Improved logging

[sea-bass]

Better late than never!

I was digging through the logging module and made some nice updates. Now:

• All print (unless it's an actual print function) and warnings.warn calls have been replaced with actual logging
• There are 3 types of loggers: A PyRoboSim global logger, a world logger, and per-robot loggers
• When attaching a ROS node, the world and per-robot loggers change to actual ROS loggers

Closes #88

[github-actions]

Coverage Report

File	Stmts	Miss	Cover	Missing
__init__.py	0	0	100%
core
__init__.py	9	0	100%
dynamics.py	49	1	97%	142
gazebo.py	137	8	94%	55, 128, 234, 248–252
hallway.py	94	8	91%	200, 242–245, 269–271
locations.py	131	18	86%	69, 71, 88, 104, 117–118, 120–121, 138, 196, 211, 236, 246, 302–303, 305–306, 335
objects.py	69	5	92%	78, 106, 137, 184, 197
robot.py	480	84	82%	268, 271, 283, 286, 290–291, 296–297, 337–339, 355, 372–373, 412–414, 418–422, 447, 450, 454–456, 483, 485, 527–528, 530–531, 537–538, 547–550, 555, 557, 566–568, 575–577, 639–641, 666–668, 674–675, 683–687, 732–734, 745–746, 806–808, 813, 860–862, 867, 885, 891, 894, 896, 898, 901–903, 980, 998, 1001
room.py	48	1	97%	113
world.py	820	190	76%	160, 163, 199–200, 204, 278–279, 281, 284, 314–315, 377, 391–392, 394, 397, 412–414, 434–438, 440–442, 444–445, 448, 450–453, 457–461, 464–465, 468, 471–482, 498–499, 517–519, 533, 535, 538–539, 544–546, 565–566, 568–569, 585, 587, 590–591, 596–598, 608–610, 627–628, 630–631, 645, 647, 650–651, 656–658, 681, 683, 686–687, 692–694, 730, 736, 772–773, 776, 799, 819, 822, 833, 836, 844, 860–864, 866, 869–870, 873–876, 878, 881, 884–885, 888–890, 892–894, 896–898, 900, 915, 922, 933–937, 972–973, 977–978, 996–997, 1003–1004, 1006–1007, 1009, 1011–1012, 1014, 1016–1017, 1027–1028, 1031, 1033, 1047, 1049, 1056, 1103, 1134–1135, 1158–1159, 1163–1164, 1183–1184, 1188–1189, 1214–1215, 1268–1269, 1293, 1358, 1365, 1475–1476, 1528, 1608–1609, 1675, 1685
yaml_utils.py	109	6	94%	62, 66, 168, 171, 190, 193
gui
__init__.py	2	0	100%
action_runners.py	91	48	47%	32–33, 35–39, 41, 74–75, 77–81, 83, 109–110, 112–116, 118, 144–145, 147–151, 153, 176–177, 179–183, 185, 208–209, 211–215, 217
main.py	274	72	73%	23–25, 46, 90, 94–97, 246–255, 267–276, 279, 286–289, 291, 294–300, 304, 309–310, 314–315, 326, 369–370, 379–380, 384–385, 397, 400–403, 405–406, 409–412, 414–416, 420–423
world_canvas.py	263	52	80%	134–137, 141–142, 147–148, 155, 157, 159, 216–218, 224, 226, 246–248, 293, 350–351, 378–379, 381, 383–384, 386–389, 391–392, 396–402, 405, 408–409, 422, 440–441, 443, 449, 451–454
manipulation
__init__.py	1	0	100%
grasping.py	237	64	73%	100, 108, 110–112, 114–122, 124, 132, 462, 464–466, 470–472, 566–567, 569–571, 574–578, 586, 589–591, 596–597, 603–607, 610–617, 620–622, 631, 633, 635–641
navigation
__init__.py	11	1	90%	37
a_star.py	76	11	85%	82–84, 87–89, 91–93, 181, 190
execution.py	94	7	92%	81–83, 88–90, 125
occupancy_grid.py	139	14	89%	45–48, 50–54, 57, 193, 227, 235, 239
prm.py	55	4	92%	59–60, 139, 148
rrt.py	160	0	100%
visualization.py	32	6	81%	88–93
world_graph.py	58	4	93%	117, 120, 130, 139
planning
__init__.py	0	0	100%
actions.py	112	0	100%
planning/pddlstream
__init__.py	7	1	85%	13
default_mappings.py	9	0	100%
planner.py	40	8	80%	119–126
primitives.py	61	5	91%	64, 68, 82, 94, 232
utils.py	99	8	91%	66, 93, 105, 115–116, 207–208, 211
utils
__init__.py	0	0	100%
general.py	33	4	87%	23, 45, 51–52
knowledge.py	152	20	86%	91, 122, 163–168, 170–171, 174–178, 209–210, 252, 268, 331
logging.py	15	1	93%	55
motion.py	70	3	95%	93–94, 96
polygon.py	111	0	100%
pose.py	89	0	100%
search_graph.py	93	3	96%	239–241
trajectory.py	67	2	97%	130, 167
TOTAL	4397	659	85%

Tests	Skipped	Failures	Errors	Time
195	0 💤	0 ❌	0 🔥	3m 25s ⏱️

[eholum]

Hooray! Love me some real logging. I did a little playing around with this and it's a nice improvement!

I just have some ideas to consolidate log construction and configuration to a single place, even if you want to have "separate" loggers for different modules... also making the ROS logger globally available...

[eholum]

That is some high quality centralized logging