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In an ideal world, where you didn't have to go through doors, you would want to set your inscribed_radius to 0.7 to ensure your robot could move about freely while never being in collision. However, that will make going through a narrow door impossible.

Use inscribed_radius=0.5 and inflation_radius to a number greater than that like say 0.8. This should make your robot drive through the center of the door, but will not guarantee it won't collide if it, say, decides to turn in place in the middle of the door.