✨ clean up lot of stuff

configs/sysid.yaml

@@ -1,5 +1,5 @@
 # System identification defaults.
-# Override via CLI: python -m src.sysid.optimize sysid.max_generations=50
+# Override via CLI: python scripts/sysid.py optimize --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.
@@ -8,18 +8,25 @@ capture:
   port: /dev/cu.usbserial-0001
   baud: 115200
   duration: 20.0          # seconds
-  amplitude: 180           # max PWM magnitude (0–255)
+  amplitude: 150           # max PWM magnitude — must match firmware MAX_MOTOR_SPEED
   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)
+  population_size: 50      # candidates per generation
+  max_generations: 1000     # 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
+
+# Tunable hardware-realism params (added to ROTARY_CARTPOLE_PARAMS):
+#   ctrl_limit      — effective motor range → exported as ctrl_range in robot.yaml
+#   motor_deadzone  — L298N minimum |action| for torque → exported as deadzone in robot.yaml
+# Firmware sends raw (unfiltered) sensor data; EMA filtering is
+# handled on the Python side (env transforms) and is NOT part of
+# the sysid parameter search.