From 7713502f42169eeeaba1c7fe54e6c81aec6fd216 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Thu, 30 Apr 2020 23:08:37 +0200
Subject: [PATCH 1/2] Style gympp edits

---
 cpp/gympp/base/Space.cpp                      | 27 ++++++++++++-------
 cpp/gympp/base/include/gympp/base/Common.h    | 11 +++++---
 .../base/include/gympp/base/Environment.h     |  3 ---
 cpp/gympp/base/include/gympp/base/Task.h      |  2 +-
 4 files changed, 27 insertions(+), 16 deletions(-)

diff --git a/cpp/gympp/base/Space.cpp b/cpp/gympp/base/Space.cpp
index 8d8cb0373..263df0fd9 100644
--- a/cpp/gympp/base/Space.cpp
+++ b/cpp/gympp/base/Space.cpp
@@ -85,7 +85,9 @@ bool Box::contains(const Space::Sample& data) const
 
     // Check the type
     if (!bufferPtr) {
-        gymppError << "Failed to get the buffer or the supported type from the sample" << std::endl;
+        gymppError
+            << "Failed to get the buffer or the supported type from the sample"
+            << std::endl;
         return false;
     }
 
@@ -94,14 +96,17 @@ bool Box::contains(const Space::Sample& data) const
 
     if (bufferPtr->size() != pImpl->shape[0]) {
         gymppError << "The size of the buffer (" << bufferPtr->size()
-                   << ") does not match with the shape of the space (" << pImpl->shape[0] << ")"
-                   << std::endl;
+                   << ") does not match with the shape of the space ("
+                   << pImpl->shape[0] << ")" << std::endl;
         return false;
     }
 
     for (unsigned i = 0; i < bufferPtr->size(); ++i) {
-        if (((*bufferPtr)[i] > pImpl->high[i]) || ((*bufferPtr)[i] < pImpl->low[i])) {
-            gymppError << "The sample does not comply to the limits set for its space" << std::endl;
+        if (((*bufferPtr)[i] > pImpl->high[i])
+            || ((*bufferPtr)[i] < pImpl->low[i])) {
+            gymppError
+                << "The sample does not comply to the limits set for its space"
+                << std::endl;
             return false;
         }
     }
@@ -165,7 +170,9 @@ bool Discrete::contains(const Space::Sample& data) const
 
     // Check the type
     if (!bufferPtr) {
-        gymppError << "Failed to get the buffer or the supported type from the sample" << std::endl;
+        gymppError
+            << "Failed to get the buffer or the supported type from the sample"
+            << std::endl;
         return false;
     }
 
@@ -173,13 +180,15 @@ bool Discrete::contains(const Space::Sample& data) const
     assert(pImpl->shape.size() == 1);
     if (bufferPtr->size() != pImpl->shape.size()) {
         gymppError << "The size of the buffer (" << bufferPtr->size()
-                   << ") does not match with the shape of the space (" << pImpl->shape.size() << ")"
-                   << std::endl;
+                   << ") does not match with the shape of the space ("
+                   << pImpl->shape.size() << ")" << std::endl;
         return false;
     }
 
     if ((*bufferPtr)[0] < 0 || (*bufferPtr)[0] >= pImpl->n) {
-        gymppError << "The sample does not comply to the limits set for its space" << std::endl;
+        gymppError
+            << "The sample does not comply to the limits set for its space"
+            << std::endl;
         return false;
     }
 
diff --git a/cpp/gympp/base/include/gympp/base/Common.h b/cpp/gympp/base/include/gympp/base/Common.h
index db9e622bb..1413e75f1 100644
--- a/cpp/gympp/base/include/gympp/base/Common.h
+++ b/cpp/gympp/base/include/gympp/base/Common.h
@@ -31,7 +31,8 @@ namespace gympp {
         using BufferLong = BufferContainer<size_t>::type;
         using BufferFloat = BufferContainer<float>::type;
         using BufferDouble = BufferContainer<double>::type;
-        using GenericBuffer = std::variant<BufferInt, BufferLong, BufferFloat, BufferDouble>;
+        using GenericBuffer =
+            std::variant<BufferInt, BufferLong, BufferFloat, BufferDouble>;
 
         namespace data {
             using Shape = std::vector<size_t>;
@@ -63,7 +64,8 @@ struct gympp::base::data::Sample
     template <typename T>
     std::optional<T> get(const size_t i) const
     {
-        auto bufferPtr = std::get_if<typename BufferContainer<T>::type>(&buffer);
+        auto bufferPtr =
+            std::get_if<typename BufferContainer<T>::type>(&buffer);
 
         if (!bufferPtr) {
             return {};
@@ -100,7 +102,10 @@ struct gympp::base::Range
     DataSupport min = 0;
     DataSupport max = 0;
 
-    bool contains(double value) { return (value <= max && value >= min) ? true : false; }
+    bool contains(double value)
+    {
+        return (value <= max && value >= min) ? true : false;
+    }
 };
 
 #endif // GYMPP_BASE_COMMON
diff --git a/cpp/gympp/base/include/gympp/base/Environment.h b/cpp/gympp/base/include/gympp/base/Environment.h
index 17b230341..459fb03c1 100644
--- a/cpp/gympp/base/include/gympp/base/Environment.h
+++ b/cpp/gympp/base/include/gympp/base/Environment.h
@@ -38,9 +38,6 @@ struct gympp::base::State
     gympp::base::Observation observation;
 };
 
-// TODO: https://hub.packtpub.com/openai-gym-environments-wrappers-and-monitors-tutorial/
-//       These C++ and their mapping to python / julia should allow using the Wrapper method
-
 // From https://github.com/openai/gym/blob/master/gym/core.py
 class gympp::base::Environment
 {
diff --git a/cpp/gympp/base/include/gympp/base/Task.h b/cpp/gympp/base/include/gympp/base/Task.h
index cedc11a8b..f5df1bc81 100644
--- a/cpp/gympp/base/include/gympp/base/Task.h
+++ b/cpp/gympp/base/include/gympp/base/Task.h
@@ -15,7 +15,7 @@
 namespace gympp {
     namespace base {
         class Task;
-    } // namespace gazebo
+    } // namespace base
 } // namespace gympp
 
 class gympp::base::Task

From 6bc2496806bde89846db8b95f2131b8cfce6fa29 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Thu, 30 Apr 2020 23:16:20 +0200
Subject: [PATCH 2/2] Rename log macros from gympp* to s*

---
 .../src/ComputedTorqueFixedBase.cpp           |  30 ++---
 .../gazebo/include/scenario/gazebo/Joint.h    |   7 +-
 .../gazebo/include/scenario/gazebo/Log.h      |   8 +-
 cpp/scenario/gazebo/src/GazeboSimulator.cpp   | 107 ++++++++---------
 cpp/scenario/gazebo/src/Joint.cpp             | 113 +++++++++---------
 cpp/scenario/gazebo/src/Link.cpp              |   9 +-
 cpp/scenario/gazebo/src/Model.cpp             |  40 +++----
 cpp/scenario/gazebo/src/World.cpp             |  28 ++---
 cpp/scenario/gazebo/src/helpers.cpp           |  37 +++---
 cpp/scenario/gazebo/src/signals.cpp           |  11 +-
 cpp/scenario/gazebo/src/utils.cpp             |  40 +++----
 .../ControllerRunner/ControllerRunner.cpp     |  55 ++++-----
 .../ControllerRunner/ControllersFactory.cpp   |  29 ++---
 .../plugins/ECMProvider/ECMProvider.cpp       |  18 +--
 .../plugins/ECMProvider/ECMSingleton.cpp      |  32 ++---
 .../JointController/JointController.cpp       |  24 ++--
 16 files changed, 285 insertions(+), 303 deletions(-)

diff --git a/cpp/scenario/controllers/src/ComputedTorqueFixedBase.cpp b/cpp/scenario/controllers/src/ComputedTorqueFixedBase.cpp
index 4655e818b..e27f12ff7 100644
--- a/cpp/scenario/controllers/src/ComputedTorqueFixedBase.cpp
+++ b/cpp/scenario/controllers/src/ComputedTorqueFixedBase.cpp
@@ -136,29 +136,29 @@ ComputedTorqueFixedBase::~ComputedTorqueFixedBase() {}
 
 bool ComputedTorqueFixedBase::initialize()
 {
-    gymppDebug << "Initializing ComputedTorqueFixedBaseCpp" << std::endl;
+    sDebug << "Initializing ComputedTorqueFixedBaseCpp" << std::endl;
 
     if (pImpl->kinDyn) {
-        gymppWarning
+        sWarning
             << "The KinDynComputations object has been already initialized"
             << std::endl;
         return true;
     }
 
     if (!(m_model && m_model->valid())) {
-        gymppError << "Couldn't initialize controller. Model not valid."
+        sError << "Couldn't initialize controller. Model not valid."
                    << std::endl;
         return false;
     }
 
     if (m_controlledJoints.size() != m_model->dofs()
         || m_controlledJoints.empty()) {
-        gymppError << "The list of controlled joints is not valid" << std::endl;
+        sError << "The list of controlled joints is not valid" << std::endl;
         return false;
     }
 
     if (m_controlledJoints.empty()) {
-        gymppDebug << "No list of controlled joints. Controlling all the "
+        sDebug << "No list of controlled joints. Controlling all the "
                       "robots joints."
                    << std::endl;
 
@@ -170,7 +170,7 @@ bool ComputedTorqueFixedBase::initialize()
 
     for (auto& joint : m_model->joints(m_controlledJoints)) {
         if (joint->dofs() != 1) {
-            gymppError << "Joint '" << joint->name()
+            sError << "Joint '" << joint->name()
                        << "' does not have 1 DoF and is not supported"
                        << std::endl;
             return false;
@@ -179,7 +179,7 @@ bool ComputedTorqueFixedBase::initialize()
 
     iDynTree::ModelLoader loader;
     if (!loader.loadReducedModelFromFile(pImpl->urdfFile, m_controlledJoints)) {
-        gymppError << "Failed to load reduced model from the urdf file"
+        sError << "Failed to load reduced model from the urdf file"
                    << std::endl;
         return false;
     }
@@ -189,7 +189,7 @@ bool ComputedTorqueFixedBase::initialize()
         iDynTree::MIXED_REPRESENTATION);
 
     if (!pImpl->kinDyn->loadRobotModel(loader.model())) {
-        gymppError << "Failed to insert model in the KinDynComputations object"
+        sError << "Failed to insert model in the KinDynComputations object"
                    << std::endl;
         return false;
     }
@@ -199,14 +199,14 @@ bool ComputedTorqueFixedBase::initialize()
         pImpl->initialValues.controlMode[joint->name()] = joint->controlMode();
 
         if (!joint->setControlMode(base::JointControlMode::Force)) {
-            gymppError << "Failed to control joint '" << joint->name()
+            sError << "Failed to control joint '" << joint->name()
                        << "' in Force" << std::endl;
             return false;
         }
     }
 
     // Initialize buffers
-    gymppDebug << "Controlling " << m_controlledJoints.size() << " DoFs"
+    sDebug << "Controlling " << m_controlledJoints.size() << " DoFs"
                << std::endl;
     pImpl->buffers = std::make_unique<Impl::Buffers>(m_controlledJoints.size());
 
@@ -283,7 +283,7 @@ bool ComputedTorqueFixedBase::step(const Controller::StepSize& /*dt*/)
 
     if (!m_model->setJointGeneralizedForceTargets(pImpl->buffers->torquesVector,
                                                   m_controlledJoints)) {
-        gymppError << "Failed to set joint forces" << std::endl;
+        sError << "Failed to set joint forces" << std::endl;
         return false;
     }
 
@@ -300,7 +300,7 @@ bool ComputedTorqueFixedBase::terminate()
         auto joint = m_model->getJoint(jointName);
 
         if (!joint->setControlMode(controlMode)) {
-            gymppError << "Failed to restore original control mode of joint '"
+            sError << "Failed to restore original control mode of joint '"
                        << jointName << "'" << std::endl;
             ok = ok && false;
         }
@@ -332,17 +332,17 @@ bool ComputedTorqueFixedBase::updateStateFromModel()
     if (!pImpl->kinDyn->setRobotState(pImpl->buffers->jointPositions,
                                       pImpl->buffers->jointVelocities,
                                       pImpl->buffers->gravity)) {
-        gymppError << "Failed to set the robot state" << std::endl;
+        sError << "Failed to set the robot state" << std::endl;
         return false;
     }
 
     if (!pImpl->kinDyn->getFreeFloatingMassMatrix(pImpl->buffers->massMatrix)) {
-        gymppError << "Failed to get the mass matrix" << std::endl;
+        sError << "Failed to get the mass matrix" << std::endl;
         return false;
     }
 
     if (!pImpl->kinDyn->generalizedBiasForces(pImpl->buffers->biasForces)) {
-        gymppError << "Failed to get the bias forces " << std::endl;
+        sError << "Failed to get the bias forces " << std::endl;
         return false;
     }
 
diff --git a/cpp/scenario/gazebo/include/scenario/gazebo/Joint.h b/cpp/scenario/gazebo/include/scenario/gazebo/Joint.h
index 63416ced7..7b1724f21 100644
--- a/cpp/scenario/gazebo/include/scenario/gazebo/Joint.h
+++ b/cpp/scenario/gazebo/include/scenario/gazebo/Joint.h
@@ -211,10 +211,9 @@ struct scenario::base::JointLimit
         : JointLimit(std::min(_min.size(), _max.size()))
     {
         if (_min.size() != _max.size()) {
-            gymppWarning
-                << "The max and min limits have different size. "
-                << "Ignoring the limits and using the smaller dimension."
-                << std::endl;
+            sWarning << "The max and min limits have different size. "
+                     << "Ignoring the limits and using the smaller dimension."
+                     << std::endl;
             return;
         }
 
diff --git a/cpp/scenario/gazebo/include/scenario/gazebo/Log.h b/cpp/scenario/gazebo/include/scenario/gazebo/Log.h
index 4e0b52189..fd1b3f2f0 100644
--- a/cpp/scenario/gazebo/include/scenario/gazebo/Log.h
+++ b/cpp/scenario/gazebo/include/scenario/gazebo/Log.h
@@ -28,10 +28,10 @@
 #define SCENARIO_GAZEBO_LOG
 
 #include <ignition/common/Console.hh>
-#define gymppError ::ignition::common::Console::err(__FILE__, __LINE__)
-#define gymppWarning ::ignition::common::Console::warn(__FILE__, __LINE__)
-#define gymppMessage ::ignition::common::Console::msg(__FILE__, __LINE__)
-#define gymppDebug ::ignition::common::Console::dbg(__FILE__, __LINE__)
+#define sError ::ignition::common::Console::err(__FILE__, __LINE__)
+#define sWarning ::ignition::common::Console::warn(__FILE__, __LINE__)
+#define sMessage ::ignition::common::Console::msg(__FILE__, __LINE__)
+#define sDebug ::ignition::common::Console::dbg(__FILE__, __LINE__)
 #define gymppLog ::ignition::common::Console::log(__FILE__, __LINE__)
 
 #endif // SCENARIO_GAZEBO_LOG
diff --git a/cpp/scenario/gazebo/src/GazeboSimulator.cpp b/cpp/scenario/gazebo/src/GazeboSimulator.cpp
index 86fcddad5..9c9fdbd4c 100644
--- a/cpp/scenario/gazebo/src/GazeboSimulator.cpp
+++ b/cpp/scenario/gazebo/src/GazeboSimulator.cpp
@@ -163,13 +163,13 @@ size_t GazeboSimulator::stepsPerRun() const
 bool GazeboSimulator::initialize()
 {
     if (this->initialized()) {
-        gymppMessage << "The simulator is already initialized" << std::endl;
+        sMessage << "The simulator is already initialized" << std::endl;
         return true;
     }
 
     // Initialize the server
     if (!pImpl->getServer()) {
-        gymppError << "Failed to get the Gazebo server" << std::endl;
+        sError << "Failed to get the Gazebo server" << std::endl;
         return false;
     }
 
@@ -196,14 +196,14 @@ bool GazeboSimulator::initialized() const
 bool GazeboSimulator::run(const bool paused)
 {
     if (!this->initialized()) {
-        gymppError << "The simulator was not initialized" << std::endl;
+        sError << "The simulator was not initialized" << std::endl;
         return false;
     }
 
     // Get the gazebo server
     auto server = pImpl->getServer();
     if (!server) {
-        gymppError << "Failed to get the ignition server" << std::endl;
+        sError << "Failed to get the ignition server" << std::endl;
         return false;
     }
 
@@ -214,8 +214,7 @@ bool GazeboSimulator::run(const bool paused)
     bool deterministic = pImpl->gazebo.numOfIterations != 0 ? true : false;
 
     if (!deterministic && server->Running()) {
-        gymppWarning << "The server is already running in background"
-                     << std::endl;
+        sWarning << "The server is already running in background" << std::endl;
         return true;
     }
 
@@ -232,7 +231,7 @@ bool GazeboSimulator::run(const bool paused)
     if (!server->Run(/*blocking=*/deterministic,
                      /*iterations=*/iterations,
                      /*paused=*/paused)) {
-        gymppError << "The server couldn't execute the step" << std::endl;
+        sError << "The server couldn't execute the step" << std::endl;
         return false;
     }
 
@@ -242,7 +241,7 @@ bool GazeboSimulator::run(const bool paused)
 bool GazeboSimulator::gui(const int verbosity)
 {
     if (!this->initialized()) {
-        gymppError << "The simulator was not initialized" << std::endl;
+        sError << "The simulator was not initialized" << std::endl;
         return false;
     }
 
@@ -256,7 +255,7 @@ bool GazeboSimulator::gui(const int verbosity)
     std::vector<std::string> worldNames = this->worldNames();
 
     if (worldNames.empty()) {
-        gymppError << "Failed to find any world in the simulator" << std::endl;
+        sError << "Failed to find any world in the simulator" << std::endl;
         return false;
     }
 
@@ -264,12 +263,12 @@ bool GazeboSimulator::gui(const int verbosity)
     std::string worldName = worldNames[0];
 
     if (!pImpl->sceneBroadcasterActive(worldName)) {
-        gymppDebug << "Starting the SceneBroadcaster plugin" << std::endl;
+        sDebug << "Starting the SceneBroadcaster plugin" << std::endl;
         auto world = this->getWorld(worldName);
         if (!world->insertWorldPlugin(
                 "libignition-gazebo-scene-broadcaster-system.so",
                 "ignition::gazebo::systems::SceneBroadcaster")) {
-            gymppError << "Failed to load SceneBroadcaster plugin" << std::endl;
+            sError << "Failed to load SceneBroadcaster plugin" << std::endl;
         }
     }
 
@@ -290,7 +289,7 @@ bool GazeboSimulator::gui(const int verbosity)
     std::vector<std::string> serviceList;
 
     do {
-        gymppDebug << "Waiting GUI to show up... " << std::endl;
+        sDebug << "Waiting GUI to show up... " << std::endl;
         node.ServiceList(serviceList);
 
         for (const auto& serviceName : serviceList) {
@@ -303,7 +302,7 @@ bool GazeboSimulator::gui(const int verbosity)
         std::this_thread::sleep_for(std::chrono::milliseconds(50));
     } while (!guiServiceExists);
 
-    gymppDebug << "GUI up and running" << std::endl;
+    sDebug << "GUI up and running" << std::endl;
     return true;
 }
 
@@ -333,8 +332,8 @@ bool GazeboSimulator::close()
         // This happens while tearing down everything. The ECMProvider plugin
         // sometimes is destroyed before the simulator.
         catch (std::runtime_error) {
-            gymppWarning << "Failed to clean the singleton from the worlds"
-                         << std::endl;
+            sWarning << "Failed to clean the singleton from the worlds"
+                     << std::endl;
         }
     }
 
@@ -347,13 +346,13 @@ bool GazeboSimulator::close()
 bool GazeboSimulator::pause()
 {
     if (!this->initialized()) {
-        gymppMessage << "Couldn't pause the simulator, it was never initialized"
-                     << std::endl;
+        sMessage << "Couldn't pause the simulator, it was never initialized"
+                 << std::endl;
         return true;
     }
 
     if (!this->running()) {
-        gymppMessage << "The simulation is already paused" << std::endl;
+        sMessage << "The simulation is already paused" << std::endl;
         return true;
     }
 
@@ -369,7 +368,7 @@ bool GazeboSimulator::pause()
 bool GazeboSimulator::running() const
 {
     if (!this->initialized()) {
-        gymppMessage << "The simulator was not initialized" << std::endl;
+        sMessage << "The simulator was not initialized" << std::endl;
         return false;
     }
 
@@ -386,8 +385,8 @@ bool GazeboSimulator::insertWorldFromSDF(const std::string& worldFile,
         sdfRoot = utils::getSdfRootFromFile(worldFile);
     }
     else {
-        gymppMessage << "No world file passed, using the default empty world"
-                     << std::endl;
+        sMessage << "No world file passed, using the default empty world"
+                 << std::endl;
         sdfRoot = utils::getSdfRootFromString(utils::getEmptyWorld());
     }
 
@@ -397,7 +396,7 @@ bool GazeboSimulator::insertWorldFromSDF(const std::string& worldFile,
     }
 
     if (sdfRoot->WorldCount() != 1) {
-        gymppError << "The world file has more than one world" << std::endl;
+        sError << "The world file has more than one world" << std::endl;
         return false;
     }
 
@@ -428,13 +427,13 @@ bool GazeboSimulator::insertWorldsFromSDF(
     }
 
     if (sdfRoot->WorldCount() == 0) {
-        gymppError << "Failed to find any world in the SDF file" << std::endl;
+        sError << "Failed to find any world in the SDF file" << std::endl;
         return false;
     }
 
     if (!worldNames.empty() && sdfRoot->WorldCount() != worldNames.size()) {
-        gymppError << "The number of world names does not match the number of "
-                   << "worlds found in the SDF file" << std::endl;
+        sError << "The number of world names does not match the number of "
+               << "worlds found in the SDF file" << std::endl;
         return false;
     }
 
@@ -455,8 +454,8 @@ bool GazeboSimulator::insertWorldsFromSDF(
         }
 
         if (!pImpl->insertWorld(thisWorld)) {
-            gymppError << "Failed to insert world " << thisWorld.Name()
-                       << std::endl;
+            sError << "Failed to insert world " << thisWorld.Name()
+                   << std::endl;
             return false;
         }
     }
@@ -467,7 +466,7 @@ bool GazeboSimulator::insertWorldsFromSDF(
 std::vector<std::string> GazeboSimulator::worldNames() const
 {
     if (!this->initialized()) {
-        gymppError << "The simulator was not initialized" << std::endl;
+        sError << "The simulator was not initialized" << std::endl;
         return {};
     }
 
@@ -482,7 +481,7 @@ std::shared_ptr<scenario::gazebo::World>
 GazeboSimulator::getWorld(const std::string& worldName) const
 {
     if (!this->initialized()) {
-        gymppError << "The simulator was not initialized" << std::endl;
+        sError << "The simulator was not initialized" << std::endl;
         return nullptr;
     }
 
@@ -499,8 +498,8 @@ GazeboSimulator::getWorld(const std::string& worldName) const
             returnedWorldName = worldNames[0];
         }
         else {
-            gymppError << "Found multiple worlds. "
-                       << "You must specify the world name." << std::endl;
+            sError << "Found multiple worlds. "
+                   << "You must specify the world name." << std::endl;
             return nullptr;
         }
     }
@@ -513,21 +512,21 @@ GazeboSimulator::getWorld(const std::string& worldName) const
 
     if (std::find(worldNames.begin(), worldNames.end(), returnedWorldName)
         == worldNames.end()) {
-        gymppError << "Failed to find world '" << returnedWorldName << "'"
-                   << std::endl;
+        sError << "Failed to find world '" << returnedWorldName << "'"
+               << std::endl;
         return nullptr;
     }
 
     auto& ecmSingleton = scenario::plugins::gazebo::ECMSingleton::Instance();
 
     if (!ecmSingleton.hasWorld(returnedWorldName)) {
-        gymppError << "Failed to find world in the singleton" << std::endl;
+        sError << "Failed to find world in the singleton" << std::endl;
         return nullptr;
     }
 
     if (!ecmSingleton.valid(returnedWorldName)) {
-        gymppError << "Resources of world " << worldName << " not valid"
-                   << std::endl;
+        sError << "Resources of world " << worldName << " not valid"
+               << std::endl;
         return nullptr;
     }
 
@@ -569,8 +568,8 @@ bool GazeboSimulator::Impl::insertWorld(const sdf::World& world)
         }
 
         if (root->WorldNameExists(world.Name())) {
-            gymppError << "Another world with name " << world.Name()
-                       << " already exists" << std::endl;
+            sError << "Another world with name " << world.Name()
+                   << " already exists" << std::endl;
             return false;
         }
 
@@ -587,15 +586,15 @@ std::shared_ptr<ignition::gazebo::Server> GazeboSimulator::Impl::getServer()
     if (!gazebo.server) {
 
         if (gazebo.numOfIterations == 0) {
-            gymppError << "Non-deterministic mode (iterations=0) is not "
-                       << "currently supported" << std::endl;
+            sError << "Non-deterministic mode (iterations=0) is not "
+                   << "currently supported" << std::endl;
             return nullptr;
         }
 
         sdf::Root root;
 
         if (!sdfElement) {
-            gymppMessage << "Using default empty world" << std::endl;
+            sMessage << "Using default empty world" << std::endl;
             auto errors = root.LoadSdfString(utils::getEmptyWorld());
             assert(errors.empty()); // TODO
         }
@@ -605,7 +604,7 @@ std::shared_ptr<ignition::gazebo::Server> GazeboSimulator::Impl::getServer()
         }
 
         if (root.WorldCount() == 0) {
-            gymppError << "Failed to find a world in the SDF root" << std::endl;
+            sError << "Failed to find a world in the SDF root" << std::endl;
             return nullptr;
         }
 
@@ -634,19 +633,19 @@ std::shared_ptr<ignition::gazebo::Server> GazeboSimulator::Impl::getServer()
                                          gazebo.physics.rtf,
                                          /*realTimeUpdateRate=*/-1,
                                          worldIdx)) {
-                gymppError << "Failed to set physics profile" << std::endl;
+                sError << "Failed to set physics profile" << std::endl;
                 return nullptr;
             }
 
             assert(Impl::getPhysicsData(root, worldIdx) == gazebo.physics);
         }
 
-        gymppDebug << "Physics profile:" << std::endl
-                   << this->gazebo.physics << std::endl;
+        sDebug << "Physics profile:" << std::endl
+               << this->gazebo.physics << std::endl;
 
         if (utils::verboseFromEnvironment()) {
-            gymppDebug << "Loading the following SDF file in the gazebo server:"
-                       << std::endl;
+            sDebug << "Loading the following SDF file in the gazebo server:"
+                   << std::endl;
             std::cout << root.Element()->ToString("") << std::endl;
         }
 
@@ -666,11 +665,11 @@ std::shared_ptr<ignition::gazebo::Server> GazeboSimulator::Impl::getServer()
         auto server = std::make_shared<ignition::gazebo::Server>(config);
         assert(server);
 
-        gymppDebug << "Starting the gazebo server" << std::endl;
+        sDebug << "Starting the gazebo server" << std::endl;
         if (!server->Run(
                 /*blocking=*/true, /*iterations=*/1, /*paused=*/true)) {
-            gymppError << "Failed to initialize the first gazebo server run"
-                       << std::endl;
+            sError << "Failed to initialize the first gazebo server run"
+                   << std::endl;
             return nullptr;
         }
 
@@ -680,8 +679,8 @@ std::shared_ptr<ignition::gazebo::Server> GazeboSimulator::Impl::getServer()
 
             // Post-process the world
             if (!this->postProcessWorld(worldName)) {
-                gymppError << "Failed to post-process world " << worldName
-                           << std::endl;
+                sError << "Failed to post-process world " << worldName
+                       << std::endl;
                 return nullptr;
             }
         }
@@ -698,7 +697,7 @@ bool GazeboSimulator::Impl::postProcessWorld(const std::string& worldName)
     auto& ecmSingeton = plugins::gazebo::ECMSingleton::Instance();
 
     if (!ecmSingeton.hasWorld(worldName)) {
-        gymppError << "Failed to initialize ECMProvider" << std::endl;
+        sError << "Failed to initialize ECMProvider" << std::endl;
         return false;
     }
 
@@ -711,7 +710,7 @@ bool GazeboSimulator::Impl::postProcessWorld(const std::string& worldName)
                                 ignition::gazebo::components::Name(worldName));
 
     if (worldEntity == ignition::gazebo::kNullEntity) {
-        gymppError << "Couldn't find world entity" << std::endl;
+        sError << "Couldn't find world entity" << std::endl;
         return false;
     }
 
diff --git a/cpp/scenario/gazebo/src/Joint.cpp b/cpp/scenario/gazebo/src/Joint.cpp
index be0a22618..b57eaf3d2 100644
--- a/cpp/scenario/gazebo/src/Joint.cpp
+++ b/cpp/scenario/gazebo/src/Joint.cpp
@@ -99,7 +99,7 @@ bool Joint::initialize(const ignition::gazebo::Entity jointEntity,
                        ignition::gazebo::EventManager* eventManager)
 {
     if (jointEntity == ignition::gazebo::kNullEntity || !ecm || !eventManager) {
-        gymppError << "Failed to initialize Joint" << std::endl;
+        sError << "Failed to initialize Joint" << std::endl;
         return false;
     }
 
@@ -108,8 +108,8 @@ bool Joint::initialize(const ignition::gazebo::Entity jointEntity,
     pImpl->eventManager = eventManager;
 
     if (this->dofs() > 1) {
-        gymppError << "Joints with DoFs > 1 are not currently supported"
-                   << std::endl;
+        sError << "Joints with DoFs > 1 are not currently supported"
+               << std::endl;
         return false;
     }
 
@@ -118,8 +118,8 @@ bool Joint::initialize(const ignition::gazebo::Entity jointEntity,
 
 bool Joint::createECMResources()
 {
-    gymppMessage << "  [" << pImpl->jointEntity << "] " << this->name()
-                 << std::endl;
+    sMessage << "  [" << pImpl->jointEntity << "] " << this->name()
+             << std::endl;
 
     using namespace ignition::gazebo;
 
@@ -239,7 +239,7 @@ scenario::base::JointControlMode Joint::controlMode() const
 bool Joint::setControlMode(const scenario::base::JointControlMode mode)
 {
     if (mode == base::JointControlMode::PositionInterpolated) {
-        gymppError << "PositionInterpolated not yet supported" << std::endl;
+        sError << "PositionInterpolated not yet supported" << std::endl;
         return false;
     }
 
@@ -248,8 +248,8 @@ bool Joint::setControlMode(const scenario::base::JointControlMode mode)
         pImpl->ecm, pImpl->jointEntity, mode);
 
     // Delete the existing targets if they exist
-    gymppDebug << "Deleting existing position and velocity targets after "
-               << "changing control mode" << std::endl;
+    sDebug << "Deleting existing position and velocity targets after "
+           << "changing control mode" << std::endl;
     pImpl->ecm->RemoveComponent(
         pImpl->jointEntity,
         ignition::gazebo::components::JointPositionTarget().TypeId());
@@ -323,8 +323,8 @@ bool Joint::setPID(const scenario::base::PID& pid)
     };
 
     if (this->dofs() > 1) {
-        gymppError << "Setting PIDs of joints with more than 1 DoF is not "
-                   << "currently supported" << std::endl;
+        sError << "Setting PIDs of joints with more than 1 DoF is not "
+               << "currently supported" << std::endl;
         return false;
     }
 
@@ -333,9 +333,9 @@ bool Joint::setPID(const scenario::base::PID& pid)
     auto maxForce = this->maxGeneralizedForce(0);
 
     if (pidParams.cmdMin < minForce || pidParams.cmdMax > maxForce) {
-        gymppWarning << "The output limits of the PID are less limiting than "
-                     << "the maximum force that can be exerted on the joint. "
-                     << "Ignoring the specified PID limits." << std::endl;
+        sWarning << "The output limits of the PID are less limiting than "
+                 << "the maximum force that can be exerted on the joint. "
+                 << "Ignoring the specified PID limits." << std::endl;
         pidParams.cmdMin = minForce;
         pidParams.cmdMax = maxForce;
     }
@@ -354,8 +354,8 @@ bool Joint::setPID(const scenario::base::PID& pid)
 scenario::base::Limit Joint::positionLimit(const size_t dof) const
 {
     if (dof >= this->dofs()) {
-        gymppError << "Joint '" << this->name() << "' does not have DoF#" << dof
-                   << std::endl;
+        sError << "Joint '" << this->name() << "' does not have DoF#" << dof
+               << std::endl;
         return base::Limit(0, 0);
     }
 
@@ -375,8 +375,8 @@ double Joint::maxGeneralizedForce(const size_t dof) const
 bool Joint::setMaxGeneralizedForce(const double maxForce, const size_t dof)
 {
     if (dof >= this->dofs()) {
-        gymppError << "Joint '" << this->name() << "' does not have DoF#" << dof
-                   << std::endl;
+        sError << "Joint '" << this->name() << "' does not have DoF#" << dof
+               << std::endl;
         return false;
     }
 
@@ -418,15 +418,15 @@ bool Joint::setPositionTarget(const double position, const size_t dof)
                         this->controlMode());
 
     if (it == allowedControlModes.end()) {
-        gymppError
+        sError
             << "The active joint control mode does not accept a position target"
             << std::endl;
         return false;
     }
 
     if (dof >= this->dofs()) {
-        gymppError << "Joint '" << this->name() << "' does not have DoF#" << dof
-                   << std::endl;
+        sError << "Joint '" << this->name() << "' does not have DoF#" << dof
+               << std::endl;
         return false;
     }
 
@@ -448,15 +448,15 @@ bool Joint::setVelocityTarget(const double velocity, const size_t dof)
     if (!(this->controlMode() == base::JointControlMode::Velocity
           || this->controlMode() == base::JointControlMode::Idle
           || this->controlMode() == base::JointControlMode::Force)) {
-        gymppError
+        sError
             << "The active joint control mode does not accept a velocity target"
             << std::endl;
         return false;
     }
 
     if (dof >= this->dofs()) {
-        gymppError << "Joint '" << this->name() << "' does not have DoF#" << dof
-                   << std::endl;
+        sError << "Joint '" << this->name() << "' does not have DoF#" << dof
+               << std::endl;
         return false;
     }
 
@@ -477,15 +477,15 @@ bool Joint::setAccelerationTarget(const double acceleration, const size_t dof)
 {
     if (!(this->controlMode() == base::JointControlMode::Idle
           || this->controlMode() == base::JointControlMode::Force)) {
-        gymppError
+        sError
             << "The active joint control mode does not accept a velocity target"
             << std::endl;
         return false;
     }
 
     if (dof >= this->dofs()) {
-        gymppError << "Joint '" << this->name() << "' does not have DoF#" << dof
-                   << std::endl;
+        sError << "Joint '" << this->name() << "' does not have DoF#" << dof
+               << std::endl;
         return false;
     }
 
@@ -515,15 +515,14 @@ bool Joint::setGeneralizedForceTarget(const double force, const size_t dof)
                         this->controlMode());
 
     if (it == allowedControlModes.end()) {
-        gymppError
-            << "The active joint control mode does not accept a force target"
-            << std::endl;
+        sError << "The active joint control mode does not accept a force target"
+               << std::endl;
         return false;
     }
 
     if (dof >= this->dofs()) {
-        gymppError << "Joint '" << this->name() << "' does not have DoF#" << dof
-                   << std::endl;
+        sError << "Joint '" << this->name() << "' does not have DoF#" << dof
+               << std::endl;
         return false;
     }
 
@@ -573,8 +572,8 @@ double Joint::generalizedForceTarget(const size_t dof) const
 bool Joint::resetPosition(const double position, size_t dof)
 {
     if (dof >= this->dofs()) {
-        gymppError << "Joint '" << this->name() << "' does not have DoF#" << dof
-                   << std::endl;
+        sError << "Joint '" << this->name() << "' does not have DoF#" << dof
+               << std::endl;
         return false;
     }
 
@@ -594,8 +593,8 @@ bool Joint::resetPosition(const double position, size_t dof)
 bool Joint::resetVelocity(const double velocity, const size_t dof)
 {
     if (dof >= this->dofs()) {
-        gymppError << "Joint '" << this->name() << " does not have DoF#" << dof
-                   << std::endl;
+        sError << "Joint '" << this->name() << " does not have DoF#" << dof
+               << std::endl;
         return false;
     }
 
@@ -620,8 +619,8 @@ bool Joint::reset(const double position, const double velocity, size_t dof)
     ok = ok && this->resetVelocity(velocity, dof);
 
     if (!ok) {
-        gymppError << "Failed to reset state of joint '" << this->name() << "'"
-                   << std::endl;
+        sError << "Failed to reset state of joint '" << this->name() << "'"
+               << std::endl;
         return false;
     }
 
@@ -648,14 +647,13 @@ scenario::base::JointLimit Joint::jointPositionLimit() const
             break;
         }
         case base::JointType::Fixed:
-            gymppWarning
-                << "Fixed joints do not have DOFs, limits are not defined"
-                << std::endl;
+            sWarning << "Fixed joints do not have DOFs, limits are not defined"
+                     << std::endl;
             break;
         case base::JointType::Invalid:
         case base::JointType::Ball:
-            gymppWarning << "Type of Joint '" << this->name()
-                         << "' has no limits" << std::endl;
+            sWarning << "Type of Joint '" << this->name() << "' has no limits"
+                     << std::endl;
             break;
     }
 
@@ -674,8 +672,8 @@ std::vector<double> Joint::jointMaxGeneralizedForce() const
 bool Joint::setJointMaxGeneralizedForce(const std::vector<double>& maxForce)
 {
     if (maxForce.size() != this->dofs()) {
-        gymppError << "Wrong number of elements (joint_dofs=" << this->dofs()
-                   << ")" << std::endl;
+        sError << "Wrong number of elements (joint_dofs=" << this->dofs() << ")"
+               << std::endl;
         return false;
     }
 
@@ -718,8 +716,8 @@ std::vector<double> Joint::jointVelocity() const
 bool Joint::setJointPositionTarget(const std::vector<double>& position)
 {
     if (position.size() != this->dofs()) {
-        gymppError << "Wrong number of elements (joint_dofs=" << this->dofs()
-                   << ")" << std::endl;
+        sError << "Wrong number of elements (joint_dofs=" << this->dofs() << ")"
+               << std::endl;
         return false;
     }
 
@@ -734,8 +732,8 @@ bool Joint::setJointPositionTarget(const std::vector<double>& position)
 bool Joint::setJointVelocityTarget(const std::vector<double>& velocity)
 {
     if (velocity.size() != this->dofs()) {
-        gymppError << "Wrong number of elements (joint_dofs=" << this->dofs()
-                   << ")" << std::endl;
+        sError << "Wrong number of elements (joint_dofs=" << this->dofs() << ")"
+               << std::endl;
         return false;
     }
 
@@ -750,8 +748,8 @@ bool Joint::setJointVelocityTarget(const std::vector<double>& velocity)
 bool Joint::setJointAccelerationTarget(const std::vector<double>& acceleration)
 {
     if (acceleration.size() != this->dofs()) {
-        gymppError << "Wrong number of elements (joint_dofs=" << this->dofs()
-                   << ")" << std::endl;
+        sError << "Wrong number of elements (joint_dofs=" << this->dofs() << ")"
+               << std::endl;
         return false;
     }
 
@@ -766,8 +764,8 @@ bool Joint::setJointAccelerationTarget(const std::vector<double>& acceleration)
 bool Joint::setJointGeneralizedForceTarget(const std::vector<double>& force)
 {
     if (force.size() != this->dofs()) {
-        gymppError << "Wrong number of elements (joint_dofs=" << this->dofs()
-                   << ")" << std::endl;
+        sError << "Wrong number of elements (joint_dofs=" << this->dofs() << ")"
+               << std::endl;
         return false;
     }
 
@@ -846,8 +844,8 @@ std::vector<double> Joint::jointGeneralizedForceTarget() const
 bool Joint::resetJointPosition(const std::vector<double>& position)
 {
     if (position.size() != this->dofs()) {
-        gymppError << "Wrong number of elements (joint_dofs=" << this->dofs()
-                   << ")" << std::endl;
+        sError << "Wrong number of elements (joint_dofs=" << this->dofs() << ")"
+               << std::endl;
         return false;
     }
 
@@ -871,8 +869,8 @@ bool Joint::resetJointPosition(const std::vector<double>& position)
 bool Joint::resetJointVelocity(const std::vector<double>& velocity)
 {
     if (velocity.size() != this->dofs()) {
-        gymppError << "Wrong number of elements (joint_dofs=" << this->dofs()
-                   << ")" << std::endl;
+        sError << "Wrong number of elements (joint_dofs=" << this->dofs() << ")"
+               << std::endl;
         return false;
     }
 
@@ -902,8 +900,7 @@ bool Joint::resetJoint(const std::vector<double>& position,
     ok = ok && this->resetJointVelocity(velocity);
 
     if (!ok) {
-        gymppError << "Failed to reset joint '" << this->name() << "'"
-                   << std::endl;
+        sError << "Failed to reset joint '" << this->name() << "'" << std::endl;
         return false;
     }
 
diff --git a/cpp/scenario/gazebo/src/Link.cpp b/cpp/scenario/gazebo/src/Link.cpp
index dd60fe83a..c2ef90eac 100644
--- a/cpp/scenario/gazebo/src/Link.cpp
+++ b/cpp/scenario/gazebo/src/Link.cpp
@@ -104,7 +104,7 @@ bool Link::initialize(const ignition::gazebo::Entity linkEntity,
                       ignition::gazebo::EventManager* eventManager)
 {
     if (linkEntity == ignition::gazebo::kNullEntity || !ecm || !eventManager) {
-        gymppError << "Failed to initialize Link" << std::endl;
+        sError << "Failed to initialize Link" << std::endl;
         return false;
     }
 
@@ -116,7 +116,7 @@ bool Link::initialize(const ignition::gazebo::Entity linkEntity,
 
     // Check that the link is valid
     if (!pImpl->link.Valid(*ecm)) {
-        gymppError << "The link entity is not valid" << std::endl;
+        sError << "The link entity is not valid" << std::endl;
         return false;
     }
 
@@ -125,8 +125,7 @@ bool Link::initialize(const ignition::gazebo::Entity linkEntity,
 
 bool Link::createECMResources()
 {
-    gymppMessage << "  [" << pImpl->linkEntity << "] " << this->name()
-                 << std::endl;
+    sMessage << "  [" << pImpl->linkEntity << "] " << this->name() << std::endl;
 
     using namespace ignition::gazebo;
 
@@ -151,7 +150,7 @@ bool Link::createECMResources()
                                 components::AngularAcceleration());
 
     if (!this->enableContactDetection(true)) {
-        gymppError << "Failed to enable contact detection" << std::endl;
+        sError << "Failed to enable contact detection" << std::endl;
         return false;
     }
 
diff --git a/cpp/scenario/gazebo/src/Model.cpp b/cpp/scenario/gazebo/src/Model.cpp
index 8e19a4e12..c4b995cbc 100644
--- a/cpp/scenario/gazebo/src/Model.cpp
+++ b/cpp/scenario/gazebo/src/Model.cpp
@@ -135,7 +135,7 @@ bool Model::initialize(const ignition::gazebo::Entity modelEntity,
 
     // Check that the model is valid
     if (!pImpl->model.Valid(*ecm)) {
-        gymppError << "The model entity is not valid" << std::endl;
+        sError << "The model entity is not valid" << std::endl;
         return false;
     }
 
@@ -144,25 +144,23 @@ bool Model::initialize(const ignition::gazebo::Entity modelEntity,
 
 bool Model::createECMResources()
 {
-    gymppMessage << "Model: [" << pImpl->modelEntity << "] " << this->name()
-                 << std::endl;
+    sMessage << "Model: [" << pImpl->modelEntity << "] " << this->name()
+             << std::endl;
 
     // Create required link resources
-    gymppMessage << "Links:" << std::endl;
+    sMessage << "Links:" << std::endl;
     for (const auto& linkName : this->linkNames()) {
         if (!this->getLink(linkName)->createECMResources()) {
-            gymppError << "Failed to initialize ECM link resources"
-                       << std::endl;
+            sError << "Failed to initialize ECM link resources" << std::endl;
             return false;
         }
     }
 
     // Create required model resources
-    gymppMessage << "Joints:" << std::endl;
+    sMessage << "Joints:" << std::endl;
     for (const auto& jointName : this->jointNames()) {
         if (!this->getJoint(jointName)->createECMResources()) {
-            gymppError << "Failed to initialize ECM joint resources"
-                       << std::endl;
+            sError << "Failed to initialize ECM joint resources" << std::endl;
             return false;
         }
     }
@@ -503,8 +501,8 @@ double Model::controllerPeriod() const
 bool Model::setControllerPeriod(const double period)
 {
     if (period <= 0) {
-        gymppError << "The controller period must be greater than zero"
-                   << std::endl;
+        sError << "The controller period must be greater than zero"
+               << std::endl;
         return false;
     }
 
@@ -805,19 +803,19 @@ bool Model::setBaseFrame(const std::string& frameName)
 
     if (std::find(linkNames.begin(), linkNames.end(), frameName)
         == linkNames.end()) {
-        gymppError
+        sError
             << "Failed to set the model base on the frame of nonexistent link '"
             << frameName << "'" << std::endl;
         return false;
     }
 
     if (frameName == this->baseFrame()) {
-        gymppDebug << "Frame '" << baseFrame()
-                   << "' is already the current model base" << std::endl;
+        sDebug << "Frame '" << baseFrame()
+               << "' is already the current model base" << std::endl;
         return true;
     }
 
-    gymppError << "Changing the base link is not yet supported" << std::endl;
+    sError << "Changing the base link is not yet supported" << std::endl;
     throw exceptions::NotImplementedError(__FUNCTION__);
 }
 
@@ -945,7 +943,7 @@ bool Model::resetBasePose(const std::array<double, 3>& position,
         ignition::gazebo::components::ParentEntity(pImpl->modelEntity));
 
     if (canonicalLinkEntity == ignition::gazebo::kNullEntity) {
-        gymppError << "Failed to get entity of canonical link" << std::endl;
+        sError << "Failed to get entity of canonical link" << std::endl;
         return false;
     }
 
@@ -1234,9 +1232,9 @@ bool Model::Impl::setJointDataSerialized(
     }
 
     if (data.size() != expectedDOFs) {
-        gymppError << "The size of the forces does not match the considered "
-                      "joint's DOFs"
-                   << std::endl;
+        sError << "The size of the forces does not match the considered "
+                  "joint's DOFs"
+               << std::endl;
         return false;
     }
 
@@ -1245,8 +1243,8 @@ bool Model::Impl::setJointDataSerialized(
     for (auto& joint : model->joints(jointNames)) {
         for (size_t dof = 0; dof < joint->dofs(); ++dof) {
             if (!setJointData(joint, *it++, dof)) {
-                gymppError << "Failed to set force of joint '" << joint->name()
-                           << "'" << std::endl;
+                sError << "Failed to set force of joint '" << joint->name()
+                       << "'" << std::endl;
                 return false;
             }
         }
diff --git a/cpp/scenario/gazebo/src/World.cpp b/cpp/scenario/gazebo/src/World.cpp
index d3cf0518f..7a2c6f2d4 100644
--- a/cpp/scenario/gazebo/src/World.cpp
+++ b/cpp/scenario/gazebo/src/World.cpp
@@ -160,7 +160,7 @@ bool World::setPhysicsEngine(const PhysicsEngine engine)
     }
 
     if (!this->insertWorldPlugin(libName, className)) {
-        gymppError << "Failed to insert the physics plugin" << std::endl;
+        sError << "Failed to insert the physics plugin" << std::endl;
         return false;
     }
 
@@ -185,8 +185,8 @@ bool World::setGravity(const std::array<double, 3>& gravity)
         utils::steadyClockDurationToDouble(simTimeAtWorldCreation);
 
     if (this->time() > simTimeAtWorldCreationInSeconds) {
-        gymppError << "Physics already processed the world and its"
-                   << "parameters cannot be modified" << std::endl;
+        sError << "Physics already processed the world and its"
+               << "parameters cannot be modified" << std::endl;
         return false;
     }
 
@@ -277,7 +277,7 @@ bool World::insertModel(const std::string& modelFile,
     }
 
     if (modelSdfRoot->ModelCount() != 1) {
-        gymppError << "The SDF file contains more than one model" << std::endl;
+        sError << "The SDF file contains more than one model" << std::endl;
         return false;
     }
 
@@ -300,9 +300,9 @@ bool World::insertModel(const std::string& modelFile,
     const std::vector<std::string> modelNames = this->modelNames();
     if (std::find(modelNames.begin(), modelNames.end(), finalModelEntityName)
         != modelNames.end()) {
-        gymppError << "Failed to insert model '" << finalModelEntityName
-                   << "'. Another entity with the same name already exists."
-                   << std::endl;
+        sError << "Failed to insert model '" << finalModelEntityName
+               << "'. Another entity with the same name already exists."
+               << std::endl;
         return false;
     }
 
@@ -317,12 +317,12 @@ bool World::insertModel(const std::string& modelFile,
     // receiving the model entity name, they receive the model sdf name.
     if (!utils::renameSDFModel(
             *modelSdfRoot, finalModelEntityName, ModelIndex)) {
-        gymppError << "Failed to rename SDF model" << std::endl;
+        sError << "Failed to rename SDF model" << std::endl;
         return false;
     }
 
     if (utils::verboseFromEnvironment()) {
-        gymppDebug << "Inserting a model from the following SDF:" << std::endl;
+        sDebug << "Inserting a model from the following SDF:" << std::endl;
         std::cout << modelSdfRoot->Element()->ToString("") << std::endl;
     }
 
@@ -366,7 +366,7 @@ bool World::insertModel(const std::string& modelFile,
     // Create required model resources. This call prepares all the necessary
     // components in the ECM to make our bindings work.
     if (!model->createECMResources()) {
-        gymppError << "Failed to initialize ECM model resources" << std::endl;
+        sError << "Failed to initialize ECM model resources" << std::endl;
         return false;
     }
 
@@ -381,14 +381,14 @@ bool World::removeModel(const std::string& modelName)
         ignition::gazebo::components::ParentEntity(pImpl->worldEntity));
 
     if (modelEntity == ignition::gazebo::kNullEntity) {
-        gymppError << "Model '" << modelName << "' not found in the world"
-                   << std::endl;
+        sError << "Model '" << modelName << "' not found in the world"
+               << std::endl;
         return false;
     }
 
     // Request the removal of the model
-    gymppDebug << "Requesting removal of entity [" << modelEntity << "]"
-               << std::endl;
+    sDebug << "Requesting removal of entity [" << modelEntity << "]"
+           << std::endl;
     pImpl->sdfEntityCreator->RequestRemoveEntity(modelEntity);
 
     // Remove the cached model
diff --git a/cpp/scenario/gazebo/src/helpers.cpp b/cpp/scenario/gazebo/src/helpers.cpp
index 39c874b03..865e176a5 100644
--- a/cpp/scenario/gazebo/src/helpers.cpp
+++ b/cpp/scenario/gazebo/src/helpers.cpp
@@ -53,10 +53,10 @@ utils::getSdfRootFromFile(const std::string& sdfFileName)
     auto errors = root->Load(sdfFileName);
 
     if (!errors.empty()) {
-        gymppError << "Failed to load sdf file " << sdfFileName << std::endl;
+        sError << "Failed to load sdf file " << sdfFileName << std::endl;
 
         for (const auto& error : errors) {
-            gymppError << error << std::endl;
+            sError << error << std::endl;
         }
         return {};
     }
@@ -74,10 +74,10 @@ utils::getSdfRootFromString(const std::string& sdfString)
     auto errors = root->LoadSdfString(sdfString);
 
     if (!errors.empty()) {
-        gymppError << "Failed to load sdf string" << std::endl;
+        sError << "Failed to load sdf string" << std::endl;
 
         for (const auto& error : errors) {
-            gymppError << error << std::endl;
+            sError << error << std::endl;
         }
         return {};
     }
@@ -237,22 +237,21 @@ sdf::World utils::renameSDFWorld(const sdf::World& world,
     auto errors = renamedWorld.Load(renamedWorldElement);
 
     if (!errors.empty()) {
-        gymppError << "Failed to create the World from the element"
-                   << std::endl;
+        sError << "Failed to create the World from the element" << std::endl;
 
         for (const auto& error : errors) {
-            gymppError << error << std::endl;
+            sError << error << std::endl;
         }
         return {};
     }
 
     if (renamedWorld.Name() != newWorldName) {
-        gymppError << "Failed to rename the world" << std::endl;
+        sError << "Failed to rename the world" << std::endl;
         return {};
     }
 
     if (renamedWorld.ModelCount() != initialNrOfModels) {
-        gymppError << "Failed to copy all models to the new world" << std::endl;
+        sError << "Failed to copy all models to the new world" << std::endl;
         return {};
     }
 
@@ -290,12 +289,12 @@ bool utils::renameSDFModel(sdf::Root& sdfRoot,
     sdfRoot.Element()->InsertElement(renamedModel);
 
     if (sdfRoot.ModelCount() != initialNrOfModels) {
-        gymppError << "Failed to rename SDF model" << std::endl;
+        sError << "Failed to rename SDF model" << std::endl;
         return false;
     }
 
     if (!sdfRoot.ModelNameExists(newModelName)) {
-        gymppError << "Failed to insert renamed model in SDF root" << std::endl;
+        sError << "Failed to insert renamed model in SDF root" << std::endl;
         return false;
     }
 
@@ -309,20 +308,20 @@ bool utils::updateSDFPhysics(sdf::Root& sdfRoot,
                              const size_t worldIndex)
 {
     if (rtf <= 0) {
-        gymppError << "Invalid RTF value (" << rtf << ")" << std::endl;
+        sError << "Invalid RTF value (" << rtf << ")" << std::endl;
         return false;
     }
 
     if (maxStepSize <= 0) {
-        gymppError << "Invalid physics max step size (" << maxStepSize << ")"
-                   << std::endl;
+        sError << "Invalid physics max step size (" << maxStepSize << ")"
+               << std::endl;
         return false;
     }
 
     const sdf::World* world = sdfRoot.WorldByIndex(worldIndex);
 
     if (world->PhysicsCount() != 1) {
-        gymppError << "Found more than one physics profile" << std::endl;
+        sError << "Found more than one physics profile" << std::endl;
         return false;
     }
 
@@ -390,7 +389,7 @@ sdf::JointType utils::toSdf(const scenario::base::JointType type)
             sdfType = sdf::JointType::BALL;
             break;
         default:
-            gymppError << "Joint type not recognized" << std::endl;
+            sError << "Joint type not recognized" << std::endl;
             sdfType = sdf::JointType::INVALID;
             break;
     }
@@ -416,7 +415,7 @@ scenario::base::JointType utils::fromSdf(const sdf::JointType sdfType)
             type = base::JointType::Ball;
             break;
         default:
-            gymppError << "Joint type not recognized" << std::endl;
+            sError << "Joint type not recognized" << std::endl;
             type = base::JointType::Invalid;
             break;
     }
@@ -476,7 +475,7 @@ WorldPtr utils::getParentWorld(ignition::gazebo::EntityComponentManager* ecm,
     auto world = std::make_shared<World>();
 
     if (!world->initialize(worldEntity, ecm, eventManager)) {
-        gymppError << "Failed to initialize world" << std::endl;
+        sError << "Failed to initialize world" << std::endl;
         return nullptr;
     }
 
@@ -493,7 +492,7 @@ ModelPtr utils::getParentModel(ignition::gazebo::EntityComponentManager* ecm,
     auto model = std::make_shared<Model>();
 
     if (!model->initialize(modelEntity, ecm, eventManager)) {
-        gymppError << "Failed to initialize model" << std::endl;
+        sError << "Failed to initialize model" << std::endl;
         return nullptr;
     }
 
diff --git a/cpp/scenario/gazebo/src/signals.cpp b/cpp/scenario/gazebo/src/signals.cpp
index a6b2295f7..a9e89872b 100644
--- a/cpp/scenario/gazebo/src/signals.cpp
+++ b/cpp/scenario/gazebo/src/signals.cpp
@@ -57,17 +57,16 @@ void SignalManager::ExecuteCallback(SignalType type)
 {
     std::lock_guard lock(detail::SignalManagerMutex);
 
-    gymppDebug << "Received interrupt signal " << Impl::ToString(type)
-               << std::endl;
+    sDebug << "Received interrupt signal " << Impl::ToString(type) << std::endl;
     auto callback = SignalManager::Instance().getCallback(type);
 
     if (callback) {
-        gymppDebug << "Found signal callback" << std::endl;
+        sDebug << "Found signal callback" << std::endl;
         callback(type);
         return;
     }
 
-    gymppDebug << "No callback found" << std::endl;
+    sDebug << "No callback found" << std::endl;
 }
 
 SignalManager& SignalManager::Instance()
@@ -92,8 +91,8 @@ SignalManager::setCallback(const SignalType type,
 {
     SignalCallback oldCallback = this->getCallback(type);
 
-    gymppDebug << "Setting callback for signal " << Impl::ToString(type)
-               << std::endl;
+    sDebug << "Setting callback for signal " << Impl::ToString(type)
+           << std::endl;
     std::signal(type, SignalManager::ExecuteCallback);
     pImpl->callbacks[type] = callback;
 
diff --git a/cpp/scenario/gazebo/src/utils.cpp b/cpp/scenario/gazebo/src/utils.cpp
index c52dd1ea4..d7f43b854 100644
--- a/cpp/scenario/gazebo/src/utils.cpp
+++ b/cpp/scenario/gazebo/src/utils.cpp
@@ -57,7 +57,7 @@ void utils::setVerbosity(const int level)
 std::string utils::findSdfFile(const std::string& fileName)
 {
     if (fileName.empty()) {
-        gymppError << "The SDF file name is empty" << std::endl;
+        sError << "The SDF file name is empty" << std::endl;
         return {};
     }
 
@@ -69,9 +69,9 @@ std::string utils::findSdfFile(const std::string& fileName)
     std::string sdfFilePath = systemPaths.FindFile(fileName);
 
     if (sdfFilePath.empty()) {
-        gymppError << "Failed to find " << fileName << std::endl;
-        gymppError << "Check that it is part of IGN_GAZEBO_RESOURCE_PATH"
-                   << std::endl;
+        sError << "Failed to find " << fileName << std::endl;
+        sError << "Check that it is part of IGN_GAZEBO_RESOURCE_PATH"
+               << std::endl;
         return {};
     }
 
@@ -112,7 +112,7 @@ std::string utils::getModelNameFromSdf(const std::string& fileName,
     std::string absFileName = findSdfFile(fileName);
 
     if (absFileName.empty()) {
-        gymppError << "Failed to find file " << fileName << std::endl;
+        sError << "Failed to find file " << fileName << std::endl;
         return {};
     }
 
@@ -123,14 +123,14 @@ std::string utils::getModelNameFromSdf(const std::string& fileName,
     }
 
     if (root->ModelCount() == 0) {
-        gymppError << "Didn't find any model in file " << fileName << std::endl;
+        sError << "Didn't find any model in file " << fileName << std::endl;
         return {};
     }
 
     if (modelIndex >= root->ModelCount()) {
-        gymppError << "Model with index " << modelIndex
-                   << " not found. The model has only " << root->ModelCount()
-                   << " model(s)" << std::endl;
+        sError << "Model with index " << modelIndex
+               << " not found. The model has only " << root->ModelCount()
+               << " model(s)" << std::endl;
         return {};
     }
 
@@ -143,7 +143,7 @@ std::string utils::getWorldNameFromSdf(const std::string& fileName,
     std::string absFileName = findSdfFile(fileName);
 
     if (absFileName.empty()) {
-        gymppError << "Failed to find file " << fileName << std::endl;
+        sError << "Failed to find file " << fileName << std::endl;
         return {};
     }
 
@@ -154,14 +154,14 @@ std::string utils::getWorldNameFromSdf(const std::string& fileName,
     }
 
     if (root->WorldCount() == 0) {
-        gymppError << "Didn't find any world in file " << fileName << std::endl;
+        sError << "Didn't find any world in file " << fileName << std::endl;
         return {};
     }
 
     if (worldIndex >= root->WorldCount()) {
-        gymppError << "Model with index " << worldIndex
-                   << " not found. The model has only " << root->WorldCount()
-                   << " model(s)" << std::endl;
+        sError << "Model with index " << worldIndex
+               << " not found. The model has only " << root->WorldCount()
+               << " model(s)" << std::endl;
         return {};
     }
 
@@ -205,7 +205,7 @@ std::string utils::getModelFileFromFuel(const std::string& URI,
         modelFilePath = fuel_tools::fetchResource(URI);
 
         if (modelFilePath.empty()) {
-            gymppError << "Failed to download Fuel model" << std::endl;
+            sError << "Failed to download Fuel model" << std::endl;
             return {};
         }
     }
@@ -215,7 +215,7 @@ std::string utils::getModelFileFromFuel(const std::string& URI,
         auto result = client.CachedModel(common::URI(URI), modelFilePath);
 
         if (result.Type() != fuel_tools::ResultType::FETCH_ALREADY_EXISTS) {
-            gymppError << "Fuel model not found locally" << std::endl;
+            sError << "Fuel model not found locally" << std::endl;
             return {};
         }
     }
@@ -225,8 +225,8 @@ std::string utils::getModelFileFromFuel(const std::string& URI,
     std::string modelFile = common::joinPaths(modelFilePath, "model.sdf");
 
     if (!common::isFile(modelFile)) {
-        gymppError << "The model was downloaded from Fuel but it was not found "
-                   << "in the filesystem" << std::endl;
+        sError << "The model was downloaded from Fuel but it was not found "
+               << "in the filesystem" << std::endl;
         return {};
     }
 
@@ -253,8 +253,8 @@ std::string utils::getInstallPrefix()
 #ifdef GYMIGNITION_CMAKE_INSTALL_PREFIX
     return GYMIGNITION_CMAKE_INSTALL_PREFIX;
 #else
-    gymppDebug << "User installation detected. The install prefix "
-               << "could be detected from the Python module path." << std::endl;
+    sDebug << "User installation detected. The install prefix "
+           << "could be detected from the Python module path." << std::endl;
     return "";
 #endif
 }
diff --git a/cpp/scenario/plugins/ControllerRunner/ControllerRunner.cpp b/cpp/scenario/plugins/ControllerRunner/ControllerRunner.cpp
index e42712381..e3b43705d 100644
--- a/cpp/scenario/plugins/ControllerRunner/ControllerRunner.cpp
+++ b/cpp/scenario/plugins/ControllerRunner/ControllerRunner.cpp
@@ -112,19 +112,19 @@ void ControllerRunner::Configure(const ignition::gazebo::Entity& entity,
     pImpl->model = std::make_shared<Model>();
 
     if (!pImpl->model->initialize(entity, &ecm, &eventMgr)) {
-        gymppError << "Failed to initialize model for controller" << std::endl;
+        sError << "Failed to initialize model for controller" << std::endl;
         return;
     }
 
     if (!pImpl->model->valid()) {
-        gymppError << "Failed to create a model from Entity [" << entity << "]"
-                   << std::endl;
+        sError << "Failed to create a model from Entity [" << entity << "]"
+               << std::endl;
         return;
     }
 
     if (sdf->GetName() != "plugin") {
-        gymppError << "Received context does not contain the <plugin> element"
-                   << std::endl;
+        sError << "Received context does not contain the <plugin> element"
+               << std::endl;
         return;
     }
 
@@ -148,12 +148,12 @@ void ControllerRunner::Configure(const ignition::gazebo::Entity& entity,
         ControllersFactory::Instance().get(controllerContext, pImpl->model);
 
     if (!pImpl->controller) {
-        gymppError << "Failed to find controller in the factory" << std::endl;
+        sError << "Failed to find controller in the factory" << std::endl;
         return;
     }
 
     if (!pImpl->controller->initialize()) {
-        gymppError << "Failed to initialize the controller" << std::endl;
+        sError << "Failed to initialize the controller" << std::endl;
         pImpl->controller = nullptr;
         return;
     }
@@ -172,12 +172,12 @@ void ControllerRunner::Configure(const ignition::gazebo::Entity& entity,
     // Here we check if the controller inherits from the supported interfaces.
     if (!(pImpl->controllerInterfaces.base
           || pImpl->controllerInterfaces.joints)) {
-        gymppWarning << "Failed to find any of the supported interfaces to set "
-                     << "controller references" << std::endl;
+        sWarning << "Failed to find any of the supported interfaces to set "
+                 << "controller references" << std::endl;
         return;
     }
 
-    gymppDebug << "Controller successfully initialized" << std::endl;
+    sDebug << "Controller successfully initialized" << std::endl;
 }
 
 void ControllerRunner::PreUpdate(const ignition::gazebo::UpdateInfo& info,
@@ -200,8 +200,8 @@ void ControllerRunner::PreUpdate(const ignition::gazebo::UpdateInfo& info,
     }
 
     if (!pImpl->controller) {
-        gymppError << "The controller was not initialized successfully"
-                   << std::endl;
+        sError << "The controller was not initialized successfully"
+               << std::endl;
         return;
     }
 
@@ -249,26 +249,23 @@ void ControllerRunner::PreUpdate(const ignition::gazebo::UpdateInfo& info,
 
         try {
             if (!pImpl->updateAllSupportedReferences(ecm)) {
-                gymppError << "Failed to update supported references"
-                           << std::endl;
+                sError << "Failed to update supported references" << std::endl;
                 return;
             }
         }
         catch (const exceptions::ComponentNotFound& e) {
-            gymppDebug << "Controller references not yet available"
-                       << std::endl;
-            gymppDebug << e.what();
-            gymppWarning << "[t="
-                         << utils::steadyClockDurationToDouble(info.simTime)
-                         << "] The controller is not stepping" << std::endl;
+            sDebug << "Controller references not yet available" << std::endl;
+            sDebug << e.what();
+            sWarning << "[t="
+                     << utils::steadyClockDurationToDouble(info.simTime)
+                     << "] The controller is not stepping" << std::endl;
             return;
         }
 
         if (pImpl->controllerInterfaces.useModel
             && !pImpl->controllerInterfaces.useModel->updateStateFromModel()) {
-            gymppError
-                << "Failed to update controller state from internal model"
-                << std::endl;
+            sError << "Failed to update controller state from internal model"
+                   << std::endl;
             return;
         }
 
@@ -279,7 +276,7 @@ void ControllerRunner::PreUpdate(const ignition::gazebo::UpdateInfo& info,
 
     // Step the controller
     if (pImpl->referencesHaveBeenSet && !pImpl->controller->step(info.dt)) {
-        gymppError << "Failed to step the controller" << std::endl;
+        sError << "Failed to step the controller" << std::endl;
         return;
     }
 }
@@ -291,12 +288,12 @@ bool ControllerRunner::Impl::updateAllSupportedReferences(
 
     if (controllerInterfaces.base) {
         if (!updateBaseReferencesfromECM(ecm)) {
-            gymppError << "Failed to update base references" << std::endl;
+            sError << "Failed to update base references" << std::endl;
             ok = false;
         }
         else {
             if (!controllerInterfaces.base->setBaseReferences(baseReferences)) {
-                gymppError << "Failed to set base references" << std::endl;
+                sError << "Failed to set base references" << std::endl;
                 ok = false;
             }
         }
@@ -304,13 +301,13 @@ bool ControllerRunner::Impl::updateAllSupportedReferences(
 
     if (controllerInterfaces.joints) {
         if (!updateJointReferencesfromECM(ecm)) {
-            gymppError << "Failed to update joint references" << std::endl;
+            sError << "Failed to update joint references" << std::endl;
             ok = false;
         }
         else {
             if (!controllerInterfaces.joints->setJointReferences(
                     jointReferences)) {
-                gymppError << "Failed to set joint references" << std::endl;
+                sError << "Failed to set joint references" << std::endl;
                 ok = false;
             }
         }
@@ -389,7 +386,7 @@ bool ControllerRunner::Impl::updateJointReferencesfromECM(
 void ControllerRunner::Impl::printControllerContext(
     const std::shared_ptr<const sdf::Element> context) const
 {
-    gymppDebug << "SDF elements received by the controller:" << std::endl;
+    sDebug << "SDF elements received by the controller:" << std::endl;
     std::cout << context->ToString("") << std::endl;
 }
 
diff --git a/cpp/scenario/plugins/ControllerRunner/ControllersFactory.cpp b/cpp/scenario/plugins/ControllerRunner/ControllersFactory.cpp
index 970751817..934ab1087 100644
--- a/cpp/scenario/plugins/ControllerRunner/ControllersFactory.cpp
+++ b/cpp/scenario/plugins/ControllerRunner/ControllersFactory.cpp
@@ -76,13 +76,13 @@ ControllersFactory::get(const sdf::ElementPtr context,
                         scenario::gazebo::ModelPtr model)
 {
     if (!Impl::ContextValid(context)) {
-        gymppError << "Controller context not valid" << std::endl;
+        sError << "Controller context not valid" << std::endl;
         return nullptr;
     }
 
     std::string controllerName;
     context->GetAttribute("name")->Get<std::string>(controllerName);
-    gymppDebug << "Found context for " << controllerName << std::endl;
+    sDebug << "Found context for " << controllerName << std::endl;
 
     if (controllerName == "ComputedTorqueFixedBase") {
 
@@ -94,8 +94,7 @@ ControllersFactory::get(const sdf::ElementPtr context,
         ok = ok && context->HasElement("gravity");
 
         if (!ok) {
-            gymppError << "Controller context has missing elements"
-                       << std::endl;
+            sError << "Controller context has missing elements" << std::endl;
             return nullptr;
         }
 
@@ -108,7 +107,7 @@ ControllersFactory::get(const sdf::ElementPtr context,
             "joints", context);
 
         if (gravity.size() != 3) {
-            gymppError << "Parsed gravity does not have three elements";
+            sError << "Parsed gravity does not have three elements";
             return nullptr;
         }
 
@@ -131,23 +130,22 @@ bool ControllersFactory::Impl::ContextValid(const sdf::ElementPtr context)
 {
     // Check that the context is a <controller> element
     if (context->GetName() != "controller") {
-        gymppError << "The first element of the context must be <controller>"
-                   << std::endl;
+        sError << "The first element of the context must be <controller>"
+               << std::endl;
         return false;
     }
 
     // Check that there is only one <controller> element
     if (context->GetNextElement("controller")) {
-        gymppError
-            << "Found multiple <controller> elements in controller context"
-            << std::endl;
+        sError << "Found multiple <controller> elements in controller context"
+               << std::endl;
         return false;
     }
 
     // Check that there is a name attribute: <controller name="controller_name">
     if (!context->HasAttribute("name")) {
-        gymppError << "Failed to find 'name' attribute in <controller> element"
-                   << std::endl;
+        sError << "Failed to find 'name' attribute in <controller> element"
+               << std::endl;
         return false;
     }
 
@@ -160,8 +158,7 @@ T ControllersFactory::Impl::GetElementValueAs(
     const sdf::ElementPtr parentContext)
 {
     if (!parentContext->HasElement(elementName)) {
-        gymppError << "Failed to find element <" << elementName << ">"
-                   << std::endl;
+        sError << "Failed to find element <" << elementName << ">" << std::endl;
         return {};
     }
 
@@ -171,8 +168,8 @@ T ControllersFactory::Impl::GetElementValueAs(
     sdf::ParamPtr value = element->GetValue();
 
     if (!value) {
-        gymppError << "Failed to get value of element <" << elementName << ">"
-                   << std::endl;
+        sError << "Failed to get value of element <" << elementName << ">"
+               << std::endl;
         return {};
     }
 
diff --git a/cpp/scenario/plugins/ECMProvider/ECMProvider.cpp b/cpp/scenario/plugins/ECMProvider/ECMProvider.cpp
index d2ee6e3bf..dbb8ebf66 100644
--- a/cpp/scenario/plugins/ECMProvider/ECMProvider.cpp
+++ b/cpp/scenario/plugins/ECMProvider/ECMProvider.cpp
@@ -50,7 +50,7 @@ ECMProvider::ECMProvider()
 ECMProvider::~ECMProvider()
 {
     ECMSingleton::Instance().clean();
-    gymppDebug << "Destroying the ECMProvider" << std::endl;
+    sDebug << "Destroying the ECMProvider" << std::endl;
 };
 
 void ECMProvider::Configure(const ignition::gazebo::Entity& entity,
@@ -60,8 +60,8 @@ void ECMProvider::Configure(const ignition::gazebo::Entity& entity,
 {
     if (!ecm.EntityHasComponentType(
             entity, ignition::gazebo::components::World().TypeId())) {
-        gymppError << "The ECMProvider plugin was not inserted "
-                   << "in a world element" << std::endl;
+        sError << "The ECMProvider plugin was not inserted "
+               << "in a world element" << std::endl;
         return;
     }
 
@@ -69,19 +69,19 @@ void ECMProvider::Configure(const ignition::gazebo::Entity& entity,
         ignition::gazebo::components::Name>(&ecm, entity);
 
     if (ECMSingleton::Instance().hasWorld(worldName)) {
-        gymppWarning << "Resources of world " << worldName
-                     << " already inserted" << std::endl;
+        sWarning << "Resources of world " << worldName << " already inserted"
+                 << std::endl;
         return;
     }
 
     if (!ECMSingleton::Instance().storePtrs(&ecm, &eventMgr, worldName)) {
-        gymppError << "Failed to store resources of world " << worldName << " ["
-                   << entity << "]" << std::endl;
+        sError << "Failed to store resources of world " << worldName << " ["
+               << entity << "]" << std::endl;
         return;
     }
 
-    gymppDebug << "World '" << worldName
-               << "' successfully processed by ECMProvider" << std::endl;
+    sDebug << "World '" << worldName
+           << "' successfully processed by ECMProvider" << std::endl;
 }
 
 IGNITION_ADD_PLUGIN(scenario::plugins::gazebo::ECMProvider,
diff --git a/cpp/scenario/plugins/ECMProvider/ECMSingleton.cpp b/cpp/scenario/plugins/ECMProvider/ECMSingleton.cpp
index 4cd59a90b..1676223b5 100644
--- a/cpp/scenario/plugins/ECMProvider/ECMSingleton.cpp
+++ b/cpp/scenario/plugins/ECMProvider/ECMSingleton.cpp
@@ -79,8 +79,8 @@ void ECMSingleton::clean(const std::string& worldName)
     }
 
     if (!this->hasWorld(worldName)) {
-        gymppError << "Resources of world " << worldName << " not found"
-                   << std::endl;
+        sError << "Resources of world " << worldName << " not found"
+               << std::endl;
         return;
     }
 
@@ -92,7 +92,7 @@ bool ECMSingleton::valid(const std::string& worldName) const
     std::unique_lock lock(pImpl->mutex);
 
     if (!this->hasWorld(worldName)) {
-        gymppDebug << "World" << worldName << " not found" << std::endl;
+        sDebug << "World" << worldName << " not found" << std::endl;
         return false;
     }
 
@@ -139,14 +139,14 @@ ECMSingleton::getEventManager(const std::string& worldName) const
     std::unique_lock lock(pImpl->mutex);
 
     if (!this->hasWorld(worldName)) {
-        gymppError << "Resources of world " << worldName << " not found"
-                   << std::endl;
+        sError << "Resources of world " << worldName << " not found"
+               << std::endl;
         return nullptr;
     }
 
     if (!this->valid(worldName)) {
-        gymppError << "Resources of world " << worldName << " not valid"
-                   << std::endl;
+        sError << "Resources of world " << worldName << " not valid"
+               << std::endl;
         return nullptr;
     }
 
@@ -159,14 +159,14 @@ ECMSingleton::getECM(const std::string& worldName) const
     std::unique_lock lock(pImpl->mutex);
 
     if (!this->hasWorld(worldName)) {
-        gymppError << "Resources of world " << worldName << " not found"
-                   << std::endl;
+        sError << "Resources of world " << worldName << " not found"
+               << std::endl;
         return nullptr;
     }
 
     if (!this->valid(worldName)) {
-        gymppError << "Resources of world " << worldName << " not valid"
-                   << std::endl;
+        sError << "Resources of world " << worldName << " not valid"
+               << std::endl;
         return nullptr;
     }
 
@@ -178,21 +178,21 @@ bool ECMSingleton::storePtrs(ignition::gazebo::EntityComponentManager* ecm,
                              const std::string& worldName)
 {
     if (!ecm || !eventMgr) {
-        gymppError << "The pointer to the ECM or EventManager is not valid"
-                   << std::endl;
+        sError << "The pointer to the ECM or EventManager is not valid"
+               << std::endl;
         return false;
     }
 
     if (worldName.empty()) {
-        gymppError << "The world name is empty" << std::endl;
+        sError << "The world name is empty" << std::endl;
         return false;
     }
 
     std::unique_lock lock(pImpl->mutex);
 
     if (this->hasWorld(worldName)) {
-        gymppError << "Resources of world " << worldName
-                   << " have been already stored" << std::endl;
+        sError << "Resources of world " << worldName
+               << " have been already stored" << std::endl;
         return false;
     }
 
diff --git a/cpp/scenario/plugins/JointController/JointController.cpp b/cpp/scenario/plugins/JointController/JointController.cpp
index 6bceb0794..e937d52d7 100644
--- a/cpp/scenario/plugins/JointController/JointController.cpp
+++ b/cpp/scenario/plugins/JointController/JointController.cpp
@@ -87,13 +87,13 @@ void JointController::Configure(
 
     // Create a model and check its validity
     if (!pImpl->model->initialize(entity, &ecm, &eventMgr)) {
-        gymppError << "Failed to initialize model for controller" << std::endl;
+        sError << "Failed to initialize model for controller" << std::endl;
         return;
     }
 
     if (!pImpl->model->valid()) {
-        gymppError << "Failed to create a model from Entity [" << entity << "]"
-                   << std::endl;
+        sError << "Failed to create a model from Entity [" << entity << "]"
+               << std::endl;
         return;
     }
 }
@@ -195,9 +195,8 @@ void JointController::PreUpdate(const ignition::gazebo::UpdateInfo& info,
                                     info.dt,
                                     positionTarget,
                                     position)) {
-            gymppError << "Failed to run PID controller of joint "
-                       << joint->name() << " [" << jointEntity << "]"
-                       << std::endl;
+            sError << "Failed to run PID controller of joint " << joint->name()
+                   << " [" << jointEntity << "]" << std::endl;
         }
     }
 
@@ -227,9 +226,8 @@ void JointController::PreUpdate(const ignition::gazebo::UpdateInfo& info,
                                     info.dt,
                                     velocityTarget,
                                     velocity)) {
-            gymppError << "Failed to run PID controller of joint "
-                       << joint->name() << " [" << jointEntity << "]"
-                       << std::endl;
+            sError << "Failed to run PID controller of joint " << joint->name()
+                   << " [" << jointEntity << "]" << std::endl;
         }
     }
 }
@@ -261,8 +259,8 @@ bool JointController::Impl::runPIDController(
             }
 
             if (!joint.setGeneralizedForceTarget(force)) {
-                gymppError << "Failed to set force of joint " << joint.name()
-                           << std::endl;
+                sError << "Failed to set force of joint " << joint.name()
+                       << std::endl;
                 return false;
             }
             return true;
@@ -270,8 +268,8 @@ bool JointController::Impl::runPIDController(
         case base::JointType::Fixed:
         case base::JointType::Ball:
         case base::JointType::Invalid:
-            gymppWarning << "Type of joint '" << joint.name()
-                         << " not supported" << std::endl;
+            sWarning << "Type of joint '" << joint.name() << " not supported"
+                     << std::endl;
             return true;
     }