todo.txt

[ ] add threshholding for min effort required to move
[ ] add randomization to blade yaw (no control, but may move!)
[x] should we have the 30hz "physics" loop?
    - DECISION: no top-level sub-stepping for now. One physics step per control action.
    - Soil erosion still sub-loops internally (num_loops=3).
    - Revisit only if the main loop proves unstable once we run/test the sim.
[ ] globalize the all-caps vars for randomization
[ ] make sure coordinate system signedness is correct!
[ ] make blade_stiffness a global param PITCH_STIFFNESS
[ ] implement blade roll reactive forces
[ ] check vehicle odom (twists)
[ ] check order of update_kinematics in simulate_step code
[ ] max_force_linear/rotational -> max_force_track, then get linear / rotational off that?