diff --git a/config/peng_default_blueprint.rbl b/config/peng_default_blueprint.rbl
new file mode 100644
index 00000000..d6212384
Binary files /dev/null and b/config/peng_default_blueprint.rbl differ
diff --git a/config/quad.yaml b/config/quad.yaml
index 827379b9..68fb3820 100644
--- a/config/quad.yaml
+++ b/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)
diff --git a/src/config.rs b/src/config.rs
index b08a7f49..2422c872 100644
--- a/src/config.rs
+++ b/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
diff --git a/src/main.rs b/src/main.rs
index 090476d0..3f5b1d54 100644
--- a/src/main.rs
+++ b/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)?;