Merge pull request #562 from StanfordVL/fix/prune-logging

Fix/prune logging

omnigibson/__init__.py

@@ -53,8 +53,8 @@ def cleanup(*args, **kwargs):
         shutil.rmtree(tempdir)
     except PermissionError:
         log.info("Permission error when removing temp files. Ignoring")
-    from omnigibson.utils.ui_utils import suppress_omni_log
-    log.info(f"{'-' * 10} Shutting Down OmniGibson {'-' * 10}")
+    from omnigibson.simulator import logo_small
+    log.info(f"{'-' * 10} Shutting Down {logo_small()} {'-' * 10}")
 
 def shutdown(due_to_signal=False):
     if app is not None:

omnigibson/objects/object_base.py

@@ -167,11 +167,14 @@ def _post_load(self):
         # If the object is fixed_base but kinematic only is false, create the joint
         if self.fixed_base and not self.kinematic_only:
             # Create fixed joint, and set Body0 to be this object's root prim
-            create_joint(
-                prim_path=f"{self._prim_path}/rootJoint",
-                joint_type="FixedJoint",
-                body1=f"{self._prim_path}/{self._root_link_name}",
-            )
+            # This renders, which causes a material lookup error since we're creating a temp file, so we suppress
+            # the error explicitly here
+            with suppress_omni_log(channels=["omni.hydra"]):
+                create_joint(
+                    prim_path=f"{self._prim_path}/rootJoint",
+                    joint_type="FixedJoint",
+                    body1=f"{self._prim_path}/{self._root_link_name}",
+                )
 
         # Set visibility
         if "visible" in self._load_config and self._load_config["visible"] is not None:

omnigibson/prims/entity_prim.py

@@ -66,9 +66,9 @@ def _initialize(self):
         super()._initialize()
 
         # Force populate inputs and outputs of the shaders of all materials
-        # We suppress errors from omni.hydra if we're using encrypted assets, because we're loading from tmp location,
+        # We suppress errors from omni.usd if we're using encrypted assets, because we're loading from tmp location,
         # not the original location
-        with suppress_omni_log(channels=["omni.hydra"]):
+        with suppress_omni_log(channels=["omni.usd"]):
             for material in self.materials:
                 material.shader_force_populate(render=False)
 

omnigibson/simulator.py

@@ -5,9 +5,9 @@
 import os
 import socket
 from pathlib import Path
-from termcolor import colored
 import atexit
 import signal
+from contextlib import nullcontext
 
 import numpy as np
 import json
@@ -20,7 +20,8 @@
 from omnigibson.utils.python_utils import clear as clear_pu, create_object_from_init_info, Serializable
 from omnigibson.utils.sim_utils import meets_minimum_isaac_version
 from omnigibson.utils.usd_utils import clear as clear_uu, BoundingBoxAPI, FlatcacheAPI, RigidContactAPI
-from omnigibson.utils.ui_utils import CameraMover, disclaimer, create_module_logger, suppress_omni_log
+from omnigibson.utils.ui_utils import (CameraMover, disclaimer, create_module_logger, suppress_omni_log,
+                                       print_icon, print_logo, logo_small)
 from omnigibson.scenes import Scene
 from omnigibson.objects.object_base import BaseObject
 from omnigibson.objects.stateful_object import StatefulObject
@@ -45,50 +46,6 @@ def print_save_usd_warning(_):
     log.warning("Exporting individual USDs has been disabled in OG due to copyrights.")
 
 
-def print_icon():
-    raw_texts = [
-        # Lgrey, grey, lgrey, grey, red, lgrey, red
-        ("                   ___________", "", "", "", "", "", "_"),
-        ("                  /          ", "", "", "", "", "", "/ \\"),
-        ("                 /          ", "", "", "", "/ /", "__", ""),
-        ("                /          ", "", "", "", "", "", "/ /  /\\"),
-        ("               /", "__________", "", "", "/ /", "__", "/  \\"),
-        ("               ", "\\   _____  ", "", "", "\\ \\", "__", "\\  /"),
-        ("                ", "\\  \\  ", "/ ", "\\  ", "", "", "\\ \\_/ /"),
-        ("                 ", "\\  \\", "/", "___\\  ", "", "", "\\   /"),
-        ("                  ", "\\__________", "", "", "", "", "\\_/  "),
-    ]
-    for (lgrey_text0, grey_text0, lgrey_text1, grey_text1, red_text0, lgrey_text2, red_text1) in raw_texts:
-        lgrey_text0 = colored(lgrey_text0, "light_grey", attrs=["bold"])
-        grey_text0 = colored(grey_text0, "light_grey", attrs=["bold", "dark"])
-        lgrey_text1 = colored(lgrey_text1, "light_grey", attrs=["bold"])
-        grey_text1 = colored(grey_text1, "light_grey", attrs=["bold", "dark"])
-        red_text0 = colored(red_text0, "light_red", attrs=["bold"])
-        lgrey_text2 = colored(lgrey_text2, "light_grey", attrs=["bold"])
-        red_text1 = colored(red_text1, "light_red", attrs=["bold"])
-        print(lgrey_text0 + grey_text0 + lgrey_text1 + grey_text1 + red_text0 + lgrey_text2 + red_text1)
-
-
-def print_logo():
-    raw_texts = [
-        ("       ___                  _", "  ____ _ _                     "),
-        ("      / _ \ _ __ ___  _ __ (_)", "/ ___(_) |__  ___  ___  _ __  "),
-        ("     | | | | '_ ` _ \| '_ \| |", " |  _| | '_ \/ __|/ _ \| '_ \ "),
-        ("     | |_| | | | | | | | | | |", " |_| | | |_) \__ \ (_) | | | |"),
-        ("      \___/|_| |_| |_|_| |_|_|", "\____|_|_.__/|___/\___/|_| |_|"),
-    ]
-    for (grey_text, red_text) in raw_texts:
-        grey_text = colored(grey_text, "light_grey", attrs=["bold", "dark"])
-        red_text = colored(red_text, "light_red", attrs=["bold"])
-        print(grey_text + red_text)
-
-
-def logo_small():
-    grey_text = colored("Omni", "light_grey", attrs=["bold", "dark"])
-    red_text = colored("Gibson", "light_red", attrs=["bold"])
-    return grey_text + red_text
-
-
 def _launch_app():
     log.info(f"{'-' * 5} Starting {logo_small()}. This will take 10-30 seconds... {'-' * 5}")
 
@@ -99,7 +56,21 @@ def _launch_app():
     if gpu_id is not None:
         config_kwargs["active_gpu"] = gpu_id
         config_kwargs["physics_gpu"] = gpu_id
-    app = lazy.omni.isaac.kit.SimulationApp(config_kwargs)
+
+    # Omni's logging is super annoying and overly verbose, so suppress it by modifying the logging levels
+    if not gm.DEBUG:
+        import sys
+        from numba.core.errors import NumbaPerformanceWarning
+        import warnings
+        # TODO: Find a more elegant way to prune omni logging
+        # sys.argv.append("--/log/level=warning")
+        # sys.argv.append("--/log/fileLogLevel=warning")
+        # sys.argv.append("--/log/outputStreamLevel=error")
+        warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
+
+    launch_context = nullcontext if gm.DEBUG else suppress_omni_log
+    with launch_context(None):
+        app = lazy.omni.isaac.kit.SimulationApp(config_kwargs)
 
     # Omni overrides the global logger to be DEBUG, which is very annoying, so we re-override it to the default WARN
     # TODO: Remove this once omniverse fixes it

omnigibson/utils/ui_utils.py

@@ -9,23 +9,63 @@
 import datetime
 from pathlib import Path
 from PIL import Image
+from termcolor import colored
 import omnigibson as og
 from omnigibson.macros import gm
 import omnigibson.utils.transform_utils as T
+import omnigibson.lazy as lazy
 from scipy.spatial.transform import Rotation as R
 from scipy.interpolate import CubicSpline
 from scipy.integrate import quad
-
-# Attempt to import omni, it may not always be necessary here (e.g: when we download datasets) so we catch the import failure explicitly
-try:
-    import omnigibson.lazy as lazy
-except ModuleNotFoundError:
-    print("Could not find omni or carb, skipping import")
 import random
 import imageio
 from IPython import embed
 
 
+def print_icon():
+    raw_texts = [
+        # Lgrey, grey, lgrey, grey, red, lgrey, red
+        ("                   ___________", "", "", "", "", "", "_"),
+        ("                  /          ", "", "", "", "", "", "/ \\"),
+        ("                 /          ", "", "", "", "/ /", "__", ""),
+        ("                /          ", "", "", "", "", "", "/ /  /\\"),
+        ("               /", "__________", "", "", "/ /", "__", "/  \\"),
+        ("               ", "\\   _____  ", "", "", "\\ \\", "__", "\\  /"),
+        ("                ", "\\  \\  ", "/ ", "\\  ", "", "", "\\ \\_/ /"),
+        ("                 ", "\\  \\", "/", "___\\  ", "", "", "\\   /"),
+        ("                  ", "\\__________", "", "", "", "", "\\_/  "),
+    ]
+    for (lgrey_text0, grey_text0, lgrey_text1, grey_text1, red_text0, lgrey_text2, red_text1) in raw_texts:
+        lgrey_text0 = colored(lgrey_text0, "light_grey", attrs=["bold"])
+        grey_text0 = colored(grey_text0, "light_grey", attrs=["bold", "dark"])
+        lgrey_text1 = colored(lgrey_text1, "light_grey", attrs=["bold"])
+        grey_text1 = colored(grey_text1, "light_grey", attrs=["bold", "dark"])
+        red_text0 = colored(red_text0, "light_red", attrs=["bold"])
+        lgrey_text2 = colored(lgrey_text2, "light_grey", attrs=["bold"])
+        red_text1 = colored(red_text1, "light_red", attrs=["bold"])
+        print(lgrey_text0 + grey_text0 + lgrey_text1 + grey_text1 + red_text0 + lgrey_text2 + red_text1)
+
+
+def print_logo():
+    raw_texts = [
+        ("       ___                  _", "  ____ _ _                     "),
+        ("      / _ \ _ __ ___  _ __ (_)", "/ ___(_) |__  ___  ___  _ __  "),
+        ("     | | | | '_ ` _ \| '_ \| |", " |  _| | '_ \/ __|/ _ \| '_ \ "),
+        ("     | |_| | | | | | | | | | |", " |_| | | |_) \__ \ (_) | | | |"),
+        ("      \___/|_| |_| |_|_| |_|_|", "\____|_|_.__/|___/\___/|_| |_|"),
+    ]
+    for (grey_text, red_text) in raw_texts:
+        grey_text = colored(grey_text, "light_grey", attrs=["bold", "dark"])
+        red_text = colored(red_text, "light_red", attrs=["bold"])
+        print(grey_text + red_text)
+
+
+def logo_small():
+    grey_text = colored("Omni", "light_grey", attrs=["bold", "dark"])
+    red_text = colored("Gibson", "light_red", attrs=["bold"])
+    return grey_text + red_text
+
+
 def dock_window(space, name, location, ratio=0.5):
     """
     Method for docking a specific GUI window in a specified location within the workspace