Changes from omni.log to python logging (#3912)

# Description

Changes from `omni.log` to an own python logger for IsaacLab. The
logging information are formatted as follows:

```
14:09:39 [manager_based_env.py] WARNING: The render interval (1) is smaller than the decimation (2). Multiple render calls will happen for each environment step. If this is not intended, set the render interval to be equal to the decimation.
```

All logs are saved to a temp file. Carb initialized a logging handler:

```
<_CarbLogHandler <stderr> (NOTSET)>
```

which is removed when configuring our handler.

## Type of change

- Bug fix (non-breaking change which fixes an issue)


## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: ooctipus <[email protected]>
Co-authored-by: ooctipus <[email protected]>

Author: pascal-roth

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"