♻️ crazy refactor

scripts/sysid.py

@@ -0,0 +1,57 @@
+"""Unified CLI for system identification tools.
+
+Usage:
+    python scripts/sysid.py capture  --robot-path assets/rotary_cartpole --duration 20
+    python scripts/sysid.py optimize --robot-path assets/rotary_cartpole --recording <file>.npz
+    python scripts/sysid.py visualize --recording <file>.npz
+    python scripts/sysid.py export   --robot-path assets/rotary_cartpole --result <result>.json
+"""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+# Ensure project root is on sys.path
+_PROJECT_ROOT = str(Path(__file__).resolve().parent.parent)
+if _PROJECT_ROOT not in sys.path:
+    sys.path.insert(0, _PROJECT_ROOT)
+
+
+def main() -> None:
+    if len(sys.argv) < 2 or sys.argv[1] in ("-h", "--help"):
+        print(
+            "Usage: python scripts/sysid.py <command> [options]\n"
+            "\n"
+            "Commands:\n"
+            "  capture    Record real robot trajectory under PRBS excitation\n"
+            "  optimize   Run CMA-ES parameter optimization\n"
+            "  visualize  Plot real vs simulated trajectories\n"
+            "  export     Write tuned URDF + robot.yaml files\n"
+            "\n"
+            "Run 'python scripts/sysid.py <command> --help' for command-specific options."
+        )
+        sys.exit(0)
+
+    command = sys.argv[1]
+    # Remove the subcommand from argv so the module's argparse works normally
+    sys.argv = [f"sysid {command}"] + sys.argv[2:]
+
+    if command == "capture":
+        from src.sysid.capture import main as cmd_main
+    elif command == "optimize":
+        from src.sysid.optimize import main as cmd_main
+    elif command == "visualize":
+        from src.sysid.visualize import main as cmd_main
+    elif command == "export":
+        from src.sysid.export import main as cmd_main
+    else:
+        print(f"Unknown command: {command}")
+        print("Available commands: capture, optimize, visualize, export")
+        sys.exit(1)
+
+    cmd_main()
+
+
+if __name__ == "__main__":
+    main()