diff --git a/CHANGELOG.md b/CHANGELOG.md
index 64c486c9..e90812ce 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -23,6 +23,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+- multibody/RobotScene : move `invalid_enum()` back to cpp file
 - multibody/RobotScene : always render to G-buffer normal map
 - core: move header `LoadCoalGeometries.h` and its functions to library core
 - multibody/Visualizer : rename a data member in Config
@@ -34,6 +35,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Removed
 
+- Remove deprecated header `candlewick/core/Renderer.h`
 - Remove deprecated header `candlewick/multibody/LoadCoalPrimitives.h`
 
 ## [0.9.0] - 2025-08-12
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 458418d0..ccabc4bd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -95,13 +95,7 @@ ADD_PROJECT_DEPENDENCY(coal REQUIRED PKG_CONFIG_REQUIRES "coal >= 3.0.0")
 ADD_PROJECT_DEPENDENCY(nlohmann_json 3.11.3 REQUIRED)
 ADD_PROJECT_DEPENDENCY(EnTT REQUIRED)
 ADD_PROJECT_DEPENDENCY(magic_enum 0.9.7 CONFIG REQUIRED)
-if(BUILD_PINOCCHIO_VISUALIZER)
-  ADD_PROJECT_DEPENDENCY(
-    pinocchio
-    REQUIRED
-    PKG_CONFIG_REQUIRES "pinocchio >= 3.7.0"
-  )
-endif()
+ADD_PROJECT_DEPENDENCY(spdlog 1.10 REQUIRED)
 ADD_PROJECT_DEPENDENCY(
   FFmpeg
   7.0.0
@@ -110,6 +104,14 @@ ADD_PROJECT_DEPENDENCY(
   avcodec
   swscale
 )
+if(BUILD_PINOCCHIO_VISUALIZER)
+  ADD_PROJECT_DEPENDENCY(
+    pinocchio
+    REQUIRED
+    PKG_CONFIG_REQUIRES "pinocchio >= 3.7.0"
+  )
+endif()
+
 set(CANDLEWICK_ASSETS_DIR ${PROJECT_SOURCE_DIR}/assets)
 set(CANDLEWICK_SHADER_SRC_DIR ${PROJECT_SOURCE_DIR}/shaders)
 set(
diff --git a/README.md b/README.md
index d4c55b89..8c9e066c 100644
--- a/README.md
+++ b/README.md
@@ -96,10 +96,11 @@ Candlewick depends mainly on:
 * [Eigen](https://gitlab.com/libeigen/eigen/) - Linear algebra
 * [Coal](https://github.com/coal-library/coal) - Collision detection, geometry primitives
 * [magic_enum](https://github.com/Neargye/magic_enum) - Enum reflection utilities
+* [spdlog](https://github.com/gabime/spdlog/) - Logging
 
 These dependencies can be installed from Conda as follows:
 ```bash
-conda install -c conda-forge sdl3 eigen coal magic_enum assimp entt nlohmann_json
+conda install -c conda-forge sdl3 eigen coal magic_enum assimp entt nlohmann_json spdlog
 ```
 
 Additionally, candlewick depends on the following bundled dependencies:
diff --git a/examples/Ur5WithSystems.cpp b/examples/Ur5WithSystems.cpp
index 778e8c6d..05a7dceb 100644
--- a/examples/Ur5WithSystems.cpp
+++ b/examples/Ur5WithSystems.cpp
@@ -118,7 +118,7 @@ void eventLoop(const RenderContext &renderer) {
     ImGui_ImplSDL3_ProcessEvent(&event);
     ImGuiIO &io = ImGui::GetIO();
     if (event.type == SDL_EVENT_QUIT) {
-      SDL_Log("Application exit requested.");
+      spdlog::info("Application exit requested.");
       quitRequested = true;
       break;
     }
@@ -202,11 +202,11 @@ static void addTeapotGeometry(pin::GeometryModel &geom_model) {
 
 static void screenshotButtonCallback(const RenderContext &renderer,
                                      media::TransferBufferPool &pool,
-                                     const char *filename) {
+                                     std::string_view filename) {
   const auto &device = renderer.device;
   CommandBuffer command_buffer{device};
 
-  SDL_Log("Saving screenshot at %s", filename);
+  spdlog::info("Saving screenshot at {:s}", filename);
   media::saveTextureToFile(command_buffer, device, pool,
                            renderer.resolvedColorTarget(),
                            renderer.colorFormat(), wWidth, wHeight, filename);
@@ -319,7 +319,7 @@ int main(int argc, char **argv) {
   const size_t numRobotShapes =
       registry.view<const multibody::PinGeomObjComponent>().size();
   SDL_assert(numRobotShapes == geom_model.ngeoms);
-  SDL_Log("Registered %zu robot geometry objects.", numRobotShapes);
+  spdlog::info("Registered {:d} robot geometry objects.", numRobotShapes);
 
   // DEBUG SYSTEM
 
@@ -539,7 +539,7 @@ int main(int argc, char **argv) {
       }
       gui_system.render(command_buffer);
     } else {
-      SDL_Log("Failed to acquire swapchain: %s", SDL_GetError());
+      spdlog::info("Failed to acquire swapchain: {:s}", SDL_GetError());
       continue;
     }
 
diff --git a/examples/Visualizer.cpp b/examples/Visualizer.cpp
index c4ecf6b0..3e83f6c0 100644
--- a/examples/Visualizer.cpp
+++ b/examples/Visualizer.cpp
@@ -9,6 +9,8 @@
 #include <CLI/Formatter.hpp>
 #include <CLI/Config.hpp>
 
+#include <spdlog/cfg/env.h>
+
 using namespace candlewick::multibody;
 using candlewick::sdlSampleToValue;
 using pinocchio::visualizers::Vector3;
@@ -40,7 +42,7 @@ static void addBall(pin::GeometryModel &geom_model) {
   geom_model.addGeometryObject(object);
 }
 
-int main(int argc, char **argv) {
+int main(int argc, char *argv[]) {
   CLI::App app{"Visualizer example"};
   argv = app.ensure_utf8(argv);
   std::array<Uint32, 2> window_dims{1920u, 1080u};
@@ -67,6 +69,9 @@ int main(int argc, char **argv) {
 
   CLI11_PARSE(app, argc, argv);
 
+  spdlog::cfg::load_env_levels();
+  spdlog::set_pattern(">>> [%T] [%^%l%$] %v");
+  spdlog::info("Robot spec:\n{}", ur_robot_spec);
   pin::Model model;
   pin::GeometryModel geom_model;
   loadModels(ur_robot_spec, model, &geom_model, NULL);
diff --git a/examples/lib/Common.cpp b/examples/lib/Common.cpp
index fbfd821c..da3d4d86 100644
--- a/examples/lib/Common.cpp
+++ b/examples/lib/Common.cpp
@@ -4,7 +4,6 @@
 
 #include "Common.h"
 #include <SDL3/SDL_init.h>
-#include <SDL3/SDL_log.h>
 
 using namespace candlewick;
 
diff --git a/pixi.lock b/pixi.lock
index a2d3d9bd..2fd570cb 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -26,6 +26,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h00ab1b0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigenpy-3.11.0-np2py313h6b12d9a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/entt-3.15.0-h84d6215_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.2.0-h07f6e7f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-14.3.0-h76bdaa0_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-14.3.0-hd9e9e21_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-14.3.0-h1382650_11.conda
@@ -124,6 +125,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.6-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/scipy-1.16.1-py313h3a520b0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdl3-3.2.20-h68140b3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/spdlog-1.15.3-h6dc744f_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.28-h4ee821c_8.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_hd72426e_102.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025b-h78e105d_0.conda
@@ -165,6 +167,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/eigen-3.4.0-h1c7c39f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/eigenpy-3.11.0-np2py313hdf23dc2_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/entt-3.15.0-h9275861_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/fmt-11.2.0-hbf61d64_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/icu-75.1-h120a0e1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/krb5-1.21.3-h37d8d59_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ld64-954.16-hc3792c1_1.conda
@@ -224,6 +227,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/scipy-1.16.1-py313hada7951_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/sdl3-3.2.20-hc0b302d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/sigtool-0.1.3-h88f4db0_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/spdlog-1.15.3-hcdbecca_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tapi-1300.6.5-h390ca13_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tk-8.6.13-hf689a15_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025b-h78e105d_0.conda
@@ -255,6 +259,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/eigen-3.4.0-h1995070_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/eigenpy-3.11.0-np2py313hfd44af5_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/entt-3.15.0-h2c4a281_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/fmt-11.2.0-h440487c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/icu-75.1-hfee45f7_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/krb5-1.21.3-h237132a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ld64-954.16-he86490a_1.conda
@@ -314,6 +319,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/scipy-1.16.1-py313h74efe86_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/sdl3-3.2.20-he22eeb8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/sigtool-0.1.3-h44b9a77_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/spdlog-1.15.3-h217a1f9_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tapi-1300.6.5-h03f4b80_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tk-8.6.13-h892fb3f_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025b-h78e105d_0.conda
@@ -346,6 +352,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h00ab1b0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigenpy-3.11.0-np2py313h6b12d9a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/entt-3.15.0-h84d6215_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.2.0-h07f6e7f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-14.3.0-h76bdaa0_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-14.3.0-hd9e9e21_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-14.3.0-h1382650_11.conda
@@ -444,6 +451,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.6-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/scipy-1.16.1-py313h3a520b0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdl3-3.2.20-h68140b3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/spdlog-1.15.3-h6dc744f_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.28-h4ee821c_8.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_hd72426e_102.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025b-h78e105d_0.conda
@@ -486,6 +494,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/eigen-3.4.0-h1c7c39f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/eigenpy-3.11.0-np2py313hdf23dc2_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/entt-3.15.0-h9275861_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/fmt-11.2.0-hbf61d64_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/icu-75.1-h120a0e1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/krb5-1.21.3-h37d8d59_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ld64-954.16-hc3792c1_1.conda
@@ -545,6 +554,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/scipy-1.16.1-py313hada7951_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/sdl3-3.2.20-hc0b302d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/sigtool-0.1.3-h88f4db0_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/spdlog-1.15.3-hcdbecca_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tapi-1300.6.5-h390ca13_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tk-8.6.13-hf689a15_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025b-h78e105d_0.conda
@@ -577,6 +587,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/eigen-3.4.0-h1995070_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/eigenpy-3.11.0-np2py313hfd44af5_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/entt-3.15.0-h2c4a281_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/fmt-11.2.0-h440487c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/icu-75.1-hfee45f7_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/krb5-1.21.3-h237132a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ld64-954.16-he86490a_1.conda
@@ -636,6 +647,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/scipy-1.16.1-py313h74efe86_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/sdl3-3.2.20-he22eeb8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/sigtool-0.1.3-h44b9a77_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/spdlog-1.15.3-h217a1f9_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tapi-1300.6.5-h03f4b80_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tk-8.6.13-h892fb3f_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025b-h78e105d_0.conda
@@ -679,6 +691,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/elfutils-0.193-h849f50c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/entt-3.15.0-h84d6215_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ffmpeg-7.1.1-gpl_hea4b676_907.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.2.0-h07f6e7f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2
@@ -862,6 +875,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdl2-2.32.54-h3f2d84a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdl3-3.2.20-h68140b3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/snappy-1.2.2-h03e3b7b_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/spdlog-1.15.3-h6dc744f_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/svt-av1-3.0.2-h5888daf_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.28-h4ee821c_8.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tbb-2022.1.0-h4ce085d_0.conda
@@ -928,6 +942,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/eigenpy-3.11.0-np2py312h4e684d9_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/entt-3.15.0-h9275861_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ffmpeg-7.1.1-gpl_h731c141_107.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/fmt-11.2.0-hbf61d64_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2
@@ -1064,6 +1079,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/sdl3-3.2.20-hc0b302d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/sigtool-0.1.3-h88f4db0_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/osx-64/snappy-1.2.2-h25c286d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/spdlog-1.15.3-hcdbecca_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/svt-av1-3.0.2-h240833e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tapi-1300.6.5-h390ca13_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tbb-2022.2.0-hc025b3e_0.conda
@@ -1113,6 +1129,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/eigenpy-3.11.0-np2py313hfd44af5_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/entt-3.15.0-h2c4a281_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ffmpeg-7.1.1-gpl_hf33b5e2_107.conda
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+  size: 172909
+  timestamp: 1751349142758
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/spdlog-1.15.3-h217a1f9_1.conda
+  sha256: 673e4475bc9ca8e321bc98c8f6e48bf0efd530b5978d6a675de03c77b0a41227
+  md5: bd3f40ea227bed3b00b13a574a9dd9ee
+  depends:
+  - __osx >=11.0
+  - fmt >=11.2.0,<11.3.0a0
+  - libcxx >=18
+  license: MIT
+  license_family: MIT
+  size: 166201
+  timestamp: 1751348813679
 - conda: https://conda.anaconda.org/conda-forge/linux-64/svt-av1-3.0.2-h5888daf_0.conda
   sha256: fb4b97a3fd259eff4849b2cfe5678ced0c5792b697eb1f7bcd93a4230e90e80e
   md5: 0096882bd623e6cc09e8bf920fc8fb47
diff --git a/pixi.toml b/pixi.toml
index 53d96e0b..c4e8114a 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -23,6 +23,7 @@ coal = ">=3.0.1,<4"
 assimp = ">=5.4.3,<6"
 eigenpy = ">=3.10.3,<4"
 eigen = ">=3.4.0,<4"
+spdlog = ">=1.15.3,<2"
 
 [activation]
 scripts = ["scripts/pixi/activation.sh"]
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 064bf289..ce179901 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -46,13 +46,8 @@ add_library(
 
 target_link_libraries(
   candlewick_core
-  PUBLIC
-    SDL3::SDL3-shared
-    assimp::assimp
-    coal::coal
-    magic_enum::magic_enum
-    EnTT::EnTT
-  PRIVATE imgui_headers nlohmann_json::nlohmann_json
+  PUBLIC SDL3::SDL3-shared assimp::assimp coal::coal EnTT::EnTT spdlog::spdlog
+  PRIVATE imgui_headers nlohmann_json::nlohmann_json magic_enum::magic_enum
 )
 target_compile_definitions(
   candlewick_core
@@ -102,7 +97,7 @@ if(BUILD_PINOCCHIO_VISUALIZER)
       candlewick_core
       pinocchio::pinocchio_default
       pinocchio::pinocchio_visualizers
-    PRIVATE imgui_headers
+    PRIVATE imgui_headers magic_enum::magic_enum
   )
   target_link_libraries(${PROJECT_NAME} INTERFACE candlewick_multibody)
 
diff --git a/src/candlewick/core/CommandBuffer.cpp b/src/candlewick/core/CommandBuffer.cpp
index a121844f..13db8734 100644
--- a/src/candlewick/core/CommandBuffer.cpp
+++ b/src/candlewick/core/CommandBuffer.cpp
@@ -11,8 +11,7 @@ bool CommandBuffer::cancel() noexcept {
   bool ret = SDL_CancelGPUCommandBuffer(m_handle);
   m_handle = nullptr;
   if (!ret) {
-    SDL_LogWarn(SDL_LOG_CATEGORY_APPLICATION,
-                "Failed to cancel command buffer: %s", SDL_GetError());
+    spdlog::error("Failed to cancel command buffer: {:s}", SDL_GetError());
     return false;
   }
   return true;
diff --git a/src/candlewick/core/CommandBuffer.h b/src/candlewick/core/CommandBuffer.h
index 13c8b1aa..83cd47cf 100644
--- a/src/candlewick/core/CommandBuffer.h
+++ b/src/candlewick/core/CommandBuffer.h
@@ -2,9 +2,8 @@
 
 #include "Core.h"
 #include <SDL3/SDL_gpu.h>
-#include <SDL3/SDL_log.h>
-#include <utility>
 #include <span>
+#include <spdlog/spdlog.h>
 
 namespace candlewick {
 
@@ -69,9 +68,9 @@ class CommandBuffer {
 
   ~CommandBuffer() noexcept {
     if (active()) {
-      SDL_LogWarn(SDL_LOG_CATEGORY_APPLICATION,
-                  "CommandBuffer object is being destroyed while still active. "
-                  "It will be cancelled.");
+      spdlog::warn(
+          "CommandBuffer object is being destroyed while still active. "
+          "It will be cancelled.");
       [[maybe_unused]] bool ret = cancel();
       CANDLEWICK_ASSERT(ret, "Failed to cancel command buffer on cleanup.");
     }
diff --git a/src/candlewick/core/DepthAndShadowPass.cpp b/src/candlewick/core/DepthAndShadowPass.cpp
index af105bfd..03377c18 100644
--- a/src/candlewick/core/DepthAndShadowPass.cpp
+++ b/src/candlewick/core/DepthAndShadowPass.cpp
@@ -4,8 +4,6 @@
 #include "Collision.h"
 #include "Camera.h"
 
-#include <SDL3/SDL_log.h>
-
 namespace candlewick {
 
 static GraphicsPipeline
@@ -112,18 +110,16 @@ void DepthPass::release() noexcept {
 }
 
 void ShadowMapPass::configureAtlasRegions(const Config &config) {
-  SDL_Log("Building shadow atlas.\n"
-          "  > Dims: (%d, %d)\n"
-          "  > %d regions:",
-          shadowMap.width(), shadowMap.height(), config.numLights);
+  spdlog::info("Building shadow atlas (dims: ({:d}, {:d}), regions: {:d}).",
+               shadowMap.width(), shadowMap.height(), config.numLights);
 
   // compute atlas regions
   for (Uint32 i = 0; i < config.numLights; i++) {
     regions[i] = AtlasRegion(i * config.width, 0, config.width, config.height);
     const auto &reg = regions[i];
     regions[i] = reg;
-    SDL_Log("    - %d: [%d, %d] x [%d, %d]", i, reg.x, reg.x + reg.w, reg.y,
-            reg.y + reg.h);
+    spdlog::info("    - {:d}: [{:d}, {:d}] x [{:d}, {:d}]", i, reg.x,
+                 reg.x + reg.w, reg.y, reg.y + reg.h);
   }
 }
 
diff --git a/src/candlewick/core/Device.cpp b/src/candlewick/core/Device.cpp
index c7a0fd32..26c60959 100644
--- a/src/candlewick/core/Device.cpp
+++ b/src/candlewick/core/Device.cpp
@@ -1,7 +1,7 @@
 #include "Device.h"
 #include "errors.h"
 
-#include <SDL3/SDL_log.h>
+#include <spdlog/spdlog.h>
 
 namespace candlewick {
 
@@ -25,8 +25,7 @@ void Device::create(SDL_GPUShaderFormat format_flags, bool debug_mode) {
   _device = SDL_CreateGPUDevice(format_flags, debug_mode, nullptr);
   if (!_device)
     throw RAIIException(SDL_GetError());
-  const char *driver = SDL_GetGPUDeviceDriver(_device);
-  SDL_Log("Device driver: %s", driver);
+  spdlog::info("Device driver: {:s}", driverName());
 }
 
 const char *Device::driverName() const noexcept {
@@ -34,8 +33,10 @@ const char *Device::driverName() const noexcept {
 }
 
 void Device::destroy() noexcept {
-  if (_device)
+  if (_device) {
+    spdlog::debug("Destroying GPU device");
     SDL_DestroyGPUDevice(_device);
+  }
   _device = nullptr;
 }
 
diff --git a/src/candlewick/core/LoadCoalGeometries.cpp b/src/candlewick/core/LoadCoalGeometries.cpp
index 223aad44..3fe68a15 100644
--- a/src/candlewick/core/LoadCoalGeometries.cpp
+++ b/src/candlewick/core/LoadCoalGeometries.cpp
@@ -10,7 +10,6 @@
 #include <coal/shape/geometric_shapes.h>
 #include <coal/hfield.h>
 #include <SDL3/SDL_assert.h>
-#include <SDL3/SDL_log.h>
 
 namespace candlewick {
 
diff --git a/src/candlewick/core/RenderContext.cpp b/src/candlewick/core/RenderContext.cpp
index 62de333f..9d536b38 100644
--- a/src/candlewick/core/RenderContext.cpp
+++ b/src/candlewick/core/RenderContext.cpp
@@ -1,10 +1,10 @@
-#include "Renderer.h"
+#include "RenderContext.h"
 #include "errors.h"
 #include <magic_enum/magic_enum.hpp>
 
 #include <utility>
+#include <fmt/ranges.h>
 #include <SDL3/SDL_init.h>
-#include <SDL3/SDL_log.h>
 
 namespace candlewick {
 RenderContext::RenderContext(Device &&device_, Window &&window_,
@@ -20,14 +20,43 @@ bool RenderContext::waitAndAcquireSwapchain(CommandBuffer &command_buffer) {
   CANDLEWICK_ASSERT(SDL_IsMainThread(),
                     "Can only acquire swapchain from main thread.");
   return SDL_WaitAndAcquireGPUSwapchainTexture(command_buffer, window,
-                                               &swapchain, NULL, NULL);
+                                               &swapchain, nullptr, nullptr);
 }
 
 bool RenderContext::acquireSwapchain(CommandBuffer &command_buffer) {
   CANDLEWICK_ASSERT(SDL_IsMainThread(),
                     "Can only acquire swapchain from main thread.");
   return SDL_AcquireGPUSwapchainTexture(command_buffer, window, &swapchain,
-                                        NULL, NULL);
+                                        nullptr, nullptr);
+}
+
+std::string format_texture_usage(SDL_GPUTextureUsageFlags flags) {
+  std::vector<std::string_view> elts;
+#define _c(usage)                                                              \
+  if ((flags & SDL_GPU_TEXTUREUSAGE_##usage) == SDL_GPU_TEXTUREUSAGE_##usage)  \
+  elts.push_back(#usage)
+
+  _c(SAMPLER);
+  _c(COLOR_TARGET);
+  _c(DEPTH_STENCIL_TARGET);
+  _c(GRAPHICS_STORAGE_READ);
+  _c(COMPUTE_STORAGE_READ);
+  _c(COMPUTE_STORAGE_WRITE);
+  _c(COMPUTE_STORAGE_SIMULTANEOUS_READ_WRITE);
+
+  return fmt::format("{}", fmt::join(elts, " | "));
+#undef _c
+}
+
+static void log_texture_creation(const Texture &tex,
+                                 const char *nameOverride = nullptr) {
+  spdlog::debug("Created {:d} x {:d} texture \'{:s}\'", tex.width(),
+                tex.height(),
+                (nameOverride != nullptr) ? nameOverride : tex.name());
+  spdlog::debug(" > format {:>45s}, samples {:d}, usage {:<s}",
+                magic_enum::enum_name(tex.format()),
+                sdlSampleToValue(tex.sampleCount()),
+                format_texture_usage(tex.usage()));
 }
 
 void RenderContext::createRenderTargets(
@@ -46,6 +75,7 @@ void RenderContext::createRenderTargets(
       .props = 0,
   };
   colorBuffer = Texture(device, colorInfo, "Main color target");
+  log_texture_creation(colorBuffer);
 
   if (suggested_depth_format == SDL_GPU_TEXTUREFORMAT_INVALID)
     return;
@@ -71,8 +101,7 @@ void RenderContext::createRenderTargets(
   }
 
   depthBuffer = Texture(this->device, depthInfo, "Main depth target");
-  SDL_Log("Created depth texture of format %s, size %d x %d\n",
-          magic_enum::enum_name(depthInfo.format).data(), width, height);
+  log_texture_creation(depthBuffer);
 }
 
 void RenderContext::createMsaaTargets(SDL_GPUSampleCount samples) {
@@ -93,13 +122,15 @@ void RenderContext::createMsaaTargets(SDL_GPUSampleCount samples) {
                                          samples)) {
     terminate_with_message("Unsupported sample count for MSAA color target.");
   }
-  colorMsaa = Texture(device, msaaColorInfo, "MSAA color target");
+  colorMsaa = Texture(device, msaaColorInfo, "Color target [MSAA]");
+  log_texture_creation(colorMsaa);
 
   if (hasDepthTexture()) {
     // overwrite current depth texture to make it Msaa
     auto depthInfo = depthBuffer.description();
     depthInfo.sample_count = samples;
     depthBuffer = Texture(device, depthInfo, "Main depth target [MSAA]");
+    log_texture_creation(depthBuffer);
   }
 }
 
diff --git a/src/candlewick/core/RenderContext.h b/src/candlewick/core/RenderContext.h
index 85b1ce9f..e89e53f9 100644
--- a/src/candlewick/core/RenderContext.h
+++ b/src/candlewick/core/RenderContext.h
@@ -81,7 +81,7 @@ struct RenderContext {
       m_msaaEnabled = true;
       createMsaaTargets(samples);
       if (int sample_size = sdlSampleToValue(samples)) {
-        SDL_Log("MSAA enabled with %d samples", sample_size);
+        spdlog::info("MSAA enabled with {:d} samples", sample_size);
       } else {
         terminate_with_message("Unrecognized sample count {:d}", sample_size);
       }
@@ -93,7 +93,7 @@ struct RenderContext {
   void disableMSAA() {
     m_msaaEnabled = false;
     colorMsaa.destroy();
-    SDL_Log("MSAA disabled.");
+    spdlog::info("MSAA disabled");
   }
 
   bool initialized() const { return bool(device); }
diff --git a/src/candlewick/core/Renderer.h b/src/candlewick/core/Renderer.h
deleted file mode 100644
index 8a09b65a..00000000
--- a/src/candlewick/core/Renderer.h
+++ /dev/null
@@ -1,5 +0,0 @@
-#include "candlewick/deprecated.h"
-#include "RenderContext.h"
-
-CANDLEWICK_DEPRECATED_HEADER(
-    "Include \'<candlewick/RenderContext.h>\' instead.")
diff --git a/src/candlewick/core/Texture.cpp b/src/candlewick/core/Texture.cpp
index baa86850..ab9e0d90 100644
--- a/src/candlewick/core/Texture.cpp
+++ b/src/candlewick/core/Texture.cpp
@@ -12,15 +12,19 @@ Texture::Texture(const Device &device, SDL_GPUTextureCreateInfo texture_desc,
     : m_device(device)
     , m_texture(nullptr)
     , m_description(std::move(texture_desc)) {
+  if (!m_description.props)
+    m_description.props = SDL_CreateProperties();
+  if (name != nullptr) {
+    SDL_SetStringProperty(m_description.props,
+                          SDL_PROP_GPU_TEXTURE_CREATE_NAME_STRING, name);
+  }
   if (!(m_texture = SDL_CreateGPUTexture(m_device, &m_description))) {
     std::string msg = std::format("Failed to create texture with format (%s)",
                                   magic_enum::enum_name(m_description.format));
     if (name)
-      msg += std::format(" (name %s)", name);
+      msg += std::format(" (name {:s})", name);
     throw RAIIException(std::move(msg));
   }
-  if (name != nullptr)
-    SDL_SetGPUTextureName(m_device, m_texture, name);
 }
 
 Texture::Texture(Texture &&other) noexcept
diff --git a/src/candlewick/core/Texture.h b/src/candlewick/core/Texture.h
index 4721a155..fe554bc8 100644
--- a/src/candlewick/core/Texture.h
+++ b/src/candlewick/core/Texture.h
@@ -36,6 +36,10 @@ class Texture {
   Uint32 depth() const { return m_description.layer_count_or_depth; }
   Uint32 layerCount() const { return m_description.layer_count_or_depth; }
   SDL_GPUSampleCount sampleCount() const { return m_description.sample_count; }
+  std::string_view name() const {
+    return SDL_GetStringProperty(
+        m_description.props, SDL_PROP_GPU_TEXTURE_CREATE_NAME_STRING, "(null)");
+  }
 
   SDL_GPUBlitRegion blitRegion(Uint32 offset_x, Uint32 y_offset,
                                Uint32 layer_or_depth_plane = 0) const;
diff --git a/src/candlewick/core/errors.cpp b/src/candlewick/core/errors.cpp
index c28b158d..fd615257 100644
--- a/src/candlewick/core/errors.cpp
+++ b/src/candlewick/core/errors.cpp
@@ -1,5 +1,7 @@
 #include "errors.h"
 #include <format>
+#include <spdlog/spdlog.h>
+#include <spdlog/fmt/std.h>
 
 namespace candlewick {
 RAIIException::RAIIException(std::string_view msg,
@@ -15,4 +17,10 @@ namespace detail {
     return std::format("{:s} :: {:s}", fname, std::vformat(fmtstr, args));
   }
 } // namespace detail
+
+void unreachable_with_message(std::string_view msg,
+                              std::source_location location) {
+  spdlog::error("{} :: {:s}", location, msg);
+  ::candlewick::unreachable();
+}
 } // namespace candlewick
diff --git a/src/candlewick/core/errors.h b/src/candlewick/core/errors.h
index 1df43286..6abd83c9 100644
--- a/src/candlewick/core/errors.h
+++ b/src/candlewick/core/errors.h
@@ -4,8 +4,6 @@
 #include <utility>
 #endif
 
-#include <SDL3/SDL_log.h>
-#include <SDL3/SDL_assert.h>
 #include <stdexcept>
 #include <string>
 #include <string_view>
@@ -70,14 +68,8 @@ terminate_with_message(std::source_location, std::string_view, Ts &&...)
     -> terminate_with_message<Ts...>;
 
 [[noreturn]]
-inline void unreachable_with_message(
+void unreachable_with_message(
     std::string_view msg,
-    std::source_location location = std::source_location::current()) {
-  SDL_LogError(
-      SDL_LOG_CATEGORY_APPLICATION, "%s",
-      detail::error_message_format(location.function_name(), "{:s}", msg)
-          .c_str());
-  ::candlewick::unreachable();
-}
+    std::source_location location = std::source_location::current());
 
 } // namespace candlewick
diff --git a/src/candlewick/core/file_dialog_gui.cpp b/src/candlewick/core/file_dialog_gui.cpp
index d108d531..5865fbe8 100644
--- a/src/candlewick/core/file_dialog_gui.cpp
+++ b/src/candlewick/core/file_dialog_gui.cpp
@@ -1,13 +1,13 @@
 #include "GuiSystem.h"
 
 #include <SDL3/SDL_filesystem.h>
-#include <SDL3/SDL_log.h>
 #include <SDL3/SDL_error.h>
 #include <SDL3/SDL_dialog.h>
 
 #include <imgui.h>
 #include <chrono>
 #include <iomanip>
+#include <spdlog/spdlog.h>
 
 namespace candlewick {
 
@@ -31,11 +31,11 @@ static const std::pair<const SDL_DialogFileFilter *, int> g_file_filters[] = {
 static void fileCallbackImpl(void *userdata_, const char *const *filelist,
                              int) {
   if (!filelist) {
-    SDL_Log("An error occured: %s", SDL_GetError());
+    spdlog::error("An error occured: %s", SDL_GetError());
     return;
   } else if (!*filelist) {
-    SDL_Log("The user did not select any file.");
-    SDL_Log("Most likely, the dialog was canceled.");
+    spdlog::info("The user did not select any file.\n"
+                 "Most likely, the dialog was canceled.");
     return;
   }
 
diff --git a/src/candlewick/multibody/RobotDebug.cpp b/src/candlewick/multibody/RobotDebug.cpp
index f33d6365..04b9e8f4 100644
--- a/src/candlewick/multibody/RobotDebug.cpp
+++ b/src/candlewick/multibody/RobotDebug.cpp
@@ -94,10 +94,6 @@ void RobotDebugSystem::update() {
     auto view = reg.group<ExternalForceComponent>();
     for (auto [ent, arrow] : view.each()) {
       if (--arrow.lifetime <= 0) {
-#ifndef NDEBUG
-        SDL_Log("Force arrow for frame %zu has expired... destroy.",
-                arrow.frame_id);
-#endif
         reg.destroy(ent);
       }
     }
diff --git a/src/candlewick/multibody/RobotLoader.h b/src/candlewick/multibody/RobotLoader.h
index 1cf9cef8..a18d4587 100644
--- a/src/candlewick/multibody/RobotLoader.h
+++ b/src/candlewick/multibody/RobotLoader.h
@@ -1,3 +1,4 @@
+/// \copyright Copyright (c) 2025 INRIA
 #pragma once
 
 #include "candlewick/core/errors.h"
@@ -9,6 +10,7 @@
 #include <vector>
 #include <string>
 #include <filesystem>
+#include <spdlog/fmt/std.h>
 
 namespace candlewick::multibody {
 namespace pin = pinocchio;
@@ -40,7 +42,31 @@ struct RobotSpec {
     return *this;
   }
 };
+} // namespace candlewick::multibody
+
+FMT_BEGIN_NAMESPACE
+template <> struct formatter<candlewick::multibody::RobotSpec> {
+  constexpr auto parse(format_parse_context &ctx) { return ctx.begin(); }
+
+  template <typename FormatContext>
+  auto format(const candlewick::multibody::RobotSpec &spec,
+              FormatContext &ctx) const {
+    return fmt::format_to(ctx.out(),
+                          "RobotSpec{{\n"
+                          "  urdf_path: \"{}\"\n"
+                          "  srdf_path: \"{}\"\n"
+                          "  base_package_path: \"{}\"\n"
+                          "  relative_package_path: \"{}\"\n"
+                          "  has_free_flyer: {}\n"
+                          "}}",
+                          spec.urdf_path, spec.srdf_path,
+                          spec.base_package_path, spec.relative_package_path,
+                          spec.has_free_flyer);
+  }
+};
+FMT_END_NAMESPACE
 
+namespace candlewick::multibody {
 inline std::vector<std::string> getPackageDirs(const RobotSpec &spec) {
   if (spec.relative_package_path.is_absolute()) {
     terminate_with_message(
diff --git a/src/candlewick/multibody/RobotScene.cpp b/src/candlewick/multibody/RobotScene.cpp
index b125013c..15f448e5 100644
--- a/src/candlewick/multibody/RobotScene.cpp
+++ b/src/candlewick/multibody/RobotScene.cpp
@@ -15,6 +15,18 @@
 #include <magic_enum/magic_enum_utility.hpp>
 #include <magic_enum/magic_enum_switch.hpp>
 
+namespace candlewick {
+/// \brief Terminate the application after encountering an invalid enum value.
+template <typename T>
+  requires std::is_enum_v<T>
+[[noreturn]] void
+invalid_enum(const char *msg, T type,
+             std::source_location location = std::source_location::current()) {
+  terminate_with_message(location, "Invalid enum: {:s} - {:s}", msg,
+                         magic_enum::enum_name(type));
+}
+} // namespace candlewick
+
 namespace candlewick::multibody {
 
 struct alignas(16) LightArrayUbo {
@@ -694,8 +706,8 @@ RobotScene::createRenderPipeline(const PipelineKey &key,
 
   auto [type, transparent, renderMode] = key;
   const auto sample_count = m_renderer.getMsaaSampleCount();
-  SDL_Log("Building pipeline for type %s (%d MSAA)",
-          magic_enum::enum_name(type).data(), sdlSampleToValue(sample_count));
+  spdlog::info("Building pipeline for type {:s} ({:d} MSAA)",
+               magic_enum::enum_name(type), sdlSampleToValue(sample_count));
 
   PipelineConfig pipe_config = getPipelineConfig(m_config, type, transparent);
   auto vertexShader =
@@ -785,11 +797,11 @@ RobotScene::createRenderPipeline(const PipelineKey &key,
       desc.depth_stencil_state.enable_depth_write = false;
     }
 
-    SDL_Log("  > transparency: %s", transparent ? "true" : "false");
-    SDL_Log("  > render mode: %s", magic_enum::enum_name(renderMode).data());
-    SDL_Log("  > depth compare op: %s",
-            magic_enum::enum_name(depth_compare_op).data());
-    SDL_Log("  > prepass: %s", had_prepass ? "true" : "false");
+    spdlog::info(" > transparency:  {}", transparent);
+    spdlog::info(" > render mode:   {:s}", magic_enum::enum_name(renderMode));
+    spdlog::info(" > depth comp op: {:s}",
+                 magic_enum::enum_name(depth_compare_op));
+    spdlog::info(" > prepass:       {}", had_prepass);
   }
 
   return GraphicsPipeline(device(), desc, nullptr);
diff --git a/src/candlewick/multibody/RobotScene.h b/src/candlewick/multibody/RobotScene.h
index 41cd24ae..9cf959a7 100644
--- a/src/candlewick/multibody/RobotScene.h
+++ b/src/candlewick/multibody/RobotScene.h
@@ -22,16 +22,6 @@
 namespace candlewick {
 enum class RenderMode;
 
-/// \brief Terminate the application after encountering an invalid enum value.
-template <typename T>
-  requires std::is_enum_v<T>
-[[noreturn]] void
-invalid_enum(const char *msg, T type,
-             std::source_location location = std::source_location::current()) {
-  terminate_with_message(location, "Invalid enum: {:s} - {:s}", msg,
-                         magic_enum::enum_name(type));
-}
-
 namespace multibody {
 
   /// \brief A system for updating the transform components for robot geometry
diff --git a/src/candlewick/multibody/Visualizer.cpp b/src/candlewick/multibody/Visualizer.cpp
index 047194d0..ebe77704 100644
--- a/src/candlewick/multibody/Visualizer.cpp
+++ b/src/candlewick/multibody/Visualizer.cpp
@@ -36,7 +36,7 @@ static RenderContext _create_renderer(const Visualizer::Config &config,
   if (!SDL_Init(SDL_INIT_VIDEO)) {
     terminate_with_message("Failed to init video: {:s}", SDL_GetError());
   }
-  SDL_Log("Video driver: %s", SDL_GetCurrentVideoDriver());
+  spdlog::info("Video driver: {:s}", SDL_GetCurrentVideoDriver());
 
   RenderContext r{Device{auto_detect_shader_format_subset()},
                   Window{"Candlewick Pinocchio visualizer", int(config.width),
@@ -104,15 +104,15 @@ void Visualizer::initialize() {
   this->resetCamera();
   this->loadViewerModel();
 
-  SDL_Log("┌───────Controls────────");
-  SDL_Log("│ Toggle GUI:      [%s]", "H");
-  SDL_Log("│ Move camera:     [%s]",
-          sdlMouseButtonToString(cameraParams.mouseButtons.rotButton));
-  SDL_Log("│ Pan camera:      [%s]",
-          sdlMouseButtonToString(cameraParams.mouseButtons.panButton));
-  SDL_Log("│ Y-rotate camera: [%s]",
-          sdlMouseButtonToString(cameraParams.mouseButtons.yRotButton));
-  SDL_Log("└───────────────────────");
+  spdlog::info("┌───────Controls──────────");
+  spdlog::info("│ Toggle GUI:      [{:s}] ", "H");
+  spdlog::info("│ Move camera:     [{:s}] ",
+               sdlMouseButtonToString(cameraParams.mouseButtons.rotButton));
+  spdlog::info("│ Pan camera:      [{:s}] ",
+               sdlMouseButtonToString(cameraParams.mouseButtons.panButton));
+  spdlog::info("│ Y-rotate camera: [{:s}] ",
+               sdlMouseButtonToString(cameraParams.mouseButtons.yRotButton));
+  spdlog::info("└─────────────────────────");
 }
 
 void Visualizer::resetCamera() {
@@ -220,7 +220,8 @@ void Visualizer::render() {
 void Visualizer::takeScreenshot(std::string_view filename) {
   CommandBuffer command_buffer{device()};
   auto [width, height] = renderer.window.sizeInPixels();
-  SDL_Log("Saving %dx%d screenshot at: '%s'", width, height, filename.data());
+  spdlog::info("Saving {:d} x {:d} screenshot at: \'{:s}\'", width, height,
+               filename);
   media::saveTextureToFile(command_buffer, device(), m_transferBuffers,
                            renderer.resolvedColorTarget(),
                            renderer.colorFormat(), Uint16(width),
@@ -237,10 +238,9 @@ void Visualizer::startRecording([[maybe_unused]] std::string_view filename) {
                        m_videoSettings);
   m_currentVideoFilename = filename;
 #else
-  SDL_LogWarn(SDL_LOG_CATEGORY_APPLICATION,
-              "Visualizer::%s() does nothing here, since Candlewick was "
-              "compiled without FFmpeg support.",
-              __FUNCTION__);
+  spdlog::warn("Visualizer::{:s}() does nothing here, since Candlewick was "
+               "compiled without FFmpeg support.",
+               __FUNCTION__);
 #endif
 }
 
@@ -249,7 +249,6 @@ bool Visualizer::stopRecording() {
   if (!m_videoRecorder.isRecording())
     return false;
   m_currentVideoFilename.clear();
-  SDL_Log("Wrote %d frames.", m_videoRecorder.frameCounter());
   m_videoRecorder.close();
   return true;
 #else
@@ -295,10 +294,6 @@ void Visualizer::setFrameExternalForce(pin::FrameIndex frame_id,
   }
 
   // otherwise, create the arrow
-#ifndef NDEBUG
-  SDL_Log("Force arrow not found for frame %zu, adding arrow with lifetime %u",
-          frame_id, initial_lifetime);
-#endif
   auto [ent, dmc] = debugScene.addArrow();
   registry.emplace<ExternalForceComponent>(ent, frame_id, force,
                                            initial_lifetime, dmc.colors[0]);
diff --git a/src/candlewick/multibody/visualizer_gui.cpp b/src/candlewick/multibody/visualizer_gui.cpp
index 38394fae..5504b516 100644
--- a/src/candlewick/multibody/visualizer_gui.cpp
+++ b/src/candlewick/multibody/visualizer_gui.cpp
@@ -2,7 +2,6 @@
 #include "RobotDebug.h"
 
 #include <SDL3/SDL_events.h>
-#include <SDL3/SDL_log.h>
 
 #include <imgui.h>
 #include <imgui_impl_sdl3.h>
@@ -183,7 +182,7 @@ void Visualizer::processEvents() {
     ImGui_ImplSDL3_ProcessEvent(&event);
 
     if (event.type == SDL_EVENT_QUIT) {
-      SDL_Log("Exiting application...");
+      spdlog::info("Exiting application...");
       m_shouldExit = true;
     }
 
diff --git a/src/candlewick/posteffects/ScreenSpaceShadows.cpp b/src/candlewick/posteffects/ScreenSpaceShadows.cpp
index 78996a38..5ff7ae5e 100644
--- a/src/candlewick/posteffects/ScreenSpaceShadows.cpp
+++ b/src/candlewick/posteffects/ScreenSpaceShadows.cpp
@@ -6,8 +6,6 @@
 #include "../core/Shader.h"
 #include "../core/Camera.h"
 
-#include <SDL3/SDL_log.h>
-
 namespace candlewick {
 namespace effects {
   ScreenSpaceShadowPass::ScreenSpaceShadowPass(const RenderContext &renderer,
diff --git a/src/candlewick/runtime/main.cpp b/src/candlewick/runtime/main.cpp
index e0a2c43e..410b8646 100644
--- a/src/candlewick/runtime/main.cpp
+++ b/src/candlewick/runtime/main.cpp
@@ -14,6 +14,8 @@
 #include <CLI/Formatter.hpp>
 #include <CLI/Config.hpp>
 
+#include <spdlog/cfg/env.h>
+
 namespace cdw = candlewick;
 namespace pin = pinocchio;
 using namespace cdw::runtime;
@@ -63,13 +65,14 @@ bool handle_first_message(ApplicationContext &app_ctx) {
       // send response only when models loaded.
       sock.send(zmq::str_buffer("ok"));
 
-      SDL_Log("Loaded model with %d joints", app_ctx.model.njoints);
-      SDL_Log("Loaded geometry model with %zd gobjs",
-              app_ctx.visual_model.ngeoms);
+      spdlog::info("Loaded model with {:d} joints", app_ctx.model.njoints);
+      spdlog::info("Loaded geometry model with {:d} gobjs",
+                   app_ctx.visual_model.ngeoms);
       return true;
     } else {
-      SDL_Log("First message must have header \'%s\', got \'%s\'. Retry.",
-              CMD_send_models.data(), msg_header.data());
+      spdlog::error(
+          "First message must have header \'{:s}\', got \'{:s}\'. Retry.",
+          CMD_send_models, msg_header);
       continue;
     }
   }
@@ -150,7 +153,9 @@ void run_main_loop(Visualizer &viz, ApplicationContext &app_ctx) {
   }
 }
 
-int main(int argc, char **argv) {
+int main(int argc, char *argv[]) {
+  spdlog::cfg::load_env_levels();
+  spdlog::set_pattern(">>> [%T] [%^%l%$] %v");
   CLI::App app{"Candlewick visualizer runtime"};
   argv = app.ensure_utf8(argv);
 
@@ -175,9 +180,9 @@ int main(int argc, char **argv) {
 
   std::string endpoint;
   endpoint = sync_sock.get(zmq::sockopt::last_endpoint);
-  SDL_Log("ZMQ endpoint (setup): %s", endpoint.c_str());
+  spdlog::info("ZMQ endpoint (setup): {:s}", endpoint);
   endpoint = state_sock.get(zmq::sockopt::last_endpoint);
-  SDL_Log("ZMQ endpoint (state): %s", endpoint.c_str());
+  spdlog::info("ZMQ endpoint (state): {:s}", endpoint);
 
   // Handle first message
   bool loaded_models = handle_first_message(app_ctx);
diff --git a/src/candlewick/utils/LoadMesh.cpp b/src/candlewick/utils/LoadMesh.cpp
index 1ccc04a6..ccc9a4d0 100644
--- a/src/candlewick/utils/LoadMesh.cpp
+++ b/src/candlewick/utils/LoadMesh.cpp
@@ -5,7 +5,7 @@
 #include "../core/DefaultVertex.h"
 
 #include <source_location>
-#include <SDL3/SDL_log.h>
+#include <spdlog/spdlog.h>
 #include <assimp/scene.h>
 #include <assimp/postprocess.h>
 #include <assimp/Importer.hpp>
@@ -55,7 +55,7 @@ MeshData loadAiMesh(const aiMesh *inMesh, const aiMatrix4x4 transform) {
 static void log_resource_failure(
     const char *err_message,
     std::source_location loc = std::source_location::current()) {
-  SDL_LogWarn(SDL_LOG_CATEGORY_APPLICATION, "%s: Failed to load resource [%s]",
+  spdlog::log(spdlog::level::warn, "{}: Failed to load resource [{:s}]",
               loc.function_name(), err_message);
 }
 
diff --git a/src/candlewick/utils/MeshData.cpp b/src/candlewick/utils/MeshData.cpp
index b68a3cdc..922b0ab8 100644
--- a/src/candlewick/utils/MeshData.cpp
+++ b/src/candlewick/utils/MeshData.cpp
@@ -3,8 +3,6 @@
 #include "../core/Mesh.h"
 #include "../core/CommandBuffer.h"
 
-#include <SDL3/SDL_log.h>
-
 namespace candlewick {
 
 MeshData::MeshData(NoInitT) {}
@@ -160,10 +158,7 @@ void uploadMeshToDevice(const Device &device, const MeshView &meshView,
   SDL_ReleaseGPUTransferBuffer(device, transfer_buffer);
   SDL_EndGPUCopyPass(copy_pass);
   if (!upload_command_buffer.submit()) {
-    SDL_LogError(SDL_LOG_CATEGORY_APPLICATION,
-                 "%s: Failed to submit command buffer: %s", __FILE__,
-                 SDL_GetError());
-    assert(false);
+    spdlog::error("Failed to submit command buffer: {:s}", SDL_GetError());
   }
 }
 
diff --git a/src/candlewick/utils/VideoRecorder.cpp b/src/candlewick/utils/VideoRecorder.cpp
index 2d3ea168..f975420f 100644
--- a/src/candlewick/utils/VideoRecorder.cpp
+++ b/src/candlewick/utils/VideoRecorder.cpp
@@ -7,6 +7,8 @@
 #include <SDL3/SDL_filesystem.h>
 #include <magic_enum/magic_enum.hpp>
 #include <filesystem>
+#include <spdlog/spdlog.h>
+#include <spdlog/fmt/std.h>
 
 extern "C" {
 #include <libavutil/pixfmt.h>
@@ -279,7 +281,9 @@ namespace media {
       terminate_with_message("Recording stream already open.");
     }
 
-    SDL_Log("[VideoRecorder] Opening stream at %s", filename.data());
+    spdlog::info(
+        "[{}] Opening video stream at {:s} (fps = {:d}, bitrate = {:d}Mbps)",
+        typeid(*this), filename, settings.fps, settings.bitRate / 1000);
     m_width = width;
     m_height = height;
     if (settings.outputWidth == 0)
@@ -293,6 +297,8 @@ namespace media {
   Uint32 VideoRecorder::frameCounter() const { return m_impl->m_frameCounter; }
 
   void VideoRecorder::close() noexcept {
+    spdlog::info("[{}] Closing recording stream, wrote {:d} frames.",
+                 typeid(*this), frameCounter());
     if (m_impl)
       m_impl.reset();
   }
diff --git a/src/candlewick/utils/WriteTextureToImage.cpp b/src/candlewick/utils/WriteTextureToImage.cpp
index 465c56ac..ff7efa5b 100644
--- a/src/candlewick/utils/WriteTextureToImage.cpp
+++ b/src/candlewick/utils/WriteTextureToImage.cpp
@@ -47,7 +47,7 @@ namespace media {
 
       // grow by 20%
       _currentBufSize = Uint32(1.2 * requiredSize);
-      SDL_Log("Reallocate transfer buffer of size %u", _currentBufSize);
+      spdlog::debug("Reallocate transfer buffer of size {:d}", _currentBufSize);
       _buffer = acquireBufferImpl(_device, _currentBufSize);
     }
     return _buffer;