diff --git a/dimos/navigation/replanning_a_star/local_planner.py b/dimos/navigation/replanning_a_star/local_planner.py
index cc5f6164dc..65a18d0637 100644
--- a/dimos/navigation/replanning_a_star/local_planner.py
+++ b/dimos/navigation/replanning_a_star/local_planner.py
@@ -29,7 +29,7 @@
 from dimos.msgs.nav_msgs import Path
 from dimos.msgs.sensor_msgs import Image
 from dimos.navigation.base import NavigationState
-from dimos.navigation.replanning_a_star.controllers import Controller, PController, PdController
+from dimos.navigation.replanning_a_star.controllers import Controller, PController
 from dimos.navigation.replanning_a_star.navigation_map import NavigationMap
 from dimos.navigation.replanning_a_star.path_clearance import PathClearance
 from dimos.navigation.replanning_a_star.path_distancer import PathDistancer
@@ -87,9 +87,7 @@ def __init__(
         self._navigation_map = navigation_map
         self._goal_tolerance = goal_tolerance
 
-        controller = PController if global_config.simulation else PdController
-
-        self._controller = controller(
+        self._controller = PController(
             self._global_config,
             self._speed,
             self._control_frequency,
diff --git a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py
index 75211ad3a9..c8b81acb84 100644
--- a/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py
+++ b/dimos/robot/unitree_webrtc/unitree_go2_blueprints.py
@@ -92,7 +92,7 @@
 
 nav = autoconnect(
     basic,
-    voxel_mapper(voxel_size=0.1),
+    voxel_mapper(voxel_size=0.05),
     cost_mapper(),
     replanning_a_star_planner(),
     wavefront_frontier_explorer(),