# System identification defaults.
# 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.

capture:
  port: /dev/cu.usbserial-0001
  baud: 115200
  duration: 20.0          # seconds
  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: 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.