♻️ crazy refactor

configs/sysid.yaml

@@ -0,0 +1,25 @@
+# System identification defaults.
+# Override via CLI: python -m src.sysid.optimize sysid.max_generations=50
+#
+# These are NOT Hydra config groups — the sysid scripts use argparse.
+# This file serves as documentation and can be loaded by custom wrappers.
+
+capture:
+  port: /dev/cu.usbserial-0001
+  baud: 115200
+  duration: 20.0          # seconds
+  amplitude: 180           # max PWM magnitude (0–255)
+  hold_min_ms: 50          # PRBS min hold time
+  hold_max_ms: 300         # PRBS max hold time
+  dt: 0.02                 # sample period (50 Hz)
+
+optimize:
+  sigma0: 0.3              # CMA-ES initial step size (in [0,1] normalised space)
+  population_size: 20      # candidates per generation
+  max_generations: 200     # total generations (~4000 evaluations)
+  sim_dt: 0.002            # MuJoCo physics timestep
+  substeps: 10             # physics substeps per control step (ctrl_dt = 0.02s)
+  pos_weight: 1.0          # MSE weight for angle errors
+  vel_weight: 0.1          # MSE weight for velocity errors
+  window_duration: 0.5     # multiple-shooting window length (s); 0 = open-loop
+  seed: 42