Remove deprecated omni.log

Author: qianl-nv

isaaclab_arena/scripts/imitation_learning/generate_dataset.py

@@ -70,13 +70,13 @@
 import asyncio
 import gymnasium as gym
 import inspect
+import logging
 import numpy as np
 import os
 import random
 import torch
 
 import isaaclab_mimic.envs  # noqa: F401
-import omni
 from isaaclab.envs import ManagerBasedRLMimicEnv
 from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManagerCfg
 from isaaclab.managers import DatasetExportMode, RecorderTerm, RecorderTermCfg
@@ -91,6 +91,8 @@
 from isaaclab_mimic.datagen.generation import env_loop, setup_async_generation
 from isaaclab_mimic.datagen.utils import setup_output_paths
 
+logger = logging.getLogger(__name__)
+
 
 class PreStepFlatCameraObservationsRecorder(RecorderTerm):
     """Recorder term that records the camera observations in each step."""
@@ -199,7 +201,7 @@ 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."
         )

isaaclab_arena/scripts/imitation_learning/record_demos.py

@@ -86,18 +86,19 @@
 
 # Third-party imports
 import gymnasium as gym
+import logging
 import os
 import time
 import torch
 
 import isaaclab_mimic.envs  # noqa: F401
 
-# Omniverse logger
-import omni.log
 import omni.ui as ui
 from isaaclab.devices import Se3Keyboard, Se3KeyboardCfg, Se3SpaceMouse, Se3SpaceMouseCfg
 from isaaclab.devices.openxr import remove_camera_configs
 from isaaclab.devices.teleop_device_factory import create_teleop_device
+
+logger = logging.getLogger(__name__)
 from isaaclab_mimic.ui.instruction_display import InstructionDisplay, show_subtask_instructions
 
 # Imports have to follow simulation startup.
@@ -196,7 +197,7 @@ def create_environment_config(
         env_name, env_cfg = arena_builder.build_registered()
 
     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
@@ -205,7 +206,7 @@ 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."
         )
@@ -246,7 +247,7 @@ def create_environment(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg, env_name:
         env = gym.make(env_name, 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)
 
 
@@ -271,26 +272,26 @@ 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, avp_handtracking")
+                logger.error(f"Unsupported teleop device: {args_cli.teleop_device}")
+                logger.error("Supported devices: keyboard, spacemouse, avp_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

isaaclab_arena/scripts/imitation_learning/teleop.py

@@ -57,10 +57,10 @@
 """Rest everything follows."""
 
 
+import logging
 import torch
 
 import isaaclab_tasks  # noqa: F401
-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
@@ -70,6 +70,8 @@
 if args_cli.enable_pinocchio:
     import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 
+logger = logging.getLogger(__name__)
+
 
 def main() -> None:
     """
@@ -103,12 +105,12 @@ def main() -> None:
         env = gym.make(env_name, 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
 
@@ -180,7 +182,7 @@ def stop_teleoperation() -> None:
                 args_cli.teleop_device, env_cfg.teleop_devices.devices, teleoperation_callbacks
             )
         else:
-            omni.log.warn(f"No teleop device '{args_cli.teleop_device}' found in environment config. Creating default.")
+            logger.warning(f"No teleop device '{args_cli.teleop_device}' found in environment config. Creating default.")
             # Create fallback teleop device
             sensitivity = args_cli.sensitivity
             if args_cli.teleop_device.lower() == "keyboard":
@@ -196,8 +198,8 @@ def stop_teleoperation() -> None:
                     Se3GamepadCfg(pos_sensitivity=0.1 * sensitivity, rot_sensitivity=0.1 * sensitivity)
                 )
             else:
-                omni.log.error(f"Unsupported teleop device: {args_cli.teleop_device}")
-                omni.log.error("Supported devices: keyboard, spacemouse, gamepad, avp_handtracking")
+                logger.error(f"Unsupported teleop device: {args_cli.teleop_device}")
+                logger.error("Supported devices: keyboard, spacemouse, gamepad, avp_handtracking")
                 env.close()
                 simulation_app.close()
                 return
@@ -207,15 +209,15 @@ def stop_teleoperation() -> None:
                 try:
                     teleop_interface.add_callback(key, callback)
                 except (ValueError, TypeError) as e:
-                    omni.log.warn(f"Failed to add callback for key {key}: {e}")
+                    logger.warning(f"Failed to add callback for key {key}: {e}")
     except Exception as e:
-        omni.log.error(f"Failed to create teleop device: {e}")
+        logger.error(f"Failed to create teleop device: {e}")
         env.close()
         simulation_app.close()
         return
 
     if teleop_interface is None:
-        omni.log.error("Failed to create teleop interface")
+        logger.error("Failed to create teleop interface")
         env.close()
         simulation_app.close()
         return
@@ -250,7 +252,7 @@ def stop_teleoperation() -> None:
                     should_reset_recording_instance = False
                     print("Environment reset complete")
         except Exception as e:
-            omni.log.error(f"Error during simulation step: {e}")
+            logger.error(f"Error during simulation step: {e}")
             break
 
     # close the simulator

isaaclab_arena/scripts/reinforcement_learning/play.py

@@ -53,12 +53,12 @@
 """Rest everything follows."""
 
 import gymnasium as gym
+import logging
 import os
 import time
 import torch
 
 import isaaclab_tasks  # noqa: F401
-import omni.log
 from isaaclab.envs import DirectMARLEnv, multi_agent_to_single_agent
 from isaaclab.utils.assets import retrieve_file_path
 from isaaclab.utils.dict import print_dict
@@ -71,6 +71,8 @@
 
 # PLACEHOLDER: Extension template (do not remove this comment)
 
+logger = logging.getLogger(__name__)
+
 
 def main():
     """Play with RSL-RL agent."""
@@ -81,7 +83,7 @@ def main():
         env_name, env_cfg = arena_builder.build_registered()
 
     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)
 
     agent_cfg = get_agent_cfg(args_cli)

isaaclab_arena/scripts/reinforcement_learning/train.py

@@ -84,12 +84,12 @@
 """Rest everything follows."""
 
 import gymnasium as gym
+import logging
 import os
 import torch
 from datetime import datetime
 
 import isaaclab_tasks  # noqa: F401
-import omni.log
 from isaaclab.envs import DirectMARLEnv, ManagerBasedRLEnvCfg, multi_agent_to_single_agent
 from isaaclab.utils.dict import print_dict
 from isaaclab.utils.io import dump_yaml
@@ -102,6 +102,8 @@
 
 # PLACEHOLDER: Extension template (do not remove this comment)
 
+logger = logging.getLogger(__name__)
+
 torch.backends.cuda.matmul.allow_tf32 = True
 torch.backends.cudnn.allow_tf32 = True
 torch.backends.cudnn.deterministic = False
@@ -116,7 +118,7 @@ def main():
         env_name, env_cfg = arena_builder.build_registered()
 
     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)
 
     agent_cfg = get_agent_cfg(args_cli)
@@ -158,7 +160,7 @@ def main():
     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."
         )