diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 7cb79904da5050e6ea09e195031f2c42e12183d9..ef1f8b5bcfd7957cbdc725b8d4c5db0fbf134aa5 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -186,7 +186,10 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
         problem->setPriorOptions(prior_mode,
                                  _server.getParam<double>("problem/prior/time_tolerance"),
                                  _server.getParam<VectorComposite>("problem/prior/state"),
-                                 _server.getParam<VectorComposite>("problem/prior/cov"));
+                                 _server.getParam<VectorComposite>("problem/prior/sigma"));
+
+
+
     }
     else
     {
diff --git a/test/yaml/params_tree_manager1.yaml b/test/yaml/params_tree_manager1.yaml
index 085015b89c62f913f7bbf6ab3d6241ddde132dff..0bd680c842af9cf0f9646651665b7bce86ed01ac 100644
--- a/test/yaml/params_tree_manager1.yaml
+++ b/test/yaml/params_tree_manager1.yaml
@@ -4,8 +4,16 @@ config:
     dimension: 3
     prior:
       mode: "factor"
-      state: [0,0,0,0,0,0,1,0,0,0]
-      cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
+      # state: [0,0,0,0,0,0,1,0,0,0]
+      # cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+        V: [0,0,0]
+      $sigma:
+        P: [0.31]
+        O: [0.31]
+        V: [0.31]
       time_tolerance: 0.1
     tree_manager:
       type: "TreeManagerDummy"
@@ -38,4 +46,4 @@ config:
         dist_traveled:          0.5   # meters
         angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
       
-      unmeasured_perturbation_std: 0.00111
\ No newline at end of file
+      unmeasured_perturbation_std: 0.00111
diff --git a/test/yaml/params_tree_manager2.yaml b/test/yaml/params_tree_manager2.yaml
index 80b5af47ac509b0746ffb8f66775d87742e1e927..70700a80f16b696a564d1e1ac33b6fc18e0af5c2 100644
--- a/test/yaml/params_tree_manager2.yaml
+++ b/test/yaml/params_tree_manager2.yaml
@@ -4,8 +4,16 @@ config:
     dimension: 3
     prior:
       mode: "factor"
-      state: [0,0,0,0,0,0,1,0,0,0]
-      cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
+      # state: [0,0,0,0,0,0,1,0,0,0]
+      # cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+        V: [0,0,0]
+      $sigma:
+        P: [0.31]
+        O: [0.31]
+        V: [0.31]
       time_tolerance: 0.1
     tree_manager: 
       type: "None"
@@ -37,4 +45,4 @@ config:
         dist_traveled:          0.5   # meters
         angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
       
-      unmeasured_perturbation_std: 0.00111
\ No newline at end of file
+      unmeasured_perturbation_std: 0.00111
diff --git a/test/yaml/params_tree_manager_sliding_window1.yaml b/test/yaml/params_tree_manager_sliding_window1.yaml
index 3a0f421c5c0048125d0a8afa742e873f79e703f6..12cbd63dab54c95122cf952674a84b825c944cc6 100644
--- a/test/yaml/params_tree_manager_sliding_window1.yaml
+++ b/test/yaml/params_tree_manager_sliding_window1.yaml
@@ -4,8 +4,14 @@ config:
     dimension: 3
     prior:
       mode: "factor"
-      state: [0,0,0,0,0,0,1]
-      cov: [[6,6],.1,0,0,0,0,0, 0,.1,0,0,0,0, 0,0,.1,0,0,0, 0,0,0,.1,0,0, 0,0,0,0,.1,0, 0,0,0,0,0,.1]
+      # state: [0,0,0,0,0,0,1]
+      # cov: [[6,6],.1,0,0,0,0,0, 0,.1,0,0,0,0, 0,0,.1,0,0,0, 0,0,0,.1,0,0, 0,0,0,0,.1,0, 0,0,0,0,0,.1]
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+      $sigma:
+        P: [0.31]
+        O: [0.31]
       time_tolerance: 0.1
     tree_manager:
       type: "TreeManagerSlidingWindow"
@@ -40,4 +46,4 @@ config:
         dist_traveled:          0.5   # meters
         angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
       
-      unmeasured_perturbation_std: 0.00111
\ No newline at end of file
+      unmeasured_perturbation_std: 0.00111
diff --git a/test/yaml/params_tree_manager_sliding_window2.yaml b/test/yaml/params_tree_manager_sliding_window2.yaml
index 894dadf651dfe18919881ca44a296f3df447246a..687a4d3753055455c53175217bd65ef7b1c1fe36 100644
--- a/test/yaml/params_tree_manager_sliding_window2.yaml
+++ b/test/yaml/params_tree_manager_sliding_window2.yaml
@@ -4,8 +4,14 @@ config:
     dimension: 3
     prior:
       mode: "factor"
-      state: [0,0,0,0,0,0,1]
-      cov: [[6,6],.1,0,0,0,0,0, 0,.1,0,0,0,0, 0,0,.1,0,0,0, 0,0,0,.1,0,0, 0,0,0,0,.1,0, 0,0,0,0,0,.1]
+      # state: [0,0,0,0,0,0,1]
+      # cov: [[6,6],.1,0,0,0,0,0, 0,.1,0,0,0,0, 0,0,.1,0,0,0, 0,0,0,.1,0,0, 0,0,0,0,.1,0, 0,0,0,0,0,.1]
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+      $sigma:
+        P: [0.31]
+        O: [0.31]
       time_tolerance: 0.1
     tree_manager:
       type: "TreeManagerSlidingWindow"
@@ -40,4 +46,4 @@ config:
         dist_traveled:          0.5   # meters
         angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
       
-      unmeasured_perturbation_std: 0.00111
\ No newline at end of file
+      unmeasured_perturbation_std: 0.00111