♻️ crazy refactor

assets/rotary_cartpole/hardware.yaml

@@ -0,0 +1,23 @@
+# Rotary cartpole (Furuta pendulum) — real hardware config.
+# Describes the physical device for the SerialRunner.
+# Robot-specific constants that don't belong in the runner config
+# (which is machine-specific: port, baud) or the env config
+# (which is task-specific: rewards, max_steps).
+
+encoder:
+  ppr: 11              # pulses per revolution (before quadrature)
+  gear_ratio: 30.0     # gearbox ratio
+  # counts_per_rev = ppr × gear_ratio × 4 (quadrature) = 1320
+
+safety:
+  max_motor_angle_deg: 90.0   # hard termination limit (0 = disabled)
+  soft_limit_deg: 40.0        # progressive penalty ramp starts here
+
+reset:
+  drive_speed: 80       # PWM magnitude for bang-bang drive-to-center
+  deadband: 15           # encoder count threshold to consider "centered"
+  drive_timeout: 3.0     # seconds before giving up on drive-to-center
+  settle_angle_deg: 2.0  # pendulum angle threshold for "still" (degrees)
+  settle_vel_dps: 5.0    # pendulum velocity threshold (deg/s)
+  settle_duration: 0.5   # how long pendulum must stay still (seconds)
+  settle_timeout: 30.0   # give up waiting after this (seconds)