Fix isaaclab.* INFO logs silenced on kitless backends

source/isaaclab/changelog.d/mataylor-fix-kitless-renderer-logging.rst

@@ -0,0 +1,10 @@
+Fixed
+^^^^^
+
+* Fixed ``logger.info`` calls in :class:`~isaaclab.renderers.RenderContext` and
+  :class:`~isaaclab.sensors.camera.Camera` (e.g. "Created new renderer for simulation" and
+  "Using renderer") being silenced on kitless backends (Newton, OvPhysX).
+  The ``isaaclab_info_stream`` log handler was only installed inside
+  :class:`~isaaclab.app.AppLauncher`, which is skipped for kitless runs.
+  :func:`~isaaclab.app.logging_utils.ensure_isaaclab_info_stream_handler` is now a
+  shared utility called by both the Kit and kitless launch paths.

source/isaaclab/isaaclab/app/app_launcher.py

@@ -28,7 +28,11 @@
     import isaacsim  # noqa: F401
     from isaacsim import SimulationApp
 
-from isaaclab.app.logging_utils import apply_python_logging_level, resolve_python_logging_level
+from isaaclab.app.logging_utils import (
+    apply_python_logging_level,
+    ensure_isaaclab_info_stream_handler,
+    resolve_python_logging_level,
+)
 from isaaclab.app.settings_manager import get_settings_manager, initialize_carb_settings
 from isaaclab.utils._device import set_cuda_device
 
@@ -199,21 +203,7 @@ def _normalize_visualizer_intent(intent: Any) -> tuple[bool, bool]:
     @staticmethod
     def _ensure_isaaclab_info_stream_handler() -> None:
         """Add a stream handler for Isaac Lab INFO records hidden by Kit logging."""
-        handler_name = "isaaclab_info_stream"
-        root_logger = logging.getLogger()
-        if any(getattr(handler, "name", None) == handler_name for handler in root_logger.handlers):
-            return
-
-        class _IsaacLabInfoFilter(logging.Filter):
-            def filter(self, record: logging.LogRecord) -> bool:
-                return record.levelno == logging.INFO and record.name.startswith("isaaclab")
-
-        handler = logging.StreamHandler(sys.stdout)
-        handler.name = handler_name
-        handler.setLevel(logging.INFO)
-        handler.addFilter(_IsaacLabInfoFilter())
-        handler.setFormatter(logging.Formatter("[INFO]: %(message)s"))
-        root_logger.addHandler(handler)
+        ensure_isaaclab_info_stream_handler()
 
     def __init__(self, launcher_args: argparse.Namespace | dict | None = None, **kwargs):
         """Create a `SimulationApp`_ instance based on the input settings.

source/isaaclab/isaaclab/app/logging_utils.py

@@ -58,3 +58,34 @@ def apply_python_logging_level(level: int) -> None:
     root_logger.setLevel(level)
     for handler in root_logger.handlers:
         handler.setLevel(level)
+
+
+def ensure_isaaclab_info_stream_handler() -> None:
+    """Add a stream handler that surfaces Isaac Lab INFO records on stdout.
+
+    Kit's Python log bridge suppresses INFO records on the console; this handler
+    compensates by routing ``isaaclab.*`` INFO records directly to stdout regardless
+    of what Kit does.  The function is idempotent — calling it multiple times installs
+    the handler at most once.
+
+    After calling this, callers that want ``isaaclab.*`` INFO visible at the default
+    WARNING log level must also raise the root logger to INFO::
+
+        ensure_isaaclab_info_stream_handler()
+        logging.getLogger().setLevel(logging.INFO)
+    """
+    handler_name = "isaaclab_info_stream"
+    root_logger = logging.getLogger()
+    if any(getattr(h, "name", None) == handler_name for h in root_logger.handlers):
+        return
+
+    class _IsaacLabInfoFilter(logging.Filter):
+        def filter(self, record: logging.LogRecord) -> bool:
+            return record.levelno == logging.INFO and record.name.startswith("isaaclab")
+
+    handler = logging.StreamHandler(sys.stdout)
+    handler.name = handler_name
+    handler.setLevel(logging.INFO)
+    handler.addFilter(_IsaacLabInfoFilter())
+    handler.setFormatter(logging.Formatter("[INFO]: %(message)s"))
+    root_logger.addHandler(handler)

source/isaaclab/isaaclab/app/sim_launcher.py

@@ -27,7 +27,11 @@
 from isaaclab_physx.physics import PhysxCfg
 from isaaclab_physx.renderers import IsaacRtxRendererCfg
 
-from isaaclab.app.logging_utils import apply_python_logging_level, resolve_python_logging_level
+from isaaclab.app.logging_utils import (
+    apply_python_logging_level,
+    ensure_isaaclab_info_stream_handler,
+    resolve_python_logging_level,
+)
 from isaaclab.physics.physics_manager_cfg import PhysicsCfg
 from isaaclab.renderers.renderer_cfg import RendererCfg
 from isaaclab.sensors.camera.camera_cfg import CameraCfg
@@ -439,7 +443,13 @@ def launch_simulation(
     # Kit-based backends apply the Python logging level inside AppLauncher; kitless backends
     # never construct it, so honor --verbose / --info here to keep behavior consistent.
     if not needs_kit:
-        apply_python_logging_level(resolve_python_logging_level(launcher_args))
+        level = resolve_python_logging_level(launcher_args)
+        apply_python_logging_level(level)
+        ensure_isaaclab_info_stream_handler()
+        if level >= logging.WARNING:
+            # Root logger is at WARNING; raise it to INFO so that isaaclab.* INFO
+            # records can propagate to the scoped stream handler above.
+            logging.getLogger().setLevel(logging.INFO)
 
     if needs_kit and config_scan.has_kit_camera and launcher_args is not None:
         if not _get_arg(launcher_args, "enable_cameras", False):