diff --git a/stretch_navigation/config/common_costmap_params.yaml b/stretch_navigation/config/common_costmap_params.yaml
index 0f2b99b..7f948dc 100644
--- a/stretch_navigation/config/common_costmap_params.yaml
+++ b/stretch_navigation/config/common_costmap_params.yaml
@@ -2,9 +2,9 @@ obstacle_range: 2.5
 raytrace_range: 3.0
 
 footprint: [[0.05, 0.17], [0.05, -0.17], [-0.17, -0.17], [-0.27, -0.06], [-0.27, 0.06], [-0.17, 0.17]]
-footprint_padding: 0.015
+footprint_padding: 0.025
 # robot_radius: 0.2
-inflation_radius: 0.2
+inflation_radius: 0.15
 
 observation_sources: laser_scan_sensor