Changes from omni.log to python logging

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

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."
         )

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:

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."
         )
 

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."
         )
 

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."
         )
 

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."
         )
 

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

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"