Registry

The registries every {type: Name} of a config is resolved in, Cfg[...] for slots that hold other components and INJECTED arguments. How to register a class of your own: Add a component.

grasppanda.registry

Component registries.

Every swappable piece of GraspPanda is a class registered in exactly one flat :class:Registry. A config node {type: Name, **kwargs} is resolved against the registry that owns the slot it sits in; the owner is decided by the parent's type annotation (Cfg[Backbone]), never by searching every registry for a name.

Design notes (see docs/design/ARCHITECTURE.md §6):

• Lookup is lazy: the first get imports every module below the registry's package, so adding a file is enough to register a component.
• Duplicate names raise. A failed lookup lists close matches and says whether the name lives in a different registry.
• Registered classes may not take **kwargs: every config key must be checkable against a signature before anything is constructed.

RegistryError

Bases: LookupError

A component name could not be resolved or registered.

BuildError

Bases: RuntimeError

A component could not be constructed from its config node.

Cfg

Bases: Generic[T]

Annotation for a component slot.

backbone: Cfg[Backbone] means: either an already built Backbone or a config node {type: ...} that builds one. The static validator uses the type argument to find the registry that owns the slot.

Registry

A flat name → component table with lazy auto-import.

Parameters:

Name	Type	Description	Default
name	str	Display name, upper case by convention ("BACKBONES").	required
location	str | None	Dotted package whose modules are imported on first lookup.	None
provided	tuple[str, ...]	Constructor arguments the engine supplies itself (for example params of an optimizer); the validator does not expect them in a config.	()
injectable	tuple[str, ...]	Required constructor arguments the engine fills in when a config leaves them out (for example T_max of a scheduler, which is the length of the run); a config may still set them.	()
populate	Callable[[Registry], None] | None	Callback that fills the registry on first lookup, used to expose third-party classes such as torch.optim optimizers.	None

third_party property

True when the registry exposes classes this project does not define.

base(cls)

Class decorator declaring the base type of this registry's components.

register(name=None, *, force=False, allow_var_kwargs=False)

Decorator form of :meth:add.

add(obj, name=None, *, force=False, allow_var_kwargs=False)

Register obj under name (default: its __name__).

names()

Sorted names of all registered components.

get(name)

Return the component registered as name or raise :class:RegistryError.

build(cfg, /, **injected)

Construct a component from a config node.

cfg is {type: Name, **kwargs} or an already built object, which is returned unchanged. injected values fill parameters the node leaves unset; a node that sets the same parameter to a different value is an error rather than a silent override.

component_parameters(obj)

Return the keyword parameters of a component and whether it takes **kwargs.

all_registries()

All registries by name.

registry_for(tp)

Return the registry whose base class tp is or derives from.

slot_registry(annotation)

Return the registry named by a Cfg[Base] annotation, else None.