simulation:
  world: uav_ugv_search.sdf
  software_render: auto

physics:
  max_step_size: 0.002
  real_time_factor: 1.0

sensor_noise:
  enabled: true
  position_stddev: 0.05
  velocity_stddev: 0.1
  gyro_stddev: 0.0002
  accel_stddev: 0.017

gps:
  enabled: true
  update_rate: 5
  noise_stddev: 2.0
  purpose: geofence_only

initial_positions:
  uav:
    x: 0.0
    y: 0.0
    z: 0.195
    yaw: 90.0
  ugv:
    x: 5.0
    y: 5.0
    z: 0.0
    yaw: 0.0

logging:
  enabled: true
  log_directory: logs