Switches from `carb` to `omni.log` for logging (#1215)

# Description

Earlier, we used [`Carbonite
SDK`](https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/api/dir_carb_logging.html)
to log directly. However, this has limited functionalities compared to
[`omni.log`](https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/api/namespace_omni__log.html)
in Omniverse. Using `omni.log`, you can fine-grain the channels and
print levels better.

Link to omni.log documentation:
https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/omni.log/Logging.html

This MR migrates all `carb` references to the new API.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Screenshot

Checking the performance:
```
./isaaclab.sh -p source/standalone/benchmarks/benchmark_load_robot.py --num_envs 2048 --robot g1 --headless
```

**Before (carb logging)**
[INFO]: App start time: 4676.57 ms
[INFO]: Imports time: 2008.77 ms
[INFO]: Scene creation time: 2966.36 ms
[INFO]: Sim start time: 5782.76 ms
[INFO]: Per step time: 15.80 ms

**After (omni.log logging)**
[INFO]: App start time: 4833.56 ms
[INFO]: Imports time: 1983.67 ms
[INFO]: Scene creation time: 2792.97 ms
[INFO]: Sim start time: 5805.97 ms
[INFO]: Per step time: 15.86 ms


## Checklist

- [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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py

@@ -13,8 +13,8 @@ from collections.abc import Sequence
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
 
-import carb
 import omni.isaac.core.utils.stage as stage_utils
+import omni.log
 import omni.physics.tensors.impl.api as physx
 from omni.isaac.core.utils.types import ArticulationActions
 from pxr import PhysxSchema, UsdPhysics
@@ -542,7 +542,7 @@ class Articulation(AssetBase):
         # update default joint pos to stay within the new limits
         if torch.any((self._data.default_joint_pos < limits[..., 0]) | (self._data.default_joint_pos > limits[..., 1])):
             self._data.default_joint_pos = torch.clamp(self._data.default_joint_pos, limits[..., 0], limits[..., 1])
-            carb.log_warn(
+            omni.log.warn(
                 "Some default joint positions are outside of the range of the new joint limits. Default joint positions"
                 " will be clamped to be within the new joint limits."
             )
@@ -925,13 +925,13 @@ class Articulation(AssetBase):
             raise RuntimeError(f"Failed to create articulation at: {self.cfg.prim_path}. Please check PhysX logs.")
 
         # log information about the articulation
-        carb.log_info(f"Articulation initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
-        carb.log_info(f"Is fixed root: {self.is_fixed_base}")
-        carb.log_info(f"Number of bodies: {self.num_bodies}")
-        carb.log_info(f"Body names: {self.body_names}")
-        carb.log_info(f"Number of joints: {self.num_joints}")
-        carb.log_info(f"Joint names: {self.joint_names}")
-        carb.log_info(f"Number of fixed tendons: {self.num_fixed_tendons}")
+        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}")
 
         # container for data access
         self._data = ArticulationData(self.root_physx_view, self.device)
@@ -1142,7 +1142,7 @@ class Articulation(AssetBase):
                 velocity_limit=usd_velocity_limit[:, joint_ids],
             )
             # log information on actuator groups
-            carb.log_info(
+            omni.log.info(
                 f"Actuator collection: {actuator_name} with model '{actuator_cfg.class_type.__name__}' and"
                 f" joint names: {joint_names} [{joint_ids}]."
             )
@@ -1177,7 +1177,7 @@ class Articulation(AssetBase):
         # 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):
-            carb.log_warn(
+            omni.log.warn(
                 "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}."
             )
@@ -1336,7 +1336,7 @@ class Articulation(AssetBase):
                 effort_limits[index],
             ])
         # convert table to string
-        carb.log_info(f"Simulation parameters for joints in {self.cfg.prim_path}:\n" + table.get_string())
+        omni.log.info(f"Simulation parameters for joints in {self.cfg.prim_path}:\n" + table.get_string())
 
         # read out all tendon parameters from simulation
         if self.num_fixed_tendons > 0:
@@ -1372,4 +1372,4 @@ class Articulation(AssetBase):
                     ft_offsets[index],
                 ])
             # convert table to string
-            carb.log_info(f"Simulation parameters for tendons in {self.cfg.prim_path}:\n" + tendon_table.get_string())
+            omni.log.info(f"Simulation parameters for tendons in {self.cfg.prim_path}:\n" + tendon_table.get_string())

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/deformable_object/deformable_object.py

@@ -9,7 +9,7 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 import omni.physics.tensors.impl.api as physx
 from pxr import PhysxSchema, UsdShade
 
@@ -305,7 +305,7 @@ class DeformableObject(AssetBase):
                         material_prim = mat_prim
                         break
         if material_prim is None:
-            carb.log_info(
+            omni.log.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"
@@ -341,14 +341,14 @@ class DeformableObject(AssetBase):
             self._material_physx_view = None
 
         # log information about the deformable body
-        carb.log_info(f"Deformable body initialized at: {root_prim_path_expr}")
-        carb.log_info(f"Number of instances: {self.num_instances}")
-        carb.log_info(f"Number of bodies: {self.num_bodies}")
+        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}")
         if self._material_physx_view is not None:
-            carb.log_info(f"Deformable material initialized at: {material_prim_path_expr}")
-            carb.log_info(f"Number of instances: {self._material_physx_view.count}")
+            omni.log.info(f"Deformable material initialized at: {material_prim_path_expr}")
+            omni.log.info(f"Number of instances: {self._material_physx_view.count}")
         else:
-            carb.log_info("No deformable material found. Material properties will be set to default values.")
+            omni.log.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)

source/extensions/omni.isaac.lab/omni/isaac/lab/assets/rigid_object/rigid_object.py

@@ -9,7 +9,7 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 import omni.physics.tensors.impl.api as physx
 from pxr import UsdPhysics
 
@@ -299,10 +299,10 @@ class RigidObject(AssetBase):
             raise RuntimeError(f"Failed to create rigid body at: {self.cfg.prim_path}. Please check PhysX logs.")
 
         # log information about the rigid body
-        carb.log_info(f"Rigid body initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
-        carb.log_info(f"Number of instances: {self.num_instances}")
-        carb.log_info(f"Number of bodies: {self.num_bodies}")
-        carb.log_info(f"Body names: {self.body_names}")
+        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}")
 
         # container for data access
         self._data = RigidObjectData(self.root_physx_view, self.device)

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_marl_env.py

@@ -16,9 +16,9 @@ from abc import abstractmethod
 from collections.abc import Sequence
 from typing import Any, ClassVar
 
-import carb
 import omni.isaac.core.utils.torch as torch_utils
 import omni.kit.app
+import omni.log
 from omni.isaac.version import get_version
 
 from omni.isaac.lab.managers import EventManager
@@ -83,7 +83,7 @@ class DirectMARLEnv:
         if self.cfg.seed is not None:
             self.cfg.seed = self.seed(self.cfg.seed)
         else:
-            carb.log_warn("Seed not set for the environment. The environment creation may not be deterministic.")
+            omni.log.warn("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:
@@ -105,7 +105,7 @@ class DirectMARLEnv:
                 f"({self.cfg.decimation}). Multiple multiple render calls will happen for each environment step."
                 "If this is not intended, set the render interval to be equal to the decimation."
             )
-            carb.log_warn(msg)
+            omni.log.warn(msg)
 
         # generate scene
         with Timer("[INFO]: Time taken for scene creation", "scene_creation"):

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py

@@ -16,9 +16,9 @@ from abc import abstractmethod
 from collections.abc import Sequence
 from typing import Any, ClassVar
 
-import carb
 import omni.isaac.core.utils.torch as torch_utils
 import omni.kit.app
+import omni.log
 from omni.isaac.version import get_version
 
 from omni.isaac.lab.managers import EventManager
@@ -88,7 +88,7 @@ class DirectRLEnv(gym.Env):
         if self.cfg.seed is not None:
             self.cfg.seed = self.seed(self.cfg.seed)
         else:
-            carb.log_warn("Seed not set for the environment. The environment creation may not be deterministic.")
+            omni.log.warn("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:
@@ -110,7 +110,7 @@ class DirectRLEnv(gym.Env):
                 f"({self.cfg.decimation}). Multiple multiple render calls will happen for each environment step."
                 "If this is not intended, set the render interval to be equal to the decimation."
             )
-            carb.log_warn(msg)
+            omni.log.warn(msg)
 
         # generate scene
         with Timer("[INFO]: Time taken for scene creation", "scene_creation"):

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py

@@ -8,8 +8,8 @@ import torch
 from collections.abc import Sequence
 from typing import Any
 
-import carb
 import omni.isaac.core.utils.torch as torch_utils
+import omni.log
 
 from omni.isaac.lab.managers import ActionManager, EventManager, ObservationManager
 from omni.isaac.lab.scene import InteractiveScene
@@ -78,7 +78,7 @@ class ManagerBasedEnv:
         if self.cfg.seed is not None:
             self.cfg.seed = self.seed(self.cfg.seed)
         else:
-            carb.log_warn("Seed not set for the environment. The environment creation may not be deterministic.")
+            omni.log.warn("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:
@@ -106,7 +106,7 @@ class ManagerBasedEnv:
                 f"({self.cfg.decimation}). Multiple multiple render calls will happen for each environment step. "
                 "If this is not intended, set the render interval to be equal to the decimation."
             )
-            carb.log_warn(msg)
+            omni.log.warn(msg)
 
         # counter for simulation steps
         self._sim_step_counter = 0

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/binary_joint_actions.py

@@ -9,7 +9,7 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 import omni.isaac.lab.utils.string as string_utils
 from omni.isaac.lab.assets.articulation import Articulation
@@ -52,7 +52,7 @@ class BinaryJointAction(ActionTerm):
         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
-        carb.log_info(
+        omni.log.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions.py

@@ -9,7 +9,7 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 import omni.isaac.lab.utils.string as string_utils
 from omni.isaac.lab.assets.articulation import Articulation
@@ -61,7 +61,7 @@ class JointAction(ActionTerm):
         )
         self._num_joints = len(self._joint_ids)
         # log the resolved joint names for debugging
-        carb.log_info(
+        omni.log.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/joint_actions_to_limits.py

@@ -9,7 +9,7 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 import omni.isaac.lab.utils.math as math_utils
 import omni.isaac.lab.utils.string as string_utils
@@ -53,7 +53,7 @@ class JointPositionToLimitsAction(ActionTerm):
         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
-        carb.log_info(
+        omni.log.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/non_holonomic_actions.py

@@ -9,7 +9,7 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 from omni.isaac.lab.assets.articulation import Articulation
 from omni.isaac.lab.managers.action_manager import ActionTerm
@@ -88,11 +88,11 @@ class NonHolonomicAction(ActionTerm):
         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
-        carb.log_info(
+        omni.log.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
-        carb.log_info(
+        omni.log.info(
             f"Resolved body name for the action term {self.__class__.__name__}: {self._body_name} [{self._body_idx}]"
         )
 

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/task_space_actions.py

@@ -9,7 +9,7 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 import omni.isaac.lab.utils.math as math_utils
 from omni.isaac.lab.assets.articulation import Articulation
@@ -70,11 +70,11 @@ class DifferentialInverseKinematicsAction(ActionTerm):
             self._jacobi_joint_ids = [i + 6 for i in self._joint_ids]
 
         # log info for debugging
-        carb.log_info(
+        omni.log.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
-        carb.log_info(
+        omni.log.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

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py

@@ -12,7 +12,7 @@ from collections.abc import Sequence
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 from .manager_base import ManagerBase, ManagerTermBase
 from .manager_term_cfg import EventTermCfg
@@ -157,7 +157,7 @@ class EventManager(ManagerBase):
         """
         # check if mode is valid
         if mode not in self._mode_term_names:
-            carb.log_warn(f"Event mode '{mode}' is not defined. Skipping event.")
+            omni.log.warn(f"Event mode '{mode}' is not defined. Skipping event.")
             return
         # check if mode is interval and dt is not provided
         if mode == "interval" and dt is None:
@@ -324,7 +324,7 @@ class EventManager(ManagerBase):
                 )
 
             if term_cfg.mode != "reset" and term_cfg.min_step_count_between_reset != 0:
-                carb.log_warn(
+                omni.log.warn(
                     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."
                 )

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/manager_base.py

@@ -11,7 +11,7 @@ from abc import ABC, abstractmethod
 from collections.abc import Sequence
 from typing import TYPE_CHECKING, Any
 
-import carb
+import omni.log
 
 import omni.isaac.lab.utils.string as string_utils
 from omni.isaac.lab.utils import string_to_callable
@@ -251,7 +251,7 @@ class ManagerBase(ABC):
                 if value.body_ids is not None:
                     msg += f"\n\tBody names: {value.body_names} [{value.body_ids}]"
                 # print the information
-                carb.log_info(msg)
+                omni.log.info(msg)
             # store the entity
             term_cfg.params[key] = value
 

source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py

@@ -171,7 +171,7 @@ class InteractiveScene:
         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:
-            carb.log_warn(
+            omni.log.warn(
                 "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."
@@ -239,7 +239,7 @@ class InteractiveScene:
             for prim in self.stage.Traverse():
                 if prim.HasAPI(PhysxSchema.PhysxSceneAPI):
                     self._physics_scene_path = prim.GetPrimPath().pathString
-                    carb.log_info(f"Physics scene prim path: {self._physics_scene_path}")
+                    omni.log.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.")

source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py

@@ -251,7 +251,7 @@ class Camera(SensorBase):
             # TODO: Adjust to handle aperture offsets once supported by omniverse
             #   Internal ticket from rendering team: OM-42611
             if params["horizontal_aperture_offset"] > 1e-4 or params["vertical_aperture_offset"] > 1e-4:
-                carb.log_warn("Camera aperture offsets are not supported by Omniverse. These parameters are ignored.")
+                omni.log.warn("Camera aperture offsets are not supported by Omniverse. These parameters are ignored.")
 
             # change data for corresponding camera index
             sensor_prim = self._sensor_prims[i]

source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/frame_transformer/frame_transformer.py

@@ -10,7 +10,7 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 import omni.physics.tensors.impl.api as physx
 from pxr import UsdPhysics
 
@@ -114,10 +114,10 @@ class FrameTransformer(SensorBase):
         self._apply_source_frame_offset = True
         # Handle source frame offsets
         if is_identity_pose(source_frame_offset_pos, source_frame_offset_quat):
-            carb.log_verbose(f"No offset application needed for source frame as it is identity: {self.cfg.prim_path}")
+            omni.log.verbose(f"No offset application needed for source frame as it is identity: {self.cfg.prim_path}")
             self._apply_source_frame_offset = False
         else:
-            carb.log_verbose(f"Applying offset to source frame as it is not identity: {self.cfg.prim_path}")
+            omni.log.verbose(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)
@@ -194,12 +194,12 @@ class FrameTransformer(SensorBase):
                     target_offsets[frame_name] = {"pos": offset_pos, "quat": offset_quat}
 
         if not self._apply_target_frame_offset:
-            carb.log_info(
+            omni.log.info(
                 f"No offsets application needed from '{self.cfg.prim_path}' to target frames as all"
                 f" are identity: {frames[1:]}"
             )
         else:
-            carb.log_info(
+            omni.log.info(
                 f"Offsets application needed from '{self.cfg.prim_path}' to the following target frames:"
                 f" {non_identity_offset_frames}"
             )

source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py

@@ -11,7 +11,7 @@ import torch
 from collections.abc import Sequence
 from typing import TYPE_CHECKING, ClassVar
 
-import carb
+import omni.log
 import omni.physics.tensors.impl.api as physx
 import warp as wp
 from omni.isaac.core.prims import XFormPrimView
@@ -144,7 +144,7 @@ class RayCaster(SensorBase):
         else:
             self._view = XFormPrimView(self.cfg.prim_path, reset_xform_properties=False)
             found_supported_prim_class = True
-            carb.log_warn(f"The prim at path {prim.GetPath().pathString} is not a physics prim! Using XFormPrimView.")
+            omni.log.warn(f"The prim at path {prim.GetPath().pathString} is not a physics prim! Using XFormPrimView.")
         # 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}")
@@ -188,14 +188,14 @@ class RayCaster(SensorBase):
                 indices = np.asarray(mesh_prim.GetFaceVertexIndicesAttr().Get())
                 wp_mesh = convert_to_warp_mesh(points, indices, device=self.device)
                 # print info
-                carb.log_info(
+                omni.log.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
-                carb.log_info(f"Created infinite plane mesh prim: {mesh_prim.GetPath()}.")
+                omni.log.info(f"Created infinite plane mesh prim: {mesh_prim.GetPath()}.")
             # add the warp mesh to the list
             RayCaster.meshes[mesh_prim_path] = wp_mesh
 

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/schemas.py

@@ -6,8 +6,8 @@
 # needed to import for allowing type-hinting: Usd.Stage | None
 from __future__ import annotations
 
-import carb
 import omni.isaac.core.utils.stage as stage_utils
+import omni.log
 import omni.physx.scripts.utils as physx_utils
 from omni.physx.scripts import deformableUtils as deformable_utils
 from pxr import PhysxSchema, Usd, UsdPhysics
@@ -131,12 +131,12 @@ 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:
-            carb.log_info(
+            omni.log.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:
-            carb.log_info(f"Creating a fixed joint for the articulation: '{prim_path}'.")
+            omni.log.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
@@ -500,10 +500,10 @@ 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):
-                carb.log_verbose(f"Adding contact report API to prim: '{child_prim.GetPrimPath()}'")
+                omni.log.verbose(f"Adding contact report API to prim: '{child_prim.GetPrimPath()}'")
                 cr_api = PhysxSchema.PhysxContactReportAPI.Apply(child_prim)
             else:
-                carb.log_verbose(f"Contact report API already exists on prim: '{child_prim.GetPrimPath()}'")
+                omni.log.verbose(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)

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py

@@ -16,6 +16,7 @@ from typing import Any
 
 import carb
 import omni.isaac.core.utils.stage as stage_utils
+import omni.log
 import omni.physx
 from omni.isaac.core.simulation_context import SimulationContext as _SimulationContext
 from omni.isaac.core.utils.viewports import set_camera_view
@@ -338,7 +339,7 @@ class SimulationContext(_SimulationContext):
         """
         # check if mode change is possible -- not possible when no GUI is available
         if not self._has_gui:
-            carb.log_warn(
+            omni.log.warn(
                 f"Cannot change render mode when GUI is disabled. Using the default render mode: {self.render_mode}."
             )
             return
@@ -616,7 +617,7 @@ class SimulationContext(_SimulationContext):
         if event.type == int(omni.timeline.TimelineEventType.STOP):
             # keep running the simulator when configured to not shutdown the app
             if self._has_gui and sys.exc_info()[0] is None:
-                carb.log_warn(
+                omni.log.warn(
                     "Simulation is stopped. The app will keep running with physics disabled."
                     " Press Ctrl+C or close the window to exit the app."
                 )
@@ -760,7 +761,7 @@ def build_simulation_context(
         yield sim
 
     except Exception:
-        carb.log_error(traceback.format_exc())
+        omni.log.error(traceback.format_exc())
         raise
     finally:
         if not sim.has_gui():

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/from_files/from_files.py

@@ -7,10 +7,10 @@ from __future__ import annotations
 
 from typing import TYPE_CHECKING
 
-import carb
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 import omni.kit.commands
+import omni.log
 from pxr import Gf, Sdf, Usd
 
 from omni.isaac.lab.sim import converters, schemas
@@ -226,7 +226,7 @@ def _spawn_from_usd_file(
             scale=cfg.scale,
         )
     else:
-        carb.log_warn(f"A prim already exists at prim path: '{prim_path}'.")
+        omni.log.warn(f"A prim already exists at prim path: '{prim_path}'.")
 
     # modify variants
     if hasattr(cfg, "variants") and cfg.variants is not None:

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/sensors/sensors.py

@@ -7,9 +7,9 @@ from __future__ import annotations
 
 from typing import TYPE_CHECKING
 
-import carb
 import omni.isaac.core.utils.prims as prim_utils
 import omni.kit.commands
+import omni.log
 from pxr import Sdf, Usd
 
 from omni.isaac.lab.sim.utils import clone
@@ -104,7 +104,7 @@ 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:
-        carb.log_warn("Camera aperture offsets are not supported by Omniverse. These parameters will be ignored.")
+        omni.log.warn("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 = [

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/utils.py

@@ -13,9 +13,9 @@ import re
 from collections.abc import Callable
 from typing import TYPE_CHECKING, Any
 
-import carb
 import omni.isaac.core.utils.stage as stage_utils
 import omni.kit.commands
+import omni.log
 from omni.isaac.cloner import Cloner
 from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, UsdShade
 
@@ -70,7 +70,7 @@ 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.
-        carb.log_error(f"Attribute '{attr_name}' does not exist on prim '{schema_api.GetPath()}'.")
+        omni.log.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()}'.")
 
 
@@ -189,7 +189,7 @@ def apply_nested(func: Callable) -> Callable:
                 count_success += 1
         # check if we were successful in applying the function to any prim
         if count_success == 0:
-            carb.log_warn(
+            omni.log.warn(
                 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."
@@ -391,7 +391,7 @@ 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):
-        carb.log_verbose(
+        omni.log.verbose(
             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."
         )
@@ -851,14 +851,14 @@ def select_usd_variants(prim_path: str, variants: object | dict[str, str], stage
     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):
-            carb.log_warn(f"Variant set '{variant_set_name}' does not exist on prim '{prim_path}'.")
+            omni.log.warn(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)
-            carb.log_info(
+            omni.log.info(
                 f"Setting variant selection '{variant_selection}' for variant set '{variant_set_name}' on"
                 f" prim '{prim_path}'."
             )

source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/terrain_generator.py

@@ -8,7 +8,7 @@ import os
 import torch
 import trimesh
 
-import carb
+import omni.log
 
 from omni.isaac.lab.utils.dict import dict_to_md5_hash
 from omni.isaac.lab.utils.io import dump_yaml
@@ -119,7 +119,7 @@ class TerrainGenerator:
 
         # 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:
-            carb.log_warn(
+            omni.log.warn(
                 "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."
             )
@@ -295,7 +295,7 @@ class TerrainGenerator:
         """
         # sample flat patches if specified
         if sub_terrain_cfg.flat_patch_sampling is not None:
-            carb.log_info(f"Sampling flat patches for sub-terrain at (row, col):  ({row}, {col})")
+            omni.log.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

source/extensions/omni.isaac.lab/test/deps/isaacsim/check_floating_base_made_fixed.py

@@ -32,11 +32,11 @@ simulation_app = SimulationApp({"headless": args_cli.headless})
 
 import torch
 
-import carb
 import omni.isaac.core.utils.nucleus as nucleus_utils
 import omni.isaac.core.utils.prims as prim_utils
 import omni.isaac.core.utils.stage as stage_utils
 import omni.kit.commands
+import omni.log
 import omni.physx
 from omni.isaac.core.articulations import ArticulationView
 from omni.isaac.core.utils.carb import set_carb_setting
@@ -50,7 +50,7 @@ if nucleus_utils.get_assets_root_path() is None:
         "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"
     )
-    carb.log_error(msg)
+    omni.log.error(msg)
     raise RuntimeError(msg)
 
 

source/extensions/omni.isaac.lab/test/deps/isaacsim/check_legged_robot_clone.py

@@ -43,7 +43,7 @@ simulation_app = SimulationApp({"headless": args_cli.headless})
 import os
 import torch
 
-import carb
+import omni.log
 
 try:
     import omni.isaac.nucleus as nucleus_utils
@@ -62,7 +62,7 @@ if nucleus_utils.get_assets_root_path() is None:
         "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"
     )
-    carb.log_error(msg)
+    omni.log.error(msg)
     raise RuntimeError(msg)
 
 

source/extensions/omni.isaac.lab/test/deps/isaacsim/check_ref_count.py

@@ -37,7 +37,7 @@ import ctypes
 import gc
 import torch  # noqa: F401
 
-import carb
+import omni.log
 
 try:
     import omni.isaac.nucleus as nucleus_utils
@@ -55,7 +55,7 @@ if nucleus_utils.get_assets_root_path() is None:
         "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"
     )
-    carb.log_error(msg)
+    omni.log.error(msg)
     raise RuntimeError(msg)
 
 

source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/data_collector/robomimic_data_collector.py

@@ -15,7 +15,7 @@ import os
 import torch
 from collections.abc import Iterable
 
-import carb
+import omni.log
 
 
 class RobomimicDataCollector:
@@ -148,10 +148,10 @@ class RobomimicDataCollector:
         """
         # check if data should be recorded
         if self._is_first_interaction:
-            carb.log_warn("Please call reset before adding new data. Calling reset...")
+            omni.log.warn("Please call reset before adding new data. Calling reset...")
             self.reset()
         if self._is_stop:
-            carb.log_warn(f"Desired number of demonstrations collected: {self._demo_count} >= {self._num_demos}.")
+            omni.log.warn(f"Desired number of demonstrations collected: {self._demo_count} >= {self._num_demos}.")
             return
         # check datatype
         if isinstance(value, torch.Tensor):
@@ -192,7 +192,7 @@ class RobomimicDataCollector:
         """
         # check that data is being recorded
         if self._h5_file_stream is None or self._h5_data_group is None:
-            carb.log_error("No file stream has been opened. Please call reset before flushing data.")
+            omni.log.error("No file stream has been opened. Please call reset before flushing data.")
             return
 
         # iterate over each environment and add their data

source/standalone/environments/state_machine/open_cabinet_sm.py

@@ -40,10 +40,8 @@ simulation_app = app_launcher.app
 
 import gymnasium as gym
 import torch
-import traceback
 from collections.abc import Sequence
 
-import carb
 import warp as wp
 
 from omni.isaac.lab.sensors import FrameTransformer
@@ -313,13 +311,7 @@ def main():
 
 
 if __name__ == "__main__":
-    try:
-        # run the main execution
-        main()
-    except Exception as err:
-        carb.log_error(err)
-        carb.log_error(traceback.format_exc())
-        raise
-    finally:
-        # close sim app
-        simulation_app.close()
+    # run the main execution
+    main()
+    # close sim app
+    simulation_app.close()

source/standalone/environments/teleoperation/teleop_se3_agent.py

@@ -35,7 +35,7 @@ simulation_app = app_launcher.app
 import gymnasium as gym
 import torch
 
-import carb
+import omni.log
 
 from omni.isaac.lab.devices import Se3Gamepad, Se3Keyboard, Se3SpaceMouse
 from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm
@@ -77,7 +77,7 @@ def main():
     env = gym.make(args_cli.task, cfg=env_cfg)
     # check environment name (for reach , we don't allow the gripper)
     if "Reach" in args_cli.task:
-        carb.log_warn(
+        omni.log.warn(
             f"The environment '{args_cli.task}' does not support gripper control. The device command will be ignored."
         )