diff --git a/config/chomp_planning.yaml b/config/chomp_planning.yaml
index 176c0d49ed61d3c1d469ae10066dd33531f16d86..a08229334a5a4c90a007cb109fa9c144961beeb5 100644
--- a/config/chomp_planning.yaml
+++ b/config/chomp_planning.yaml
@@ -23,3 +23,6 @@ collision_clearence: 0.2
 collision_threshold: 0.07
 random_jump_amount: 1.0
 use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5
+trajectory_initialization_method: "quintic-spline"