diff --git a/guided_mrmp/utils/control.py b/guided_mrmp/utils/control.py
index 32865c257389cf757b8db03e3c1c867405e1699c..49b9297a5ea348ea314468fe18a7e065a0583b5d 100644
--- a/guided_mrmp/utils/control.py
+++ b/guided_mrmp/utils/control.py
@@ -41,6 +41,7 @@ class Roomba(ControlSpace):
         self.max_d_acc = settings['Roomba']['max_d_acc']
         self.max_steer = np.radians(settings['Roomba']['max_steer'])
         self.max_d_steer = np.radians(settings['Roomba']['max_d_steer'])
+        self.radius = settings['Roomba']['radius']  
 
     def state_dimension(self):
         # State is [x, y, theta]
diff --git a/guided_mrmp/utils/robot.py b/guided_mrmp/utils/robot.py
index 59e76fc581b8e846658b98a98524735c459a8c0b..5bf18f8e7bf4e7368071ebdd7cb8a4ea88834cf3 100644
--- a/guided_mrmp/utils/robot.py
+++ b/guided_mrmp/utils/robot.py
@@ -1,7 +1,7 @@
 import numpy as np
 
 class Robot:
-    def __init__(self, label, color, radius, start, goal, dynamics_model, target_v, rrtpath,waypoints):
+    def __init__(self, label, color, radius, start, goal, dynamics_model, target_v, rrtpath,waypoints, tree):
         self.label = label
         self.color = color
         self.radius = radius
@@ -12,6 +12,7 @@ class Robot:
         self.rrtpath = rrtpath
         self.dynamics_model = dynamics_model
         self.waypoints = waypoints
+        self.tree = tree
 
         self.last_mpc_trajectory = None
         self.last_mpc_controls = None