Reduce and clean up logging

NOTE: PLEASE MERGE THIS AFTER MERGING PREVIOUS TWO PULL REQUESTS (Make object detection possible in simulation, Write readme). This includes the previous commits from those two pull requests.

Main features:  
- IK reachability results now only display when they change. They also display step no. and side (right/left)
- Execution displays with step contents indented for easy viewing
- Gaze actions now display helpful strings instead of numbers
- Many duplicate warnings in Session now log which specific problem they are reporting.
- GUI warnings now show they are from the GUI and not actually warnings
- Logging "unknown events"---clicking on IM markers---silenced
- Object position logging improved in World
- Whitespace automatically removed in all edited files