feat: add component config#200
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Drop the report/brief duplicates of the design note, fold the rollout status into the spec, and track the wire-decision record the spec links to. Co-authored-by: Cursor <cursoragent@cursor.com>
Deduplicate the copy-pasted owner/publisher envelope validators and class-path normalizers into one parameterized module, and replace the lazy physicalai.config __getattr__ with plain imports. Co-authored-by: Cursor <cursoragent@cursor.com>
Drop the unused _resolve_public_class_path alias and no-op keep_by_reference parameter, collapse the _session kwargs duplication in SharedRobot, and trim design-note prose restated on private helpers. Co-authored-by: Cursor <cursoragent@cursor.com>
A live robot/camera recipe missing its protocol's is_connected surface now raises TypeError instead of silently passing the disconnected check; also type the robot CLI test namespaces so pyrefly stops flagging SimpleNamespace. Co-authored-by: Cursor <cursoragent@cursor.com>
Simplify the component-config transport integration and close config round-trip gaps found while making the branch review-ready. - transport: remove SharedRobot.from_robot / SharedCamera.from_camera sugar; the constructor coercion path already covers live-instance recipes. Convert the sugar tests to constructor-path tests so the connected / config-exportable / disconnected validation stays covered. - cli: accept both a runtime:-rooted document and a bare exported RobotRuntime ComponentConfig in `physicalai run --config`, via a small ActionConfigFile subclass that unwraps a top-level class_path on load. This makes to_config(runtime) + save_yaml round-trip with no separate export API; a foreign class_path is rejected via parser.error. - capture: rename transport CameraSpec to CameraPublisherConfig to avoid colliding with inference.manifest.CameraSpec. - robot(so101): make allow_uncalibrated public and default calibration to None so an uncalibrated export round-trips through jsonargparse; the runtime guard still requires explicit opt-in. - docs: update the component-config spec (CLI both-ways, save_yaml round-trip, coercion contract, uncalibrated note); drop the from_robot / from_camera / CameraSpec mandates and the scratch issues note. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Adds @export_config(config_args=...) so a class can declare init args it consumes as ComponentConfig *data*. instantiate() hands those mappings over undecoded instead of building the nested component and letting the owner immediately re-serialize it. SharedRobot and SharedCamera declare robot/camera this way, which removes the build-then-unbuild round trip, the live-instance coercion helpers, and the is_connected property-vs-method asymmetry between the two protocols. Both constructors now take a ComponentConfig mapping only; a caller holding a live driver converts it explicitly with to_config(driver).
…opes normalize_class_reference imported every string class_path so a defining-module path could be rewritten to its public re-export. That import runs in the subscriber process, which made SharedCamera/SharedRobot construction require the vendor SDK on machines that only attach to a publisher - realsense/_camera.py imports pyrealsense2 at module scope. The same problem sat in builtin.py, which imported all three driver modules behind an lru_cache to resolve the token map live. A string class_path is now trusted and stored exactly as written; only class objects resolve to a public path. Import errors surface where they belong, in the process that calls instantiate(). builtin.py becomes a static table listing every accepted spelling per backend, so one device still derives one service name however the config names its driver.
validate_component_config already requires class_path to be a string, so normalize_class_reference's class-object branch was unreachable from every envelope path. Its only remaining callers were normalize_robot_class and normalize_camera_class, which had no production call sites at all. Inlines the dotted-path check into normalize_component_config and removes normalize_class_reference from the physicalai.config surface, leaving two public envelope helpers instead of three. Also records why the camera envelope is CameraPublisherConfig rather than CameraSpec, mirroring the collision rationale already documented on RobotOwnerConfig.
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