add default rerun blueprint rbl

config/quad.yaml

@@ -4,6 +4,8 @@ use_multithreading_depth_rendering: true # Enable multithreading for depth rende
 use_rk4_for_dynamics_update: false # Enable Runge-Kutta 4th order integration for dynamics, otherwise Euler integration is used
 use_rk4_for_dynamics_control: false # Enable Runge-Kutta 4th order integration for dynamics, otherwise Euler integration is used
 
+rerun_blueprint: "config/peng_default_blueprint.rbl"
+
 simulation:
   control_frequency: 200 # Frequency of control loop execution (Hz)
   simulation_frequency: 1000 # Frequency of physics simulation updates (Hz)

src/config.rs

@@ -22,6 +22,8 @@ pub struct Config {
     pub mesh: MeshConfig,
     /// Planner schedule configuration
     pub planner_schedule: Vec<PlannerStep>,
+    /// Rerun blueprint path
+    pub rerun_blueprint: String,
     /// Use rerun.io for recording
     pub use_rerun: bool,
     /// Render depth

src/main.rs

@@ -14,7 +14,7 @@ fn main() -> Result<(), SimulationError> {
         log::info!("Loading configuration: {}", args[1]);
         config_str = &args[1];
     }
-    let config = config::Config::from_yaml(config_str).expect("Failed to load configuration");
+    let config = config::Config::from_yaml(config_str).expect("Failed to load configuration.");
     let mut quad = Quadrotor::new(
         1.0 / config.simulation.simulation_frequency as f32,
         config.quadrotor.mass,
@@ -72,6 +72,9 @@ fn main() -> Result<(), SimulationError> {
     } else {
         None
     };
+    if let Some(rec) = &rec {
+        rec.log_file_from_path(config.rerun_blueprint, None, false)?;
+    }
     if let Some(rec) = &rec {
         rec.set_time_seconds("timestamp", 0);
         log_mesh(rec, config.mesh.division, config.mesh.spacing)?;