✨ clean up lot of stuff

scripts/motor_sysid.py

@@ -0,0 +1,64 @@
+"""Unified CLI for motor-only system identification.
+
+Usage:
+    python scripts/motor_sysid.py capture   --duration 20
+    python scripts/motor_sysid.py optimize  --recording assets/motor/recordings/<file>.npz
+    python scripts/motor_sysid.py visualize --recording assets/motor/recordings/<file>.npz
+    python scripts/motor_sysid.py export    --result assets/motor/motor_sysid_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(
+            "Motor System Identification\n"
+            "===========================\n"
+            "Usage: python scripts/motor_sysid.py <command> [options]\n"
+            "\n"
+            "Commands:\n"
+            "  capture    Record motor trajectory under PRBS excitation\n"
+            "  optimize   Run CMA-ES to fit motor parameters\n"
+            "  visualize  Plot real vs simulated motor response\n"
+            "  export     Write tuned MJCF + robot.yaml files\n"
+            "\n"
+            "Workflow:\n"
+            "  1. Flash sysid firmware to ESP32 (motor-only, no limits)\n"
+            "  2. python scripts/motor_sysid.py capture --duration 20\n"
+            "  3. python scripts/motor_sysid.py optimize --recording <file>.npz\n"
+            "  4. python scripts/motor_sysid.py visualize --recording <file>.npz\n"
+            "\n"
+            "Run '<command> --help' for command-specific options."
+        )
+        sys.exit(0)
+
+    command = sys.argv[1]
+    sys.argv = [f"motor_sysid {command}"] + sys.argv[2:]
+
+    if command == "capture":
+        from src.sysid.motor.capture import main as cmd_main
+    elif command == "optimize":
+        from src.sysid.motor.optimize import main as cmd_main
+    elif command == "visualize":
+        from src.sysid.motor.visualize import main as cmd_main
+    elif command == "export":
+        from src.sysid.motor.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()