Config options

[Dreamsorcerer]

Problem

Users need to be able to pass configuration options for blueprints. This adds basic support for CLI arguments, envvars and config files.

Closes #1082.

Solution

Typer is not compatible with this kind of dynamic configuration, therefore we basically tell it to give us arbitrary strings via -o and then do all the processing ourselves, along with providing our own help output.

How to Test

Should be able to add --help to dimos run to see blueprint options and then configure them with -o, env vars and JSON config files. For example:
RERUNBRIDGEMODULE__MEMORY_LIMIT="50%" dimos --simulation run unitree-go2 -o voxelgridmapper.voxel_size=1 --config=foo.json

[leshy]

let's document actual external cli use now, need something to share with devs/users.. cli.md?

like wasn't obvious I can now do a:

dimos run unitree-go2 -o g.unitree_connection_type=replay

also can we get an optional printout of values in the config tree when running dimos? I'd enable this by default also

[Dreamsorcerer]

let's document actual external cli use now, need something to share with devs/users.. cli.md?

like wasn't obvious I can now do a:

dimos run unitree-go2 -o g.unitree_connection_type=replay

I missed the usage/cli.md file, so have updated there. I'd note that while we can use g. in the -o format, the existing code already has global config arguments hacked into typer, so I'll leave the documented approach for globals to use that existing option.

also can we get an optional printout of values in the config tree when running dimos? I'd enable this by default also

I'm not clear exactly what you mean here, can you provide an example? Should probably be pushed to a separate PR though.