{
  "schema_version": 1,
  "name": "upright-balance-demo",
  "pendulum": {
    "nodes": 2,
    "lengths_m": [0.8, 0.8],
    "initial_angles_deg": [174, 176],
    "initial_angular_velocity_deg_s": [0, 0],
    "base_position": 0.5,
    "base_velocity_m_s": 0
  },
  "excitation": {
    "angle_noise_deg": 1.5,
    "angular_velocity_noise_deg_s": 0.6,
    "base_position_noise": 0.01,
    "episodes_per_candidate": 3
  },
  "training": {
    "algorithm": "cem-linear-policy",
    "iterations": 20,
    "population": 48,
    "elite_fraction": 0.18,
    "episode_seconds": 8,
    "simulation_hz": 90,
    "initial_sigma": 0.65,
    "seed": 42
  },
  "controller": {
    "max_base_travel": 2.6,
    "angle_cost": 18,
    "angular_velocity_cost": 1.1,
    "base_position_cost": 1.2,
    "base_velocity_cost": 0.18,
    "control_cost": 0.012
  },
  "physics": {
    "friction_coefficient": 0.05
  },
  "apply_result_after_training": false
}