# Serial runner — communicates with real hardware over USB/serial.
# Always single-env, CPU-only.  Override port on CLI:
#   python train.py runner=serial runner.port=/dev/ttyUSB0

num_envs: 1
device: cpu
port: /dev/cu.usbserial-0001
baud: 115200
dt: 0.02                    # control loop period (50 Hz)
no_data_timeout: 2.0        # seconds of silence before declaring disconnect
encoder_jump_threshold: 200  # encoder tick jump → reboot detection