From 1c6ae69ffe67bfcbdde6d338d75b2a25ee94cfef Mon Sep 17 00:00:00 2001
From: Raghavender Sahdev <raghavendersahdev@gmail.com>
Date: Thu, 9 Aug 2018 15:07:36 -0400
Subject: [PATCH] added 3 new CHOMP parameters in chomp_planning.yaml file

---
 config/chomp_planning.yaml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/config/chomp_planning.yaml b/config/chomp_planning.yaml
index 176c0d4..a082293 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"
-- 
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