # reset
+        "DEBUG": "\033[0m",
+    }
+    RESET = "\033[0m"
+
+    def format(self, record):
+        color = self.COLORS.get(record.levelname, self.RESET)
+        message = super().format(record)
+        return f"{color}{message}{self.RESET}"
+
+
+# --- Custom rate-limited warning filter ---
+class RateLimitFilter(logging.Filter):
+    def __init__(self, interval_seconds=5):
+        super().__init__()
+        self.interval = interval_seconds
+        self.last_emitted = {}
+
+    def filter(self, record):
+        """Allow WARNINGs only once every few seconds per message."""
+        if record.levelno != logging.WARNING:
+            return True
+        now = time.time()
+        msg_key = record.getMessage()
+        if msg_key not in self.last_emitted or (now - self.last_emitted[msg_key]) > self.interval:
+            self.last_emitted[msg_key] = now
+            return True
+        return False
diff --git a/source/isaaclab/isaaclab/terrains/terrain_generator.py b/source/isaaclab/isaaclab/terrains/terrain_generator.py
index 456aa88c174..26b4b9efa00 100644
--- a/source/isaaclab/isaaclab/terrains/terrain_generator.py
+++ b/source/isaaclab/isaaclab/terrains/terrain_generator.py
@@ -5,14 +5,13 @@
 
 from __future__ import annotations
 
+import logging
 import numpy as np
 import os
 import torch
 import trimesh
 from typing import TYPE_CHECKING
 
-import omni.log
-
 from isaaclab.utils.dict import dict_to_md5_hash
 from isaaclab.utils.io import dump_yaml
 from isaaclab.utils.timer import Timer
@@ -25,6 +24,9 @@
     from .sub_terrain_cfg import FlatPatchSamplingCfg, SubTerrainBaseCfg
     from .terrain_generator_cfg import TerrainGeneratorCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class TerrainGenerator:
     r"""Terrain generator to handle different terrain generation functions.
@@ -126,7 +128,7 @@ def __init__(self, cfg: TerrainGeneratorCfg, device: str = "cpu"):
 
         # throw a warning if the cache is enabled but the seed is not set
         if self.cfg.use_cache and self.cfg.seed is None:
-            omni.log.warn(
+            logger.warning(
                 "Cache is enabled but the seed is not set. The terrain generation will not be reproducible."
                 " Please set the seed in the terrain generator configuration to make the generation reproducible."
             )
@@ -302,7 +304,7 @@ def _add_sub_terrain(
         """
         # sample flat patches if specified
         if sub_terrain_cfg.flat_patch_sampling is not None:
-            omni.log.info(f"Sampling flat patches for sub-terrain at (row, col):  ({row}, {col})")
+            logger.info(f"Sampling flat patches for sub-terrain at (row, col):  ({row}, {col})")
             # convert the mesh to warp mesh
             wp_mesh = convert_to_warp_mesh(mesh.vertices, mesh.faces, device=self.device)
             # sample flat patches based on each patch configuration for that sub-terrain
diff --git a/source/isaaclab/isaaclab/terrains/terrain_importer.py b/source/isaaclab/isaaclab/terrains/terrain_importer.py
index a8a2712f251..f5c90962133 100644
--- a/source/isaaclab/isaaclab/terrains/terrain_importer.py
+++ b/source/isaaclab/isaaclab/terrains/terrain_importer.py
@@ -5,13 +5,12 @@
 
 from __future__ import annotations
 
+import logging
 import numpy as np
 import torch
 import trimesh
 from typing import TYPE_CHECKING
 
-import omni.log
-
 import isaaclab.sim as sim_utils
 from isaaclab.markers import VisualizationMarkers
 from isaaclab.markers.config import FRAME_MARKER_CFG
@@ -21,6 +20,9 @@
 if TYPE_CHECKING:
     from .terrain_importer_cfg import TerrainImporterCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class TerrainImporter:
     r"""A class to handle terrain meshes and import them into the simulator.
@@ -208,7 +210,7 @@ def import_ground_plane(self, name: str, size: tuple[float, float] = (2.0e6, 2.0
             if "diffuse_color" in material:
                 color = material["diffuse_color"]
             else:
-                omni.log.warn(
+                logger.warning(
                     "Visual material specified for ground plane but no diffuse color found."
                     " Using default color: (0.0, 0.0, 0.0)"
                 )
@@ -373,7 +375,7 @@ def warp_meshes(self):
         .. deprecated:: v2.1.0
             The `warp_meshes` attribute is deprecated. It is no longer stored inside the class.
         """
-        omni.log.warn(
+        logger.warning(
             "The `warp_meshes` attribute is deprecated. It is no longer stored inside the `TerrainImporter` class."
             " Returning an empty dictionary."
         )
@@ -386,7 +388,7 @@ def meshes(self) -> dict[str, trimesh.Trimesh]:
         .. deprecated:: v2.1.0
             The `meshes` attribute is deprecated. It is no longer stored inside the class.
         """
-        omni.log.warn(
+        logger.warning(
             "The `meshes` attribute is deprecated. It is no longer stored inside the `TerrainImporter` class."
             " Returning an empty dictionary."
         )
diff --git a/source/isaaclab/isaaclab/ui/widgets/image_plot.py b/source/isaaclab/isaaclab/ui/widgets/image_plot.py
index 5b61daae85f..08497ba7002 100644
--- a/source/isaaclab/isaaclab/ui/widgets/image_plot.py
+++ b/source/isaaclab/isaaclab/ui/widgets/image_plot.py
@@ -3,6 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+import logging
 import numpy as np
 from contextlib import suppress
 from matplotlib import cm
@@ -10,7 +11,6 @@
 
 import carb
 import omni
-import omni.log
 
 with suppress(ImportError):
     # isaacsim.gui is not available when running in headless mode.
@@ -22,6 +22,9 @@
     import isaacsim.gui.components
     import omni.ui
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class ImagePlot(UIWidgetWrapper):
     """An image plot widget to display live data.
@@ -115,7 +118,7 @@ def update_image(self, image: np.ndarray):
             image = (image * 255).astype(np.uint8)
         elif self._curr_mode == "Colorization":
             if image.ndim == 3 and image.shape[2] == 3:
-                omni.log.warn("Colorization mode is only available for single channel images")
+                logger.warning("Colorization mode is only available for single channel images")
             else:
                 image = (image - image.min()) / (image.max() - image.min())
                 colormap = cm.get_cmap("jet")
diff --git a/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py b/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
index a7cc31c070b..bf4d43a4d2e 100644
--- a/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
+++ b/source/isaaclab/isaaclab/ui/widgets/manager_live_visualizer.py
@@ -5,13 +5,13 @@
 
 from __future__ import annotations
 
+import logging
 import numpy
 import weakref
 from dataclasses import MISSING
 from typing import TYPE_CHECKING
 
 import omni.kit.app
-import omni.log
 from isaacsim.core.api.simulation_context import SimulationContext
 
 from isaaclab.managers import ManagerBase
@@ -24,6 +24,9 @@
 if TYPE_CHECKING:
     import omni.ui
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 @configclass
 class ManagerLiveVisualizerCfg:
@@ -79,7 +82,7 @@ def __init__(self, manager: ManagerBase, cfg: ManagerLiveVisualizerCfg = Manager
                     if term_name in self._manager.active_terms:
                         self.term_names.append(term_name)
                     else:
-                        omni.log.error(
+                        logger.error(
                             f"ManagerVisualizer Failure: ManagerTerm ({term_name}) does not exist in"
                             f" Manager({self.cfg.manager_name})"
                         )
@@ -94,17 +97,17 @@ def __init__(self, manager: ManagerBase, cfg: ManagerLiveVisualizerCfg = Manager
                                 if term_name in self._manager.active_terms[group]:
                                     self.term_names.append(f"{group}-{term_name}")
                                 else:
-                                    omni.log.error(
+                                    logger.error(
                                         f"ManagerVisualizer Failure: ManagerTerm ({term_name}) does not exist in"
                                         f" Group({group})"
                                     )
                         else:
-                            omni.log.error(
+                            logger.error(
                                 f"ManagerVisualizer Failure: Group ({group}) does not exist in"
                                 f" Manager({self.cfg.manager_name})"
                             )
                 else:
-                    omni.log.error(
+                    logger.error(
                         f"ManagerVisualizer Failure: Manager({self.cfg.manager_name}) does not utilize grouping of"
                         " terms."
                     )
@@ -148,7 +151,7 @@ def _set_env_selection_impl(self, env_idx: int):
         if env_idx > 0 and env_idx < self._manager.num_envs:
             self._env_idx = env_idx
         else:
-            omni.log.warn(f"Environment index is out of range (0, {self._manager.num_envs - 1})")
+            logger.warning(f"Environment index is out of range (0, {self._manager.num_envs - 1})")
 
     def _set_vis_frame_impl(self, frame: omni.ui.Frame):
         """Updates the assigned frame that can be used for visualizations.
@@ -227,7 +230,7 @@ def _set_debug_vis_impl(self, debug_vis: bool):
                                 image = ImagePlot(image=numpy.array(term), label=name)
                                 self._term_visualizers.append(image)
                             else:
-                                omni.log.warn(
+                                logger.warning(
                                     f"ManagerLiveVisualizer: Term ({name}) is not a supported data type for"
                                     " visualization."
                                 )
diff --git a/source/isaaclab/isaaclab/ui/xr_widgets/scene_visualization.py b/source/isaaclab/isaaclab/ui/xr_widgets/scene_visualization.py
index 2cac77b859b..f88fc4de374 100644
--- a/source/isaaclab/isaaclab/ui/xr_widgets/scene_visualization.py
+++ b/source/isaaclab/isaaclab/ui/xr_widgets/scene_visualization.py
@@ -7,6 +7,7 @@
 
 import contextlib
 import inspect
+import logging
 import numpy as np
 import threading
 import time
@@ -15,12 +16,14 @@
 from enum import Enum
 from typing import Any, Union
 
-import omni.log
 from pxr import Gf
 
 from isaaclab.sim import SimulationContext
 from isaaclab.ui.xr_widgets import show_instruction
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class TriggerType(Enum):
     """Enumeration of trigger types for visualization callbacks.
@@ -432,7 +435,7 @@ def _validate_callback_signature(self, trigger: TriggerType, callback: Callable)
                 raise
             # If we can't inspect the signature (e.g., built-in functions),
             # just log a warning and proceed
-            omni.log.warn(f"Could not validate callback signature for {trigger.name}: {e}")
+            logger.warning(f"Could not validate callback signature for {trigger.name}: {e}")
 
 
 class XRVisualization:
@@ -600,7 +603,7 @@ def assign_manager(cls, manager: type[VisualizationManager]) -> None:
             manager: Type of the visualization manager to assign
         """
         if cls._instance is not None:
-            omni.log.error(
+            logger.error(
                 f"Visualization system already initialized to {type(cls._instance._visualization_manager).__name__},"
                 f" cannot assign manager {manager.__name__}"
             )
diff --git a/source/isaaclab/isaaclab/utils/assets.py b/source/isaaclab/isaaclab/utils/assets.py
index ef61e9f89af..353767c0310 100644
--- a/source/isaaclab/isaaclab/utils/assets.py
+++ b/source/isaaclab/isaaclab/utils/assets.py
@@ -15,6 +15,7 @@
 
 import asyncio
 import io
+import logging
 import os
 import tempfile
 import time
@@ -23,6 +24,9 @@
 import carb
 import omni.client
 
+# import logger
+logger = logging.getLogger(__name__)
+
 NUCLEUS_ASSET_ROOT_DIR = carb.settings.get_settings().get("/persistent/isaac/asset_root/cloud")
 """Path to the root directory on the Nucleus Server."""
 
@@ -168,9 +172,9 @@ def check_usd_path_with_timeout(usd_path: str, timeout: float = 300, log_interva
         if now >= next_log_time:
             elapsed = int(now - start_time)
             if first_log:
-                omni.log.warn(f"Checking server availability for USD path: {usd_path} (timeout: {timeout}s)")
+                logger.warning(f"Checking server availability for USD path: {usd_path} (timeout: {timeout}s)")
                 first_log = False
-            omni.log.warn(f"Waiting for server response... ({elapsed}s elapsed)")
+            logger.warning(f"Waiting for server response... ({elapsed}s elapsed)")
             next_log_time += log_interval
         loop.run_until_complete(asyncio.sleep(0.1))  # Yield to allow async work
 
@@ -199,8 +203,8 @@ async def _is_usd_path_available(usd_path: str, timeout: float) -> bool:
         result, _ = await asyncio.wait_for(omni.client.stat_async(usd_path), timeout=timeout)
         return result == omni.client.Result.OK
     except asyncio.TimeoutError:
-        omni.log.warn(f"Timed out after {timeout}s while checking for USD: {usd_path}")
+        logger.warning(f"Timed out after {timeout}s while checking for USD: {usd_path}")
         return False
     except Exception as ex:
-        omni.log.warn(f"Exception during USD file check: {type(ex).__name__}: {ex}")
+        logger.warning(f"Exception during USD file check: {type(ex).__name__}: {ex}")
         return False
diff --git a/source/isaaclab/isaaclab/utils/math.py b/source/isaaclab/isaaclab/utils/math.py
index f8ad612a916..9dfb59f413e 100644
--- a/source/isaaclab/isaaclab/utils/math.py
+++ b/source/isaaclab/isaaclab/utils/math.py
@@ -8,13 +8,15 @@
 # needed to import for allowing type-hinting: torch.Tensor | np.ndarray
 from __future__ import annotations
 
+import logging
 import math
 import numpy as np
 import torch
 import torch.nn.functional
 from typing import Literal
 
-import omni.log
+# import logger
+logger = logging.getLogger(__name__)
 
 """
 General
@@ -694,7 +696,7 @@ def quat_rotate(q: torch.Tensor, v: torch.Tensor) -> torch.Tensor:
         The rotated vector in (x, y, z). Shape is (..., 3).
     """
     # deprecation
-    omni.log.warn(
+    logger.warning(
         "The function 'quat_rotate' will be deprecated in favor of the faster method 'quat_apply'."
         " Please use 'quat_apply' instead...."
     )
@@ -714,7 +716,7 @@ def quat_rotate_inverse(q: torch.Tensor, v: torch.Tensor) -> torch.Tensor:
     Returns:
         The rotated vector in (x, y, z). Shape is (..., 3).
     """
-    omni.log.warn(
+    logger.warning(
         "The function 'quat_rotate_inverse' will be deprecated in favor of the faster method 'quat_apply_inverse'."
         " Please use 'quat_apply_inverse' instead...."
     )
diff --git a/source/isaaclab/isaaclab/utils/sensors.py b/source/isaaclab/isaaclab/utils/sensors.py
index 92d603fcd8a..09d065f0432 100644
--- a/source/isaaclab/isaaclab/utils/sensors.py
+++ b/source/isaaclab/isaaclab/utils/sensors.py
@@ -3,7 +3,10 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import omni
+import logging
+
+# import logger
+logger = logging.getLogger(__name__)
 
 
 def convert_camera_intrinsics_to_usd(
@@ -33,11 +36,11 @@ def convert_camera_intrinsics_to_usd(
 
     # warn about non-square pixels
     if abs(f_x - f_y) > 1e-4:
-        omni.log.warn("Camera non square pixels are not supported by Omniverse. The average of f_x and f_y are used.")
+        logger.warning("Camera non square pixels are not supported by Omniverse. The average of f_x and f_y are used.")
 
     # warn about aperture offsets
     if abs((c_x - float(width) / 2) > 1e-4 or (c_y - float(height) / 2) > 1e-4):
-        omni.log.warn(
+        logger.warning(
             "Camera aperture offsets are not supported by Omniverse. c_x and c_y will be half of width and height"
         )
 
diff --git a/source/isaaclab/test/deps/isaacsim/check_floating_base_made_fixed.py b/source/isaaclab/test/deps/isaacsim/check_floating_base_made_fixed.py
index dbe12e8265f..8d3535c1b7c 100644
--- a/source/isaaclab/test/deps/isaacsim/check_floating_base_made_fixed.py
+++ b/source/isaaclab/test/deps/isaacsim/check_floating_base_made_fixed.py
@@ -30,13 +30,13 @@
 
 """Rest everything follows."""
 
+import logging
 import torch
 
 import isaacsim.core.utils.nucleus as nucleus_utils
 import isaacsim.core.utils.prims as prim_utils
 import isaacsim.core.utils.stage as stage_utils
 import omni.kit.commands
-import omni.log
 import omni.physx
 from isaacsim.core.api.world import World
 from isaacsim.core.prims import Articulation
@@ -44,13 +44,16 @@
 from isaacsim.core.utils.viewports import set_camera_view
 from pxr import PhysxSchema, UsdPhysics
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:
     msg = (
         "Unable to perform Nucleus login on Omniverse. Assets root path is not set.\n"
         "\tPlease check: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html#omniverse-nucleus"
     )
-    omni.log.error(msg)
+    logger.error(msg)
     raise RuntimeError(msg)
 
 
diff --git a/source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py b/source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py
index c26f627a220..3231001efcc 100644
--- a/source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py
+++ b/source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py
@@ -40,11 +40,10 @@
 
 """Rest everything follows."""
 
+import logging
 import os
 import torch
 
-import omni.log
-
 try:
     import isaacsim.storage.native as nucleus_utils
 except ModuleNotFoundError:
@@ -57,13 +56,16 @@
 from isaacsim.core.utils.carb import set_carb_setting
 from isaacsim.core.utils.viewports import set_camera_view
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:
     msg = (
         "Unable to perform Nucleus login on Omniverse. Assets root path is not set.\n"
         "\tPlease check: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html#omniverse-nucleus"
     )
-    omni.log.error(msg)
+    logger.error(msg)
     raise RuntimeError(msg)
 
 
diff --git a/source/isaaclab/test/deps/isaacsim/check_ref_count.py b/source/isaaclab/test/deps/isaacsim/check_ref_count.py
index 2683bd3e989..a3d13331942 100644
--- a/source/isaaclab/test/deps/isaacsim/check_ref_count.py
+++ b/source/isaaclab/test/deps/isaacsim/check_ref_count.py
@@ -35,10 +35,9 @@
 
 import ctypes
 import gc
+import logging
 import torch  # noqa: F401
 
-import omni.log
-
 try:
     import isaacsim.storage.native as nucleus_utils
 except ModuleNotFoundError:
@@ -49,13 +48,16 @@
 from isaacsim.core.prims import Articulation
 from isaacsim.core.utils.carb import set_carb_setting
 
+# import logger
+logger = logging.getLogger(__name__)
+
 # check nucleus connection
 if nucleus_utils.get_assets_root_path() is None:
     msg = (
         "Unable to perform Nucleus login on Omniverse. Assets root path is not set.\n"
         "\tPlease check: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html#omniverse-nucleus"
     )
-    omni.log.error(msg)
+    logger.error(msg)
     raise RuntimeError(msg)