You have made a wise choice Yogi. Chaturanga is one gnarly pose and you have decided that not only do you want to do it well, but you want to do it safely. This is going to be a blast and I think you will be amazed at what you can accomplish with a little grit and some elbow grease. Not only will you be rocking gravity defying Chaturangas but you will also build upper body and core strength, improve posture and seriously amp up your flow practice.
You will need a few props to help you along the way: