max_steps: 1000
robot_path: assets/rotary_cartpole
reward_upright_scale: 1.0
speed_penalty_scale: 0.1

# ── HPO search ranges ────────────────────────────────────────────────
hpo:
  reward_upright_scale: {min: 0.5, max: 5.0}
  speed_penalty_scale: {min: 0.01, max: 1.0}
  max_steps: {values: [500, 1000, 2000]}