Improve log output and environment initialization summary

[yuecideng]

Description

This PR improves EmbodiChain console output and environment startup diagnostics:

• format log timestamps as UTC date/time with millisecond precision;
• align log levels and separate fields with clear column delimiters;
• apply defaults for all four levels (DEBUG cyan, INFO green, WARNING yellow, and ERROR red);
• preserve per-call color overrides and allow color=None to disable coloring;
• replace the legacy tabbed environment messages with a compact tree summary;
• include runtime configuration, timing, concise Gym metadata, robot, and sensor information;
• list every built-in manager, disabled managers, and all active functors grouped by mode;
• defer the EmbodiedEnv summary until managers and recording buffers are initialized;
• emit each summary row as a separate log record so every row retains timestamp, level, and component columns.

Representative output:

2026-08-19 15:02:36.123 UTC │ INFO │ EmbodiChain │ ╭─ Environment initialized: ExampleEnv
2026-08-19 15:02:36.124 UTC │ INFO │ EmbodiChain │ ├─ Runtime
2026-08-19 15:02:36.125 UTC │ INFO │ EmbodiChain │ │ Device cuda:0
2026-08-19 15:02:36.126 UTC │ INFO │ EmbodiChain │ ├─ Managers (4/5 active, 8 functors)
2026-08-19 15:02:36.127 UTC │ INFO │ EmbodiChain │ │ EventManager 3 functors
2026-08-19 15:02:36.128 UTC │ INFO │ EmbodiChain │ │ reset reset_robot, randomize_objects
2026-08-19 15:02:36.129 UTC │ INFO │ EmbodiChain │ ╰─ Ready

Dependencies: none. Issue: N/A.

Type of change

• Enhancement (non-breaking change which improves existing functionality)

Screenshots

Not applicable; representative terminal output is included above.

Validation

• black --check --diff --color ./ — 674 files unchanged
• pytest tests/utils/test_logger.py -v — 10 passed
• pytest tests/gym/envs -m "not requires_sim" -q — 287 passed, 1 skipped, 22 deselected
• pytest tests -q — 1594 passed, 107 skipped, 34 deselected

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation — not required for this terminal-output enhancement.
• I have added tests that prove the enhancement works.
• Dependencies have been updated, if applicable — no dependency changes were needed.

[greptile-apps]

Greptile Summary

The PR modernizes console logging and replaces legacy environment startup messages with a structured initialization summary.

• Adds UTC timestamps, aligned log columns, level-specific colors, and per-call color control.
• Reports runtime, timing, metadata, robot, sensor, manager, and functor details after initialization completes.
• Adds focused tests for logger formatting and initialization-summary contents.

Confidence Score: 5/5

The PR appears safe to merge.

No blocking failure remains.

Important Files Changed

Filename	Overview
embodichain/lab/gym/envs/base_env.py	Replaces legacy initialization messages with structured runtime, timing, metadata, robot, and sensor summary generation.
embodichain/lab/gym/envs/embodied_env.py	Defers summary output until managers and recording state are initialized, then includes manager and functor details.
embodichain/utils/logger.py	Adds UTC timestamp formatting, aligned columns, default level colors, custom color overrides, and optional plain records.
tests/gym/envs/test_initialization_summary.py	Verifies summary contents, metadata compaction, manager coverage, and logging behavior.
tests/utils/test_logger.py	Verifies timestamp layout, level colors, overrides, prefix omission, and formatted exceptions.

Sequence Diagram

sequenceDiagram
participant Caller
participant EmbodiedEnv
participant Managers
participant Summary
participant Logger
Caller->>EmbodiedEnv: Initialize environment
EmbodiedEnv->>Managers: Initialize managers and recording state
Managers-->>EmbodiedEnv: Initialization complete
EmbodiedEnv->>Summary: Build runtime and manager summary
Summary-->>EmbodiedEnv: Structured summary lines
EmbodiedEnv->>Logger: Emit initialization summary

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_{Reviews (4): Last reviewed commit: "wip" | Re-trigger Greptile}