diff --git a/config/quad.yaml b/config/quad.yaml
index 09c85cf4..ad67c5cd 100644
--- a/config/quad.yaml
+++ b/config/quad.yaml
@@ -1,106 +1,121 @@
+# Enable visualization using rerun.io
 use_rerun: true
 
 simulation:
-  control_frequency: 200.0
-  simulation_frequency: 1000.0
-  log_frequency: 20.0
-  duration: 70.0 # in seconds
+  control_frequency: 200.0 # Frequency of control loop execution (Hz)
+  simulation_frequency: 1000.0 # Frequency of physics simulation updates (Hz)
+  log_frequency: 20.0 # Frequency of data logging (Hz)
+  duration: 70.0 # Total duration of the simulation (seconds)
 
 quadrotor:
-  mass: 1.3
-  gravity: 9.81
-  drag_coefficient: 0.000
+  mass: 1.3 # Mass of the quadrotor (kg)
+  gravity: 9.81 # Gravitational acceleration (m/s^2)
+  drag_coefficient: 0.000 # Aerodynamic drag coefficient
+  # Inertia matrix [Ixx, Ixy, Ixz, Iyx, Iyy, Iyz, Izx, Izy, Izz] (kg*m^2)
   inertia_matrix: [3.04e-3, 0.0, 0.0, 0.0, 4.55e-3, 0.0, 0.0, 0.0, 2.82e-3]
 
 controller:
-  pos_gains:
-    kp: [7.1, 7.1, 11.9]
-    kd: [2.4, 2.4, 6.7]
-    ki: [0.0, 0.0, 0.0]
-  att_gains:
-    kp: [1.5, 1.5, 1.0]
-    kd: [0.13, 0.13, 0.1]
-    ki: [0.0, 0.0, 0.0]
-  pos_max_int: [10.0, 10.0, 10.0]
-  att_max_int: [0.5, 0.5, 0.5]
+  pos_gains: # PID gains for position control
+    kp: [7.1, 7.1, 11.9] # Proportional gains [x, y, z]
+    kd: [2.4, 2.4, 6.7] # Derivative gains [x, y, z]
+    ki: [0.0, 0.0, 0.0] # Integral gains [x, y, z]
+  att_gains: # PID gains for attitude control
+    kp: [1.5, 1.5, 1.0] # Proportional gains [roll, pitch, yaw]
+    kd: [0.13, 0.13, 0.1] # Derivative gains [roll, pitch, yaw]
+    ki: [0.0, 0.0, 0.0] # Integral gains [roll, pitch, yaw]
+  pos_max_int: [10.0, 10.0, 10.0] # Maximum integral error for position control [x, y, z]
+  att_max_int: [0.5, 0.5, 0.5] # Maximum integral error for attitude control [roll, pitch, yaw]
 
 imu:
-  accel_noise_std: 0.02
-  gyro_noise_std: 0.01
-  accel_bias_std: 0.0001
-  gyro_bias_std: 0.0001
+  accel_noise_std: 0.02 # Standard deviation of accelerometer noise (m/s^2)
+  gyro_noise_std: 0.01 # Standard deviation of gyroscope noise (rad/s)
+  accel_bias_std: 0.0001 # Standard deviation of accelerometer bias instability (m/s^2)
+  gyro_bias_std: 0.0001 # Standard deviation of gyroscope bias instability (rad/s)
 
 maze:
-  lower_bounds: [-3.0, -2.0, 0.0]
-  upper_bounds: [3.0, 2.0, 2.0]
-  num_obstacles: 20
-  obstacles_velocity_bounds: [0.2, 0.2, 0.1]
-  obstacles_radius_bounds: [0.05, 0.1]
+  lower_bounds: [-3.0, -2.0, 0.0] # Lower bounds of the maze [x, y, z] (m)
+  upper_bounds: [3.0, 2.0, 2.0] # Upper bounds of the maze [x, y, z] (m)
+  num_obstacles: 20 # Number of obstacles in the maze
+  obstacles_velocity_bounds: [0.2, 0.2, 0.1] # Maximum velocity of obstacles [x, y, z] (m/s)
+  obstacles_radius_bounds: [0.05, 0.1] # Range of obstacle radii [min, max] (m)
 
 camera:
-  resolution: [128, 96]
-  fov: 90.0
-  near: 0.1
-  far: 5.0
+  resolution: [128, 96] # Camera resolution [width, height] (pixels)
+  fov: 90.0 # Field of view (degrees)
+  near: 0.1 # Near clipping plane (m)
+  far: 5.0 # Far clipping plane (m)
 
 mesh:
-  division: 7
-  spacing: 0.5
+  division: 7 # Number of divisions in the mesh grid
+  spacing: 0.5 # Spacing between mesh lines (m)
 
 planner_schedule:
-  - step: 1000
+  # Minimum Jerk Line trajectory
+  - step: 1000 # Simulation step to start this planner
     planner_type: MinimumJerkLine
     params:
-      end_position: [0.0, 0.0, 1.0]
-      end_yaw: 0.0
-      duration: 2.5
+      end_position: [0.0, 0.0, 1.0] # Target end position [x, y, z] (m)
+      end_yaw: 0.0 # Target end yaw angle (rad)
+      duration: 2.5 # Duration of the trajectory (s)
+
+  # Lissajous trajectory
   - step: 5000
     planner_type: Lissajous
     params:
-      center: [0.5, 0.5, 1.0]
-      amplitude: [0.5, 0.5, 0.2]
-      frequency: [1.0, 2.0, 3.0]
-      phase: [0.0, 1.5707963267948966, 0.0] # [0.0, PI/2, 0.0]
-      duration: 20.0
-      end_yaw: 6.283185307179586 # 2*PI
-      ramp_time: 5.0
+      center: [0.5, 0.5, 1.0] # Center of the Lissajous curve [x, y, z] (m)
+      amplitude: [0.5, 0.5, 0.2] # Amplitudes of the curve [x, y, z] (m)
+      frequency: [1.0, 2.0, 3.0] # Frequencies of the curve [x, y, z] (Hz)
+      phase: [0.0, 1.5707963267948966, 0.0] # Phase offsets [x, y, z] (rad)
+      duration: 20.0 # Duration of the trajectory (s)
+      end_yaw: 6.283185307179586 # Target end yaw angle (2*PI rad)
+      ramp_time: 5.0 # Time for smooth transition (s)
+
+  # Circular trajectory
   - step: 27000
     planner_type: Circle
     params:
-      center: [0.5, 0.5, 1.0]
-      radius: 0.5
-      angular_velocity: 1.0
-      duration: 5.0
-      ramp_time: 2.0
+      center: [0.5, 0.5, 1.0] # Center of the circle [x, y, z] (m)
+      radius: 0.5 # Radius of the circle (m)
+      angular_velocity: 1.0 # Angular velocity (rad/s)
+      duration: 5.0 # Duration of the trajectory (s)
+      ramp_time: 2.0 # Time for smooth transition (s)
+
+  # Another Minimum Jerk Line trajectory
   - step: 32000
     planner_type: MinimumJerkLine
     params:
-      end_position: [-2.5, 0.0, 1.0]
-      end_yaw: 0.0
-      duration: 3.0
+      end_position: [-2.5, 0.0, 1.0] # Target end position [x, y, z] (m)
+      end_yaw: 0.0 # Target end yaw angle (rad)
+      duration: 3.0 # Duration of the trajectory (s)
+
+  # Obstacle Avoidance trajectory
   - step: 35000
     planner_type: ObstacleAvoidance
     params:
-      target_position: [2.5, 1.0, 0.5]
-      duration: 10.0
-      end_yaw: 0.0
-      k_att: 0.03
-      k_rep: 0.01
-      k_vortex: 0.005
-      d0: 0.5
-      d_target: 0.5
-      max_speed: 0.1
+      target_position: [2.5, 1.0, 0.5] # Target position [x, y, z] (m)
+      duration: 10.0 # Duration of the trajectory (s)
+      end_yaw: 0.0 # Target end yaw angle (rad)
+      k_att: 0.03 # Attractive force gain
+      k_rep: 0.01 # Repulsive force gain
+      k_vortex: 0.005 # Vortex force gain
+      d0: 0.5 # Obstacle influence distance (m)
+      d_target: 0.5 # Target influence distance (m)
+      max_speed: 0.1 # Maximum speed (m/s)
+
+  # Minimum Snap Waypoint trajectory
   - step: 45000
     planner_type: MinimumSnapWaypoint
     params:
-      waypoints:
+      waypoints: # List of waypoints [x, y, z] (m)
         - [1.0, 1.0, 1.5]
         - [-1.0, 1.0, 1.75]
         - [0.0, -1.0, 1.0]
         - [0.0, 0.0, 0.5]
-      yaws: [1.5707963267948966, 3.141592653589793, -1.5707963267948966, 0.0] # [PI/2, PI, -PI/2, 0.0]
-      segment_times: [5.0, 5.0, 5.0, 5.0]
+      yaws: [1.5707963267948966, 3.141592653589793, -1.5707963267948966, 0.0] # Yaw angles at waypoints (rad)
+      segment_times: [5.0, 5.0, 5.0, 5.0] # Time to reach each waypoint (s)
+
+  # Landing trajectory
   - step: 65000
     planner_type: Landing
     params:
-      duration: 5.0
+      duration: 5.0 # Duration of the landing maneuver (s)