Add a unified Python + C++ logging system

[lotusl-code]

Summary

This PR adds one logger tree, isaacteleop.*, shared by Python and C++, in-process and out-of-process. Every record a session produces converges on one console view and one log file, and the console can be re-levelled, filtered and coloured at runtime through a small public API.

173 files changed, +3333 / −605 against main.

Flow: where a log record (or raw text) ends up

flowchart TB
    subgraph LEADER["Leader process (first to import isaacteleop)"]
        direction TB
        PYLOG["Python logging calls\nlogging.getLogger('isaacteleop.*')"]
        CPPLOG["C++ isaacteleop::Logger calls\n(in-process, e.g. pybind11 modules)"]
        BRIDGE["PythonBridgeSink\ninstall_python_sink()"]
        RECV["_forwarding.ensure_receiver()\nUnix domain socket, 0600\nISAACTELEOP_LOG_SOCKET"]
        CONSOLE["console handler\n(_LoggerNameColorFormatter)"]
        FILE["rotating file handler\n<ts>.isaacteleop.<pid>.log"]

        PYLOG --> CONSOLE
        PYLOG --> FILE
        CPPLOG --> BRIDGE --> CONSOLE
        BRIDGE --> FILE
        RECV -.re-emits records into.-> CONSOLE
        RECV -.re-emits records into.-> FILE
    end

    subgraph SUBPY["Sub-process: Python worker\n(subprocess.Popen, e.g. CloudXR runtime worker)"]
        SPYLOG["Python logging calls"]
        FWDH["ForwardingHandler"]
        SPYLOG --> FWDH
    end

    subgraph SUBCPP["Sub-process: C++ executable\n(fork+exec'd, e.g. plugin_manager, Manus)"]
        SCPPLOG["isaacteleop::Logger calls"]
        SOCKSINK["SocketForwardSink"]
        SCPPLOG --> SOCKSINK
    end

    FWDH -- "JSON over Unix socket" --> RECV
    SOCKSINK -- "JSON over Unix socket" --> RECV

    subgraph RAW["Raw text on fd 1 / fd 2 (not a logging record)"]
        VENDOR["Vendor/runtime output\n(CloudXR, Monado OpenXR, coturn, ...)\nwrites straight to fd 1/2"]
        CAPTURE["_native_fd._capture(fd)\ndup2 onto a per-fd file"]
        NATFILE["<ts>.isaacteleop.<pid>.native-{stdout,stderr}.log"]
        MIRROR["terminal mirror\ntail thread, only at console level TRACE"]

        VENDOR --> CAPTURE
        CAPTURE --> NATFILE
        NATFILE -.tailed when TRACE.-> MIRROR
    end

    style LEADER fill:#eef6ff,stroke:#3b82f6
    style SUBPY fill:#fef3e7,stroke:#f59e0b
    style SUBCPP fill:#fef3e7,stroke:#f59e0b
    style RAW fill:#fdeeee,stroke:#ef4444

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Two axes. Which process and language emitted the record — leader-Python, leader-C++, sub-process-Python, sub-process-C++ — and record versus raw text. Anything that went through a real logging call converges on the leader's one console and one file. Raw fd 1 / fd 2 text that a vendor library writes directly is never a record (no name, no level), so it gets its own capture file per descriptor and a terminal mirror that is off unless the console is at TRACE.

The capture writes to a file, never a pipe. A pipe blocks writes past its 64 KiB capacity until a reader drains it, and a drain thread in this process needs the GIL while the native call doing the writing holds it — oxr_bindings.cpp releases none — so the two deadlock. A write to a file needs nothing else to run.

Module architecture

logging_config is a subpackage split by concern, matching every other public unit under isaacteleop/: a curated __init__.py, and no configuration as an import side effect.

flowchart LR
    subgraph PKG["isaacteleop.logging_config"]
        INIT["__init__.py\nre-exports the public API"]
        CORE["_core.py\nnames, line format, TRACE level,\nlog_dir() / ensure_log_dir()"]
        SETUP["_setup.py\ninstall() -- one-time bootstrap,\ndecides leader vs. forwarding child"]
        CONSOLE["_console.py\nthe one console handler,\nKeywordFilter, set_console_level/filter,\nset_logger_colors"]
        FILE["_file.py\nthe one rotating file handler"]
        FWD["_forwarding.py\nForwardingHandler / RequestHandler /\nThreadingUnixStreamServer"]
        NATFD["_native_fd.py\nfd 1 / fd 2 file capture + TRACE gate"]

        INIT --> CORE
        INIT --> CONSOLE
        INIT --> SETUP
        SETUP --> CONSOLE
        SETUP --> FILE
        SETUP --> FWD
        SETUP --> NATFD
        CONSOLE --> FWD
        CONSOLE --> NATFD
    end

    subgraph CPP["src/core/log_bridge"]
        LOGGER["isaacteleop::Logger::get(name, kind)\nLoggerKind::Application / ThirdParty"]
        SINKCFG["sink_config.cpp\nlocal console+file sinks\n(standalone process, no leader)"]
        SOCKSINK["SocketForwardSink\n(forwarding child)"]
        BRIDGESINK["PythonBridgeSink\n(in-process, via install_python_sink())"]

        LOGGER --> SINKCFG
        LOGGER --> SOCKSINK
        LOGGER --> BRIDGESINK
    end

    BRIDGESINK -.calls into.-> CONSOLE
    BRIDGESINK -.calls into.-> FILE
    SOCKSINK -- "Unix socket" --> FWD

    style PKG fill:#eef6ff,stroke:#3b82f6
    style CPP fill:#f3eefc,stroke:#8b5cf6

Loading

isaacteleop/__init__.py calls logging_config.install() and then log_bridge.install_python_sink() on import. install() builds this process's handlers, or its forwarding hookup, first, so the C++ bridge has somewhere to land.

install_python_sink() takes effect on the first call only. It re-points every registered logger by assigning logger->sinks() through spdlog::apply_all, and spdlog does not synchronize that vector against the logging path. The bootstrap call is safe by construction — it runs on the importing thread before anything has logged — but the function is public API, and a second call from a running application would not be.

User-facing API

flowchart TB
    subgraph API["Public surface -- from isaacteleop import logging_config"]
        SCL["set_console_level(level)\nstr name or stdlib int; also propagates\nISAACTELEOP_LOG_LEVEL for out-of-process C++"]
        SCF["set_console_filter(pattern, target='both')\nregex over logger_name / content / both;\nNone clears it"]
        SLC["set_logger_colors({name: escape_or_None})\nANSI SGR emphasis per logger name,\nSGR-only, validated against injection"]
        LD["log_dir()\nISAACTELEOP_LOG_DIR override, otherwise\n/tmp/isaacteleop-<uid>/logs on POSIX,\n<temp>/isaacteleop/logs elsewhere"]
        TR["TRACE = 5\nlevel constant below DEBUG;\nemit with logger.log(TRACE, ...)\n(no Logger.trace() by design)"]
        FMT["LINE_FORMAT / DATE_FORMAT\nfor code building its own handler\nthat must match this one"]
    end

    subgraph INTERNAL["Not public -- reachable, but not in __all__"]
        INS["install()\nbootstrap, called once by\nisaacteleop/__init__.py"]
    end

    subgraph CPPAPI["Public surface -- #include <log_bridge/logger.hpp>"]
        LG["isaacteleop::Logger::get(name, kind)\nkind sets the logger's own emit threshold:\nApplication = debug, ThirdParty = trace"]
        IPS["install_python_sink()\nisaacteleop.log_bridge, called once at startup"]
    end

    NAMING["Logger naming is a convention, not an API:\nlogging.getLogger('isaacteleop.<module>[.<ClassName>]')\n-- a name outside that tree reaches no handler"]

    API -.records flow through.-> NAMING
    CPPAPI -.same naming convention.-> NAMING

    style API fill:#eef6ff,stroke:#3b82f6
    style INTERNAL fill:#f4f4f5,stroke:#a1a1aa
    style CPPAPI fill:#f3eefc,stroke:#8b5cf6
    style NAMING fill:#fffbeb,stroke:#f59e0b

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Everything else in the package — ForwardingHandler, _native_fd, ThreadingUnixStreamServer, SocketForwardSink — is plumbing an application never touches directly.

The naming convention is load-bearing rather than cosmetic. Dotted names are the hierarchy, so a bare name such as "robot_viz" is a sibling of isaacteleop, not a descendant, and the handlers attached to the root of this tree can never see its records. For the same reason nothing here may call logging.basicConfig(): it attaches a handler to the root logger, and the isaacteleop logger still propagates, so from that call onward every record is emitted twice.

Platform behaviour

The forwarding transport is built on Unix domain sockets, and the log directory on uids, mode bits and O_NOFOLLOW. None of those exist on Windows, and this package is imported eagerly by isaacteleop/__init__.py, so an unguarded use is a build failure — the experimental Windows job runs import isaacteleop during pybind11 stub generation.

Where those facilities are absent the system degrades rather than fails: socket_path() is always None, so every process takes the leader branch and keeps its own console and file handlers, which is the pre-forwarding behaviour; the default directory falls back to the platform temp directory, which is already per-user; and the ownership check and chmod are skipped, since neither has meaning there.

Security properties

• The log directory is per-uid and created 0700, and a directory the current user does not own is refused with PermissionError rather than written into. It holds the records, the raw fd captures and the log socket.
• The receiver socket is chmod 0600 before its path is published, so the receiver — which re-emits whatever it is handed straight into this process's logger tree — cannot be fed forged records by another user.
• Capture files and coturn's three /tmp files are created with O_NOFOLLOW | O_EXCL and mode 0600. O_NOFOLLOW alone only refuses a symlink; a plain file another user created and still owns is not one, and would be written through — which for coturn's config file means handing over the TURN credential it carries. The mode argument also applies only to a file the call itself creates, so without O_EXCL the 0600 was silently skipped whenever something was already there.

Build

spdlog is added to deps/third_party/CMakeLists.txt, pinned to the commit v1.17.0 points at rather than the movable tag, matching the SHA-pinned dependencies already in that file.

When BUILD_PLUGIN_OAK_CAMERA is on, that spdlog is built with SPDLOG_FMT_EXTERNAL=ON against vcpkg's fmt. DepthAI's manifest depends on both spdlog and fmt, and it calls find_package(spdlog CONFIG REQUIRED) itself — which silently returns when the targets already exist, so DepthAI compiles against this spdlog. Ours otherwise defaults to its bundled fmt, whose headers are the upstream fmt headers copied verbatim, include guards and all, so whichever set is included first suppresses the other and the types stop matching. Sharing one fmt leaves exactly one in the build.

What changed, by commit

The ten commits that build the system:

#	Commit	What
1	root Python logger config	one console handler on the root isaacteleop logger, shared line format, log_dir(); migrates the entry points that built their own basicConfig() or handlers, and renames bare, non-isaacteleop-rooted loggers
2	TRACE level	TRACE = 5 below DEBUG, registered as a level name; no Logger.trace() monkeypatch — callers use logger.log(TRACE, ...)
3	migrate print()	genuine diagnostic print() in library code and two per-frame example status lines; deliberate CLI UX (banners, progress, the tested print_summary()) left alone
4	C++ log sink	isaacteleop::Logger::get(name, kind), LoggerKind::{Application,ThirdParty}, local console and file sinks, and PythonBridgeSink exposed as install_python_sink(); spdlog added to deps
5	migrate C++ console output	src/core, src/viz and all 13 plugins onto named loggers, including MuJoCo's mju_user_error / mju_user_warning as ThirdParty; plugin.cpp's four fork-child sites and the interactive CLI wizards deliberately excluded
6	Manus SDK log stream	CoreSdk_RegisterCallbackForOnLog, severity inherited 1:1, registered before SDK init and unregistered last; the callback is noexcept and swallows everything, since unwinding into the SDK's frames is undefined behaviour
7	gate native stderr and stdout	fd 1 and fd 2 onto per-fd capture files with a TRACE-gated terminal mirror; closes runtime.py's conflicting dup2 race and coturn's silently discarded stdio
8	route every process through one tree	leader / forwarding-child model over a Unix socket: ForwardingHandler (Python) and SocketForwardSink (C++) speaking one wire format, receiver re-emitting via .handle()
9	public log configure API	KeywordFilter / set_console_filter, set_logger_colors with SGR-only validation, curated __all__
10	persist to a rotating file	leader-only RotatingFileHandler (10 MiB × 5), always DEBUG+, <ts>.isaacteleop.<pid>.log; the C++ side mirrors the naming and threshold

The commits that follow, from review and from testing on more platforms:

Commit	What
deadlock fix: write to a file, not a pipe	the fd capture's drain thread needed the GIL while the native writer held it; a file needs no reader
keep Python streams the fd capture cannot reach	sys.stdout / sys.stderr and the console handler's stream move onto a duplicate of the real descriptor, so print() and tracebacks stay on the terminal
detached CloudXR service owns its logs	background.spawn() drops the inherited ISAACTELEOP_LOG_SOCKET; a forwarding child has a forwarding handler and nothing else, and this service outlives the launcher that published the socket
import isaacteleop without POSIX facilities	the four module-scope uses of uids, O_NOFOLLOW and AF_UNIX guarded, with the tests asserting both platform branches
share one fmt with DepthAI under vcpkg	SPDLOG_FMT_EXTERNAL=ON when BUILD_PLUGIN_OAK_CAMERA is on
bring robot_viz into the tree	the last bare logger name and the last basicConfig() call
agent notes for the logging system	cross-tree rules in the repo root AGENTS.md; subsystem rules in new AGENTS.md files beside logging_config and log_bridge
coturn temp files, native-fd capture, one-shot sink install	the three CodeRabbit findings that were still open; see the Security section above

Testing

• tests/python/core/logging_config/ — level, filter and colour handling, TRACE, the log directory's mode and ownership behaviour, file rotation, and a forwarding round trip over a real Unix socket. POSIX-only assertions are marked, and the non-POSIX fallbacks have their own assertions, so the Windows job exercises both directions. Currently 25 passed, 3 skipped on Linux.
• tests/cpp/core/log_bridge/ — Logger::get() memoization and the Application / ThirdParty default-level behaviour.
• CI covers Ubuntu and the experimental Windows job, both with BUILD_PLUGIN_OAK_CAMERA=ON and the vcpkg toolchain, and both run ctest.
• clang-format-14 --dry-run --Werror is clean on every touched C++ file, and ruff check and format are clean on every touched Python file at the version the hook pins.
• Not verified by the author's environment: the full C++ build. Configuring the tree needs the FetchContent clones, which were unreachable from that machine, so the C++ changes are format-checked but uncompiled locally and rely on CI. The fmt change in particular can only be confirmed by the OAK jobs, and spdlog v1.17.0's compatibility with the fmt version DepthAI's vcpkg baseline pins is unverified — if the OAK jobs report an fmt API mismatch, that is where to look.

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📝 Walkthrough

Walkthrough

Added centralized Python and C++ logging infrastructure with console, rotating-file, native file-descriptor, Unix-socket, and Python sink support. Integrated spdlog and exposed CMake targets and Python bindings. Replaced direct console output across core modules, plugins, examples, and visualization code with named loggers. Added warning suppression for replay data gaps and tests for logger behavior, configuration, forwarding, and file output.

Priority: ⚪ Not assessed

Estimated code review effort: 5 (Critical) | ~90 minutes

Merge Risk: 🟠 High · up to a4299

This change routes all application diagnostics through a new shared logging system that runs in every process. As written it can hang or deadlock a running session when Python and native threads log at the same time or when the log receiver stops reading, and it writes logs and its control socket into a world-writable temporary location, which a local user could tamper with. Critical-severity native messages are also delivered as ordinary errors, and one of the newly added tests fails against the shipped default. These should be addressed before merge.

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 25.97% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 77 functions across 50 files. (110 skippe…	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly and concisely describes the primary change: adding a unified logging system across Python and C++.

Full details: Docstring Coverage

Explanation

Docstring coverage is 25.97% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 77 functions across 50 files. (110 skipped: 38 unsupported, 72 over the file limit.)

✨ Finishing Touches 💡 2

📝 Generate docstrings 💡

• Create stacked PR
• Commit on current branch

🛠️ Fix failing CI checks 💡

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch lotusl/logging-3

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Actionable comments posted: 13

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Inline comments:
In `@deps/third_party/CMakeLists.txt`:
- Line 111: Update the spdlog dependency’s GIT_TAG in the third-party CMake
configuration from the mutable version tag to the specified immutable commit
hash 79524ddd08a4ec981b7fea76afd08ee05f83755d.

In `@src/core/log_bridge/cpp/level_mapping.cpp`:
- Around line 26-27: Update to_python_level() so spdlog::level::critical maps to
Python level 50 instead of 40, preserving critical severity for Python handlers.

In `@src/core/log_bridge/cpp/logger.cpp`:
- Line 63: Update install_python_sink() so it no longer replaces logger->sinks()
via spdlog::apply_all while logging may be active. Keep a stable bridge sink
attached to each logger and synchronize updates to that sink’s downstream
target, preserving safe concurrent emission without mutating the logger sink
vectors.

In `@src/core/log_bridge/cpp/socket_sink.cpp`:
- Line 111: Update the socket connection and send path around ::connect and the
two ::send calls to bound blocking operations with nonblocking polling or
appropriate socket timeouts, and handle partial writes by continuing until the
complete payload is sent or the bounded operation fails. Preserve synchronous
logging behavior while preventing an unresponsive peer from stalling
indefinitely.

In `@src/core/log_bridge/python/python_bridge_sink.hpp`:
- Line 24: Update PythonBridgeSink to use spdlog::details::null_mutex instead of
std::mutex, preventing lock contention while logging may require the Python GIL;
add a regression test that exercises concurrent Python-thread and native-thread
logging to verify no deadlock.

In `@src/plugins/manus/core/manus_hand_tracking_plugin.cpp`:
- Around line 839-860: Update ManusTracker::OnLog to be noexcept and wrap
Logger::get, message construction, and severity dispatch in a catch-all handler
so no exception escapes the Manus SDK callback. Preserve the existing severity
mapping and fallback logging behavior.

In `@src/python/isaacteleop/cloudxr/oob_teleop_adb.py`:
- Line 930: Update the coturn temporary-file setup around conf_path, log_path,
and stdio_log_path to use a private tempfile.mkdtemp() directory with mode
0o700, create each file using O_CREAT | O_EXCL | O_NOFOLLOW and mode 0o600, and
remove the temporary directory during cleanup. Preserve the existing coturn
behavior while preventing symlink replacement and credential exposure.

In `@src/python/isaacteleop/cloudxr/wss.py`:
- Around line 933-935: Update the cleanup around the _handler close so it
removes the handler from every logger it was attached to, including log,
isaacteleop.cloudxr.oob_teleop_adb, and isaacteleop.cloudxr.oob_teleop_env,
before closing it. Track or reuse the attached logger collection established
during setup, and preserve the existing conditional cleanup behavior.

In `@src/python/isaacteleop/logging_config/_console.py`:
- Around line 136-142: Update the filter replacement flow around KeywordFilter
so the new filter is constructed and validated before removing _active_filter or
changing _pattern and _target. Only after successful construction should update
the handler and module state, preserving the existing active filter when target
validation raises.

In `@src/python/isaacteleop/logging_config/_core.py`:
- Line 17: Update the _DEFAULT_LOG_DIR and log-directory initialization flow to
use an owned per-user or per-session directory instead of shared /tmp storage.
Enforce directory mode 0700, validate that ISAACTELEOP_LOG_DIR is owned by the
current user, and reject symlinked directories before creating or opening log
files, capture files, or the Unix-domain socket.

In `@src/python/isaacteleop/logging_config/_forwarding.py`:
- Line 198: Update the forwarding setup around ThreadingUnixStreamServer to
enforce owner-only access: restrict the containing directory before binding,
then restrict the Unix socket itself before publishing its path. Preserve the
existing server creation and ensure permissions are applied on platforms where
socket permission controls are supported.

In `@src/python/isaacteleop/logging_config/_native_fd.py`:
- Around line 78-84: Harden the log setup around the directory creation and
sink_fd os.open call: use a private directory with mode 0700, validate that it
is owned by the expected user, and reject unsafe ownership or permissions before
writing. Open each new log file with O_NOFOLLOW | O_EXCL so pre-existing
symbolic links or files cannot be followed or reused, and add a subprocess test
confirming capture fails safely when an attacker pre-creates a symlink.

In `@tests/python/core/logging_config/test_logging_config.py`:
- Line 137: Update the assertion for logging_config.log_dir() to expect the
documented default path /tmp/isaacteleop/logs when ISAACTELEOP_LOG_DIR is unset,
replacing the current home-directory expectation.

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📥 Commits

Reviewing files that changed from the base of the PR and between 80acba0 and a4299b9.

📒 Files selected for processing (160)

• deps/README.md
• deps/third_party/CMakeLists.txt
• examples/camera_viz/camera_streamer.py
• examples/camera_viz/sources/_helpers.py
• examples/haptic_feedback/python/controller_haptic_example.py
• examples/haptic_feedback/python/hand_pinch_haptic_example.py
• src/core/CMakeLists.txt
• src/core/codegen/templates/pull/replay.cpp.template
• src/core/codegen/templates/pull/replay.hpp.template
• src/core/deviceio_session/cpp/CMakeLists.txt
• src/core/deviceio_session/cpp/deviceio_session.cpp
• src/core/deviceio_session/cpp/inc/deviceio_session/deviceio_session.hpp
• src/core/deviceio_session/cpp/inc/deviceio_session/replay_session.hpp
• src/core/deviceio_session/cpp/replay_session.cpp
• src/core/live_trackers/cpp/CMakeLists.txt
• src/core/live_trackers/cpp/inc/live_trackers/schema_tracker_base.hpp
• src/core/live_trackers/cpp/live_controller_tracker_impl.cpp
• src/core/live_trackers/cpp/live_controller_tracker_impl.hpp
• src/core/live_trackers/cpp/live_full_body_tracker_pico_impl.cpp
• src/core/live_trackers/cpp/live_full_body_tracker_pico_impl.hpp
• src/core/live_trackers/cpp/live_hand_tracker_impl.cpp
• src/core/live_trackers/cpp/live_hand_tracker_impl.hpp
• src/core/live_trackers/cpp/live_message_channel_tracker_impl.cpp
• src/core/live_trackers/cpp/live_message_channel_tracker_impl.hpp
• src/core/live_trackers/cpp/schema_tracker_base.cpp
• src/core/log_bridge/CMakeLists.txt
• src/core/log_bridge/cpp/CMakeLists.txt
• src/core/log_bridge/cpp/inc/log_bridge/logger.hpp
• src/core/log_bridge/cpp/level_mapping.cpp
• src/core/log_bridge/cpp/logger.cpp
• src/core/log_bridge/cpp/sink_config.cpp
• src/core/log_bridge/cpp/sink_config.hpp
• src/core/log_bridge/cpp/socket_sink.cpp
• src/core/log_bridge/cpp/socket_sink.hpp
• src/core/log_bridge/python/CMakeLists.txt
• src/core/log_bridge/python/python_bindings.cpp
• src/core/log_bridge/python/python_bridge_sink.cpp
• src/core/log_bridge/python/python_bridge_sink.hpp
• src/core/mcap/cpp/CMakeLists.txt
• src/core/mcap/cpp/inc/mcap/tracker_channels.hpp
• src/core/oxr/cpp/CMakeLists.txt
• src/core/oxr/cpp/inc/oxr/oxr_session.hpp
• src/core/oxr/cpp/oxr_session.cpp
• src/core/plugin_manager/cpp/CMakeLists.txt
• src/core/plugin_manager/cpp/inc/plugin_manager/plugin_manager.hpp
• src/core/plugin_manager/cpp/plugin.cpp
• src/core/plugin_manager/cpp/plugin_manager.cpp
• src/core/pusherio/cpp/CMakeLists.txt
• src/core/pusherio/cpp/inc/pusherio/schema_pusher.hpp
• src/core/pusherio/cpp/schema_pusher.cpp
• src/core/python/CMakeLists.txt
• src/core/replay_trackers/cpp/CMakeLists.txt
• src/core/replay_trackers/cpp/replay_controller_tracker_impl.cpp
• src/core/replay_trackers/cpp/replay_controller_tracker_impl.hpp
• src/core/replay_trackers/cpp/replay_full_body_tracker_impl.cpp
• src/core/replay_trackers/cpp/replay_full_body_tracker_impl.hpp
• src/core/replay_trackers/cpp/replay_hand_tracker_impl.cpp
• src/core/replay_trackers/cpp/replay_hand_tracker_impl.hpp
• src/core/replay_trackers/cpp/replay_head_tracker_impl.cpp
• src/core/replay_trackers/cpp/replay_head_tracker_impl.hpp
• src/core/replay_trackers/cpp/replay_message_channel_tracker_impl.cpp
• src/core/replay_trackers/cpp/replay_message_channel_tracker_impl.hpp
• src/core/replay_trackers/cpp/replay_tensor_push_tracker_impl.cpp
• src/core/replay_trackers/cpp/replay_tensor_push_tracker_impl.hpp
• src/core/schema_compat/cpp/CMakeLists.txt
• src/core/schema_compat/cpp/schema_compat.cpp
• src/plugins/controller_se3_tracker/CMakeLists.txt
• src/plugins/controller_se3_tracker/controller_se3_tracker_plugin.cpp
• src/plugins/controller_se3_tracker/controller_se3_tracker_plugin.hpp
• src/plugins/controller_se3_tracker/main.cpp
• src/plugins/controller_synthetic_hands/CMakeLists.txt
• src/plugins/controller_synthetic_hands/controller_synthetic_hands.cpp
• src/plugins/controller_synthetic_hands/synthetic_hands_plugin.cpp
• src/plugins/controller_synthetic_hands/synthetic_hands_plugin.hpp
• src/plugins/generic_3axis_pedal/CMakeLists.txt
• src/plugins/generic_3axis_pedal/generic_3axis_pedal_plugin.cpp
• src/plugins/generic_3axis_pedal/generic_3axis_pedal_plugin.hpp
• src/plugins/generic_3axis_pedal/main.cpp
• src/plugins/haptikos/CMakeLists.txt
• src/plugins/haptikos/haptikos_hands_plugin.cpp
• src/plugins/haptikos/haptikos_hands_plugin.hpp
• src/plugins/haptikos/main.cpp
• src/plugins/manus/app/main.cpp
• src/plugins/manus/core/CMakeLists.txt
• src/plugins/manus/core/inc/manus/manus_hand_tracking_plugin.hpp
• src/plugins/manus/core/manus_hand_tracking_plugin.cpp
• src/plugins/manus/tools/manus_hand_tracker_printer.cpp
• src/plugins/noitom_mocap/CMakeLists.txt
• src/plugins/noitom_mocap/main.cpp
• src/plugins/noitom_mocap/noitom_mocap_plugin.cpp
• src/plugins/noitom_mocap/noitom_mocap_plugin.hpp
• src/plugins/oak/CMakeLists.txt
• src/plugins/oak/core/frame_sink.cpp
• src/plugins/oak/core/frame_sink.hpp
• src/plugins/oak/core/oak_camera.cpp
• src/plugins/oak/core/oak_camera.hpp
• src/plugins/oak/core/preview_stream.cpp
• src/plugins/oak/core/preview_stream.hpp
• src/plugins/oak/main.cpp
• src/plugins/oglo_tactile/CMakeLists.txt
• src/plugins/oglo_tactile/main.cpp
• src/plugins/oglo_tactile/oglo_glove_sink.cpp
• src/plugins/oglo_tactile/oglo_tactile_plugin.cpp
• src/plugins/oglo_tactile/oglo_tactile_plugin.hpp
• src/plugins/plugin_utils/CMakeLists.txt
• src/plugins/plugin_utils/hand_injector.cpp
• src/plugins/plugin_utils/inc/plugin_utils/hand_injector.hpp
• src/plugins/plugin_utils/inc/plugin_utils/wrist_pose_source.hpp
• src/plugins/plugin_utils/wrist_pose_source.cpp
• src/plugins/rebot_devarm_leader/CMakeLists.txt
• src/plugins/rebot_devarm_leader/main.cpp
• src/plugins/rebot_devarm_leader/rebot_devarm_leader_plugin.cpp
• src/plugins/rebot_devarm_leader/rebot_devarm_leader_plugin.hpp
• src/plugins/so101_leader/CMakeLists.txt
• src/plugins/so101_leader/main.cpp
• src/plugins/so101_leader/so101_leader_plugin.cpp
• src/plugins/so101_leader/so101_leader_plugin.hpp
• src/plugins/vive_se3_tracker/CMakeLists.txt
• src/plugins/vive_se3_tracker/main.cpp
• src/plugins/vive_se3_tracker/vive_se3_tracker_plugin.cpp
• src/plugins/vive_se3_tracker/vive_se3_tracker_plugin.hpp
• src/plugins/wuji_glove/CMakeLists.txt
• src/plugins/wuji_glove/wuji_glove.cpp
• src/plugins/wuji_glove/wuji_glove_plugin.cpp
• src/plugins/wuji_glove/wuji_glove_plugin.hpp
• src/python/isaacteleop/__init__.py
• src/python/isaacteleop/cloudxr/oob_teleop_adb.py
• src/python/isaacteleop/cloudxr/oob_teleop_env.py
• src/python/isaacteleop/cloudxr/oob_teleop_hub.py
• src/python/isaacteleop/cloudxr/runtime.py
• src/python/isaacteleop/cloudxr/service/_service.py
• src/python/isaacteleop/cloudxr/wss.py
• src/python/isaacteleop/log_bridge/__init__.py
• src/python/isaacteleop/logging_config/__init__.py
• src/python/isaacteleop/logging_config/_console.py
• src/python/isaacteleop/logging_config/_core.py
• src/python/isaacteleop/logging_config/_file.py
• src/python/isaacteleop/logging_config/_forwarding.py
• src/python/isaacteleop/logging_config/_native_fd.py
• src/python/isaacteleop/logging_config/_setup.py
• src/python/isaacteleop/retargeters/dex_hand_retargeter.py
• src/python/isaacteleop/retargeting_engine/interface/parameter_state.py
• src/python/isaacteleop/retargeting_engine_ui/__init__.py
• src/python/isaacteleop/retargeting_engine_ui/multi_retargeter_tuning_ui.py
• src/viz/core/cpp/CMakeLists.txt
• src/viz/core/cpp/inc/viz/core/vk_context.hpp
• src/viz/core/cpp/vk_context.cpp
• src/viz/robot_twin/cpp/CMakeLists.txt
• src/viz/robot_twin/cpp/mj_guard.cpp
• src/viz/xr/cpp/CMakeLists.txt
• src/viz/xr/cpp/inc/viz/xr/openxr_session.hpp
• src/viz/xr/cpp/openxr_session.cpp
• tests/cpp/core/CMakeLists.txt
• tests/cpp/core/log_bridge/CMakeLists.txt
• tests/cpp/core/log_bridge/test_logger.cpp
• tests/python/core/CMakeLists.txt
• tests/python/core/logging_config/CMakeLists.txt
• tests/python/core/logging_config/__init__.py
• tests/python/core/logging_config/pyproject.toml
• tests/python/core/logging_config/test_logging_config.py

Included review availability: Your plan provides up to 12 included reviews per hour; 11 remain after this review.

[sgrizan-nv]

The separation between console handling, file storage, process forwarding, and native output capture makes sense. Keeping the C++ core independent of Python is also appropriate for standalone plugins.

The architectural boundary I would reconsider is logging lifecycle ownership. Importing isaacteleop currently creates files, starts a receiver thread, redirects process-wide native stdout/stderr, and changes the environment inherited by children. These effects extend beyond the library's own logging calls.

Could session or application startup explicitly initialize this infrastructure, with a corresponding shutdown operation? Library modules could continue emitting named records, while the application decides when to take ownership of logging and native output capture.

[sgrizan-nv]

Let's try to avoid redirecting process-wide native stdout/stderr in IsaacTeleop. These dup2() calls affect every native library in the host process, plus subprocesses inheriting these descriptors - not just IsaacTeleop or CloudXR diagnostics. Preserving Python's sys.stdout and sys.stderr does not preserve those native output destinations.

[sgrizan-nv]

A concrete in-process example is an unrelated C library calling printf():

import ctypes
import isaacteleop

libc = ctypes.CDLL(None)
libc.printf(b"Output from an unrelated C library\n")
libc.fflush(None)

print("Output from Python", flush=True)

After importing IsaacTeleop, the C library’s output is redirected into *.native.log, while the Python output remains in the terminal. The same applies to unrelated C extensions and native libraries using fd 1 or 2. This is why preserving sys.stdout and sys.stderr does not address the process-wide side effect of the dup2() calls.

[sgrizan-nv]

An equivalent example using an actual CPython C extension:

// native_noise.c
#include <Python.h>
#include <stdio.h>

static PyObject *emit(PyObject *self, PyObject *args) {
    printf("Output from an unrelated C extension\n");
    fflush(stdout);
    Py_RETURN_NONE;
}

static PyMethodDef methods[] = {
    {"emit", emit, METH_NOARGS, "Write to native stdout."},
    {NULL, NULL, 0, NULL}
};

static struct PyModuleDef module = {
    PyModuleDef_HEAD_INIT, "native_noise", NULL, -1, methods
};

PyMODINIT_FUNC PyInit_native_noise(void) {
    return PyModule_Create(&module);
}

# setup.py
from setuptools import Extension, setup

setup(
    name="native-noise",
    ext_modules=[Extension("native_noise", ["native_noise.c"])],
)

python setup.py build_ext --inplace

python - <<'PY'
import isaacteleop
import native_noise

native_noise.emit()
print("Output from Python", flush=True)
PY

The Python line remains visible, while the unrelated extension’s printf() output is redirected into IsaacTeleop’s *.native.log.

[yanziz-nvidia]

reviewed by yanziz-review-bot

Summary

Other than the existing findings in previous comments, I found one new startup regression. Logging tests passed in an isolated source harness (32 passed, 3 skipped), and all three packaging checks passed; full C++/hardware validation was not run locally. CI still reports a CloudXR termination-test failure.

Legend: 🚫 BLOCKER = merge-blocking | 💡 SUGGESTION = meaningful improvement | 🧹 NIT = precise small correction

Severity	Finding
🚫 BLOCKER	camera_streamer.py:31 — Breaks sender-only deployments. The new unconditional IsaacTeleop import conflicts with _install_deps.sh, which deliberately omits IsaacTeleop in --sender-only mode. The sender now exits before argument parsing or camera startup. Reproduced with --help: ModuleNotFoundError: No module named 'isaacteleop'. Preserve standalone logging when IsaacTeleop is unavailable.
💡 SUGGESTION	none
🧹 NIT	none

Actionables (copy-paste-ready for implementation agents)

Validate these suggestions in context before applying them. Skip anything already addressed, incorrect, or not worth the churn.

• examples/camera_viz/camera_streamer.py:31 — Make logging initialization work without IsaacTeleop in sender-only installations. Add a startup smoke test using that dependency set.