Switches from carb to omni.log for logging

source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py

@@ -552,6 +552,8 @@ def _config_resolution(self, launcher_args: dict):
                 " The file does not exist."
             )
 
+        # Resolve the absolute path of the experience file
+        self._sim_experience_file = os.path.abspath(self._sim_experience_file)
         print(f"[INFO][AppLauncher]: Loading experience file: {self._sim_experience_file}")
         # Remove all values from input keyword args which are not meant for SimulationApp
         # Assign all the passed settings to a dictionary for the simulation app

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

@@ -13,8 +13,8 @@
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
 
-import carb
 import omni.isaac.core.utils.stage as stage_utils
+import omni.log
 import omni.physics.tensors.impl.api as physx
 from omni.isaac.core.utils.types import ArticulationActions
 from pxr import PhysxSchema, UsdPhysics
@@ -542,7 +542,7 @@ def write_joint_limits_to_sim(
         # update default joint pos to stay within the new limits
         if torch.any((self._data.default_joint_pos < limits[..., 0]) | (self._data.default_joint_pos > limits[..., 1])):
             self._data.default_joint_pos = torch.clamp(self._data.default_joint_pos, limits[..., 0], limits[..., 1])
-            carb.log_warn(
+            omni.log.warn(
                 "Some default joint positions are outside of the range of the new joint limits. Default joint positions"
                 " will be clamped to be within the new joint limits."
             )
@@ -925,13 +925,13 @@ def _initialize_impl(self):
             raise RuntimeError(f"Failed to create articulation at: {self.cfg.prim_path}. Please check PhysX logs.")
 
         # log information about the articulation
-        carb.log_info(f"Articulation initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
-        carb.log_info(f"Is fixed root: {self.is_fixed_base}")
-        carb.log_info(f"Number of bodies: {self.num_bodies}")
-        carb.log_info(f"Body names: {self.body_names}")
-        carb.log_info(f"Number of joints: {self.num_joints}")
-        carb.log_info(f"Joint names: {self.joint_names}")
-        carb.log_info(f"Number of fixed tendons: {self.num_fixed_tendons}")
+        omni.log.info(f"Articulation initialized at: {self.cfg.prim_path} with root '{root_prim_path_expr}'.")
+        omni.log.info(f"Is fixed root: {self.is_fixed_base}")
+        omni.log.info(f"Number of bodies: {self.num_bodies}")
+        omni.log.info(f"Body names: {self.body_names}")
+        omni.log.info(f"Number of joints: {self.num_joints}")
+        omni.log.info(f"Joint names: {self.joint_names}")
+        omni.log.info(f"Number of fixed tendons: {self.num_fixed_tendons}")
 
         # container for data access
         self._data = ArticulationData(self.root_physx_view, self.device)
@@ -1142,7 +1142,7 @@ def _process_actuators_cfg(self):
                 velocity_limit=usd_velocity_limit[:, joint_ids],
             )
             # log information on actuator groups
-            carb.log_info(
+            omni.log.info(
                 f"Actuator collection: {actuator_name} with model '{actuator_cfg.class_type.__name__}' and"
                 f" joint names: {joint_names} [{joint_ids}]."
             )
@@ -1177,7 +1177,7 @@ def _process_actuators_cfg(self):
         # perform some sanity checks to ensure actuators are prepared correctly
         total_act_joints = sum(actuator.num_joints for actuator in self.actuators.values())
         if total_act_joints != (self.num_joints - self.num_fixed_tendons):
-            carb.log_warn(
+            omni.log.warn(
                 "Not all actuators are configured! Total number of actuated joints not equal to number of"
                 f" joints available: {total_act_joints} != {self.num_joints - self.num_fixed_tendons}."
             )
@@ -1336,7 +1336,7 @@ def _log_articulation_joint_info(self):
                 effort_limits[index],
             ])
         # convert table to string
-        carb.log_info(f"Simulation parameters for joints in {self.cfg.prim_path}:\n" + table.get_string())
+        omni.log.info(f"Simulation parameters for joints in {self.cfg.prim_path}:\n" + table.get_string())
 
         # read out all tendon parameters from simulation
         if self.num_fixed_tendons > 0:
@@ -1372,4 +1372,4 @@ def _log_articulation_joint_info(self):
                     ft_offsets[index],
                 ])
             # convert table to string
-            carb.log_info(f"Simulation parameters for tendons in {self.cfg.prim_path}:\n" + tendon_table.get_string())
+            omni.log.info(f"Simulation parameters for tendons in {self.cfg.prim_path}:\n" + tendon_table.get_string())

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

@@ -9,7 +9,7 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 import omni.physics.tensors.impl.api as physx
 from pxr import PhysxSchema, UsdShade
 
@@ -305,7 +305,7 @@ def _initialize_impl(self):
                         material_prim = mat_prim
                         break
         if material_prim is None:
-            carb.log_info(
+            omni.log.info(
                 f"Failed to find a deformable material binding for '{root_prim.GetPath().pathString}'."
                 " The material properties will be set to default values and are not modifiable at runtime."
                 " If you want to modify the material properties, please ensure that the material is bound"
@@ -341,14 +341,14 @@ def _initialize_impl(self):
             self._material_physx_view = None
 
         # log information about the deformable body
-        carb.log_info(f"Deformable body initialized at: {root_prim_path_expr}")
-        carb.log_info(f"Number of instances: {self.num_instances}")
-        carb.log_info(f"Number of bodies: {self.num_bodies}")
+        omni.log.info(f"Deformable body initialized at: {root_prim_path_expr}")
+        omni.log.info(f"Number of instances: {self.num_instances}")
+        omni.log.info(f"Number of bodies: {self.num_bodies}")
         if self._material_physx_view is not None:
-            carb.log_info(f"Deformable material initialized at: {material_prim_path_expr}")
-            carb.log_info(f"Number of instances: {self._material_physx_view.count}")
+            omni.log.info(f"Deformable material initialized at: {material_prim_path_expr}")
+            omni.log.info(f"Number of instances: {self._material_physx_view.count}")
         else:
-            carb.log_info("No deformable material found. Material properties will be set to default values.")
+            omni.log.info("No deformable material found. Material properties will be set to default values.")
 
         # container for data access
         self._data = DeformableObjectData(self.root_physx_view, self.device)

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

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

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

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

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

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

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

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

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

@@ -9,7 +9,7 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 import omni.isaac.lab.utils.string as string_utils
 from omni.isaac.lab.assets.articulation import Articulation
@@ -52,7 +52,7 @@ def __init__(self, cfg: actions_cfg.BinaryJointActionCfg, env: ManagerBasedEnv)
         self._joint_ids, self._joint_names = self._asset.find_joints(self.cfg.joint_names)
         self._num_joints = len(self._joint_ids)
         # log the resolved joint names for debugging
-        carb.log_info(
+        omni.log.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )

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

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

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

@@ -9,7 +9,7 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 import omni.isaac.lab.utils.math as math_utils
 import omni.isaac.lab.utils.string as string_utils
@@ -53,7 +53,7 @@ def __init__(self, cfg: actions_cfg.JointPositionToLimitsActionCfg, env: Manager
         self._joint_ids, self._joint_names = self._asset.find_joints(self.cfg.joint_names)
         self._num_joints = len(self._joint_ids)
         # log the resolved joint names for debugging
-        carb.log_info(
+        omni.log.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )

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

@@ -9,7 +9,7 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 from omni.isaac.lab.assets.articulation import Articulation
 from omni.isaac.lab.managers.action_manager import ActionTerm
@@ -88,11 +88,11 @@ def __init__(self, cfg: actions_cfg.NonHolonomicActionCfg, env: ManagerBasedEnv)
         self._joint_ids = [x_joint_id[0], y_joint_id[0], yaw_joint_id[0]]
         self._joint_names = [x_joint_name[0], y_joint_name[0], yaw_joint_name[0]]
         # log info for debugging
-        carb.log_info(
+        omni.log.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
-        carb.log_info(
+        omni.log.info(
             f"Resolved body name for the action term {self.__class__.__name__}: {self._body_name} [{self._body_idx}]"
         )
 

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

@@ -9,7 +9,7 @@
 from collections.abc import Sequence
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 import omni.isaac.lab.utils.math as math_utils
 from omni.isaac.lab.assets.articulation import Articulation
@@ -70,11 +70,11 @@ def __init__(self, cfg: actions_cfg.DifferentialInverseKinematicsActionCfg, env:
             self._jacobi_joint_ids = [i + 6 for i in self._joint_ids]
 
         # log info for debugging
-        carb.log_info(
+        omni.log.info(
             f"Resolved joint names for the action term {self.__class__.__name__}:"
             f" {self._joint_names} [{self._joint_ids}]"
         )
-        carb.log_info(
+        omni.log.info(
             f"Resolved body name for the action term {self.__class__.__name__}: {self._body_name} [{self._body_idx}]"
         )
         # Avoid indexing across all joints for efficiency

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

@@ -12,7 +12,7 @@
 from prettytable import PrettyTable
 from typing import TYPE_CHECKING
 
-import carb
+import omni.log
 
 from .manager_base import ManagerBase, ManagerTermBase
 from .manager_term_cfg import EventTermCfg
@@ -157,7 +157,7 @@ def apply(
         """
         # check if mode is valid
         if mode not in self._mode_term_names:
-            carb.log_warn(f"Event mode '{mode}' is not defined. Skipping event.")
+            omni.log.warn(f"Event mode '{mode}' is not defined. Skipping event.")
             return
         # check if mode is interval and dt is not provided
         if mode == "interval" and dt is None:
@@ -324,7 +324,7 @@ def _prepare_terms(self):
                 )
 
             if term_cfg.mode != "reset" and term_cfg.min_step_count_between_reset != 0:
-                carb.log_warn(
+                omni.log.warn(
                     f"Event term '{term_name}' has 'min_step_count_between_reset' set to a non-zero value"
                     " but the mode is not 'reset'. Ignoring the 'min_step_count_between_reset' value."
                 )

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

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

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

@@ -171,7 +171,7 @@ def clone_environments(self, copy_from_source: bool = False):
         carb_settings_iface = carb.settings.get_settings()
         has_multi_assets = carb_settings_iface.get("/isaaclab/spawn/multi_assets")
         if has_multi_assets and self.cfg.replicate_physics:
-            carb.log_warn(
+            omni.log.warn(
                 "Varying assets might have been spawned under different environments."
                 " However, the replicate physics flag is enabled in the 'InteractiveScene' configuration."
                 " This may adversely affect PhysX parsing. We recommend disabling this property."
@@ -239,7 +239,7 @@ def physics_scene_path(self) -> str:
             for prim in self.stage.Traverse():
                 if prim.HasAPI(PhysxSchema.PhysxSceneAPI):
                     self._physics_scene_path = prim.GetPrimPath().pathString
-                    carb.log_info(f"Physics scene prim path: {self._physics_scene_path}")
+                    omni.log.info(f"Physics scene prim path: {self._physics_scene_path}")
                     break
             if self._physics_scene_path is None:
                 raise RuntimeError("No physics scene found! Please make sure one exists.")