diff --git a/wild_visual_navigation/traversability_estimator/traversability_estimator.py b/wild_visual_navigation/traversability_estimator/traversability_estimator.py
index c4c1d8b9..524ad3ee 100644
--- a/wild_visual_navigation/traversability_estimator/traversability_estimator.py
+++ b/wild_visual_navigation/traversability_estimator/traversability_estimator.py
@@ -358,7 +358,7 @@ def add_proprio_node(self, pnode: ProprioceptionNode, projection_mode: str = "im
                 return False
 
             mission_nodes = self._mission_graph.get_nodes_within_radius_range(
-                last_mission_node, 0, self._proprio_graph.max_distance, metric="pose"  # pose or dijkstra
+                last_mission_node, 0, self._proprio_graph.max_distance, metric="dijkstra"  # pose or dijkstra
             )
 
             center_nodes = self._mission_graph.get_nodes_within_radius_range(
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
index 52020c89..95e2048f 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
@@ -24,8 +24,8 @@ base_frame: base
 footprint_frame: footprint
 
 # Robot size
-robot_length: 0.8 # 0.8
-robot_width: 0.4  # 0.4
+robot_length: 0.9 # 0.8
+robot_width: 0.5  # 0.4
 robot_height: 0.3 # 0.3
 
 # Robot specs