diff --git a/modules/planning/conf/planning_config.pb.txt b/modules/planning/conf/planning_config.pb.txt
index a4866029d093d49d905a85cf2376485d532145e4..210a6a2bafdf0851e2db0a73f382dad53e8bfbd1 100644
--- a/modules/planning/conf/planning_config.pb.txt
+++ b/modules/planning/conf/planning_config.pb.txt
@@ -173,6 +173,7 @@ default_task_config: {
           weight_a_stitching: 3.25
           weight_first_order_time: 4.25
           weight_second_order_time: 13.5
+          weight_end_state: 1.0
           min_safety_distance: 0.01
           max_speed_forward: 2.0
           max_speed_reverse: 1.0
@@ -198,12 +199,17 @@ default_task_config: {
           enable_constraint_check: false
           enable_initial_final_check: false
           enable_jacobian_ad: false
+          enable_hand_derivative: false
+          enable_derivative_check: false
+          distance_approach_mode: DISTANCE_APPROACH_IPOPT
+          enable_check_initial_state: false
         }
         delta_t: 0.5
         max_position_error_to_end_point: 0.05
         max_theta_error_to_end_point: 0.05
         is_near_destination_threshold: 0.05
         enable_check_parallel_trajectory: false
+        enable_linear_interpolation: false
       }
     }
   }