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 <zhengyuz@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

scripts/environments/teleoperation/teleop_se3_agent.py

@@ -56,10 +56,9 @@ simulation_app = app_launcher.app
 
 
 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 @@ if args_cli.enable_pinocchio:
     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 main() -> 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 main() -> 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 main() -> 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 main() -> 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 @@ simulation_app = app_launcher.app
 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 @@ simulation_app = app_launcher.app
 """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 @@ from isaaclab_rl.rl_games import MultiObserver, PbtAlgoObserver, RlGamesGpuEnv,
 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 @@ if version.parse(installed_version) < version.parse(RSL_RL_VERSION):
 """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 @@ import isaaclab_tasks  # noqa: F401
 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 @@ signal.signal(signal.SIGINT, cleanup_pbar)
 """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 @@ from isaaclab_rl.sb3 import Sb3VecEnvWrapper, process_sb3_cfg
 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 @@ simulation_app = app_launcher.app
 """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 @@ from isaaclab_rl.skrl import SkrlVecEnvWrapper
 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 @@ simulation_app = app_launcher.app
 
 # 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 @@ from isaaclab.managers import DatasetExportMode
 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 @@ if TYPE_CHECKING:
         RemotizedPDActuatorCfg,
     )
 
+# import logger
+logger = logging.getLogger(__name__)
 
 """
 Implicit Actuator Models.
@@ -57,7 +58,7 @@ class ImplicitActuator(ActuatorBase):
         # 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 @@ class ImplicitActuator(ActuatorBase):
         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"

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 @@ from .articulation_data import ArticulationData
 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 @@ class Articulation(AssetBase):
             )
             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 @@ class Articulation(AssetBase):
         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 @@ class Articulation(AssetBase):
         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 @@ class Articulation(AssetBase):
         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 @@ class Articulation(AssetBase):
             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 @@ class Articulation(AssetBase):
             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 @@ class Articulation(AssetBase):
             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 @@ class Articulation(AssetBase):
             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 @@ class Articulation(AssetBase):
             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 @@ class Articulation(AssetBase):
             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 @@ class Articulation(AssetBase):
             )
             # 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 @@ 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):
-            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 @@ class Articulation(AssetBase):
                         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 @@ class Articulation(AssetBase):
                     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 @@ class Articulation(AssetBase):
                     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 @@ class Articulation(AssetBase):
                     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 @@ class Articulation(AssetBase):
         .. 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 @@ class Articulation(AssetBase):
         .. 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 @@ class Articulation(AssetBase):
         .. 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."
         )

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 @@ class ArticulationData:
     @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 @@ class ArticulationData:
     @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 @@ class ArticulationData:
     @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 @@ class ArticulationData:
     @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 @@ class ArticulationData:
     @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 @@ class ArticulationData:
     @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 @@ class ArticulationData:
     @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."
         )

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 @@ from .deformable_object_data import DeformableObjectData
 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 @@ class DeformableObject(AssetBase):
                         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 @@ class DeformableObject(AssetBase):
             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)

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 @@ from .rigid_object_data import RigidObjectData
 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 @@ class RigidObject(AssetBase):
         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 @@ 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
-        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)

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 @@ from .rigid_object_collection_data import RigidObjectCollectionData
 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 @@ class RigidObjectCollection(AssetBase):
         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 @@ class RigidObjectCollection(AssetBase):
             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)

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 @@ if TYPE_CHECKING:
 
     from .surface_gripper_cfg import SurfaceGripperCfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class SurfaceGripper(AssetBase):
     """A surface gripper actuator class.
@@ -315,8 +318,8 @@ class SurfaceGripper(AssetBase):
         )
 
         # 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()

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 @@ from isaacsim.core.utils.extensions import enable_extension
 
 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:

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 @@ with contextlib.suppress(ModuleNotFoundError):
 
 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 @@ class ManusViveIntegration:
             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 @@ class ManusViveIntegration:
                     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 @@ class ManusViveIntegration:
                     )
 
         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
 
 

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 @@ class GR1TR2DexRetargeting:
         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 @@ class GR1TR2DexRetargeting:
             # 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.

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 @@ class UnitreeG1DexRetargeting:
         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 @@ class UnitreeG1DexRetargeting:
             # 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.

source/isaaclab/isaaclab/devices/openxr/retargeters/humanoid/unitree/trihand/g1_dex_retargeting_utils.py

@@ -10,11 +10,13 @@ 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__)
+
 # 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 @@ class G1TriHandDexRetargeting:
         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 @@ class G1TriHandDexRetargeting:
             # 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.

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

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 @@ with contextlib.suppress(ModuleNotFoundError):
     # 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

source/isaaclab/isaaclab/envs/direct_marl_env.py

@@ -8,6 +8,7 @@ from __future__ import annotations
 import builtins
 import gymnasium as gym
 import inspect
+import logging
 import math
 import numpy as np
 import torch
@@ -19,7 +20,6 @@ from typing import Any, ClassVar
 
 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 .direct_marl_env_cfg import DirectMARLEnvCfg
 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 @@ class DirectMARLEnv(gym.Env):
         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 @@ class DirectMARLEnv(gym.Env):
                 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 @@ class DirectMARLEnv(gym.Env):
 
         # 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
 

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -8,6 +8,7 @@ from __future__ import annotations
 import builtins
 import gymnasium as gym
 import inspect
+import logging
 import math
 import numpy as np
 import torch
@@ -20,7 +21,6 @@ from typing import Any, ClassVar
 
 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
@@ -37,6 +37,9 @@ from .direct_rl_env_cfg import DirectRLEnvCfg
 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.
@@ -96,7 +99,7 @@ class DirectRLEnv(gym.Env):
         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:
@@ -122,7 +125,7 @@ class DirectRLEnv(gym.Env):
                 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"):
@@ -568,17 +571,17 @@ class DirectRLEnv(gym.Env):
         """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
 

source/isaaclab/isaaclab/envs/manager_based_env.py

@@ -4,13 +4,13 @@
 # SPDX-License-Identifier: BSD-3-Clause
 
 import builtins
+import logging
 import torch
 import warnings
 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
@@ -27,6 +27,9 @@ from .manager_based_env_cfg import ManagerBasedEnvCfg
 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.
@@ -90,7 +93,7 @@ class ManagerBasedEnv:
         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:
@@ -122,7 +125,7 @@ class ManagerBasedEnv:
                 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

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 @@ if TYPE_CHECKING:
 
     from . import actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class BinaryJointAction(ActionTerm):
     """Base class for binary joint actions.
@@ -54,7 +56,7 @@ 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
-        omni.log.info(
+        logger.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )

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 @@ if TYPE_CHECKING:
 
     from . import actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class JointAction(ActionTerm):
     r"""Base class for joint actions.
@@ -64,7 +66,7 @@ class JointAction(ActionTerm):
         )
         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}]"
         )

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 @@ if TYPE_CHECKING:
 
     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 @@ 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
-        omni.log.info(
+        logger.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )

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 @@ if TYPE_CHECKING:
 
     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 @@ 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
-        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}]"
         )
 

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 @@ if TYPE_CHECKING:
 
     from . import rmpflow_actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class RMPFlowAction(ActionTerm):
 
@@ -62,11 +64,11 @@ class RMPFlowAction(ActionTerm):
             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

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 @@ if TYPE_CHECKING:
 
     from . import actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class SurfaceGripperBinaryAction(ActionTerm):
     """Surface gripper binary action.
@@ -48,7 +50,7 @@ class SurfaceGripperBinaryAction(ActionTerm):
         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}"
         )
 

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 @@ if TYPE_CHECKING:
 
     from . import actions_cfg
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 class DifferentialInverseKinematicsAction(ActionTerm):
     r"""Inverse Kinematics action term.
@@ -78,11 +81,11 @@ class DifferentialInverseKinematicsAction(ActionTerm):
             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 @@ class OperationalSpaceControllerAction(ActionTerm):
             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}]"
         )

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 @@ if TYPE_CHECKING:
 
     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 @@ class UniformVelocityCommand(CommandTerm):
                 " 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."
             )

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 @@ class EventManager(ManagerBase):
         """
         # 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 @@ class EventManager(ManagerBase):
                 )
 
             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 @@ class EventManager(ManagerBase):
             # 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

source/isaaclab/isaaclab/managers/manager_base.py

@@ -7,12 +7,12 @@ from __future__ import annotations
 
 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 @@ from .scene_entity_cfg import SceneEntityCfg
 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 @@ class ManagerBase(ABC):
                 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)

source/isaaclab/isaaclab/markers/visualization_markers.py

@@ -19,13 +19,13 @@ The marker prototypes can be configured with the :class:`VisualizationMarkersCfg
 # 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.sim.utils import attach_stage_to_usd_context
 from isaaclab.utils.configclass import configclass
 from isaaclab.utils.math import convert_quat
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 @configclass
 class VisualizationMarkersCfg:

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 isaaclab.terrains import TerrainImporter, TerrainImporterCfg
 
 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 @@ 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:
-            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 @@ class InteractiveScene:
         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 @@ class InteractiveScene:
             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.")

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 @@ from .camera_data import CameraData
 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 @@ class Camera(SensorBase):
         # 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"

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 @@ from .frame_transformer_data import FrameTransformerData
 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 @@ 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):
-            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 @@ class FrameTransformer(SensorBase):
                     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}"
             )

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 @@ from .ray_caster_data import RayCasterData
 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 @@ class RayCaster(SensorBase):
         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 @@ class RayCaster(SensorBase):
                 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 @@ class RayCaster(SensorBase):
                 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

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.converters.mesh_converter_cfg import MeshConverterCfg
 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 @@ class MeshConverter(AssetConverterBase):
             # 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."
             )

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 ..utils import (
 )
 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)

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."""

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 @@ from typing import Any
 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 isaaclab.sim.utils import create_new_stage_in_memory, use_stage
 
 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 @@ class SimulationContext(_SimulationContext):
         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 @@ class SimulationContext(_SimulationContext):
 
         # 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 @@ class SimulationContext(_SimulationContext):
         """
         # 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 @@ class SimulationContext(_SimulationContext):
         # 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 @@ class SimulationContext(_SimulationContext):
                 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():

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 @@ from isaaclab.utils.assets import check_usd_path_with_timeout
 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:

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 @@ from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR
 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:

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 @@ from isaaclab.utils import to_camel_case
 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 = [

source/isaaclab/isaaclab/sim/utils.py

@@ -10,7 +10,9 @@ from __future__ import annotations
 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 carb
 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 @@ from . import schemas
 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 apply_nested(func: Callable) -> Callable:
                 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 @@ 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):
-            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

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 @@ if TYPE_CHECKING:
     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 @@ 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:
-            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 @@ class TerrainGenerator:
         """
         # 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

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 @@ from .utils import create_prim_from_mesh
 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.
@@ -211,7 +213,7 @@ class TerrainImporter:
             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)"
                 )
@@ -376,7 +378,7 @@ class TerrainImporter:
         .. 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."
         )
@@ -389,7 +391,7 @@ class TerrainImporter:
         .. 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."
         )

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 @@ from typing import TYPE_CHECKING, Optional
 
 import carb
 import omni
-import omni.log
 
 with suppress(ImportError):
     # isaacsim.gui is not available when running in headless mode.
@@ -22,6 +22,9 @@ if TYPE_CHECKING:
     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 @@ class ImagePlot(UIWidgetWrapper):
             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")

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 @@ from .ui_visualizer_base import UiVisualizerBase
 if TYPE_CHECKING:
     import omni.ui
 
+# import logger
+logger = logging.getLogger(__name__)
+
 
 @configclass
 class ManagerLiveVisualizerCfg:
@@ -79,7 +82,7 @@ class ManagerLiveVisualizer(UiVisualizerBase):
                     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 @@ class ManagerLiveVisualizer(UiVisualizerBase):
                                 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 @@ class ManagerLiveVisualizer(UiVisualizerBase):
         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 @@ class ManagerLiveVisualizer(UiVisualizerBase):
                                 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."
                                 )

source/isaaclab/isaaclab/ui/xr_widgets/scene_visualization.py

@@ -7,6 +7,7 @@ from __future__ import annotations
 
 import contextlib
 import inspect
+import logging
 import numpy as np
 import threading
 import time
@@ -15,12 +16,14 @@ from collections.abc import Callable
 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 @@ class VisualizationManager:
                 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 @@ class XRVisualization:
             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__}"
             )

source/isaaclab/isaaclab/utils/assets.py

@@ -15,6 +15,7 @@ For more information, please check information on `Omniverse Nucleus`_.
 
 import asyncio
 import io
+import logging
 import os
 import tempfile
 import time
@@ -23,6 +24,9 @@ from typing import Literal
 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

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...."
     )

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"
         )
 

source/isaaclab/test/deps/isaacsim/check_floating_base_made_fixed.py

@@ -30,13 +30,13 @@ simulation_app = SimulationApp({"headless": args_cli.headless})
 
 """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.carb import set_carb_setting
 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)
 
 

source/isaaclab/test/deps/isaacsim/check_legged_robot_clone.py

@@ -40,11 +40,10 @@ simulation_app = SimulationApp({"headless": args_cli.headless})
 
 """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.prims import Articulation
 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)
 
 

source/isaaclab/test/deps/isaacsim/check_ref_count.py

@@ -35,10 +35,9 @@ simulation_app = SimulationApp({"headless": True})
 
 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.api.simulation_context import SimulationContext
 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)