Change default shrink factor for planning w/collisions
Change default shrink factor for planning w/collisions

Was 0.5, is now 0.2.

openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro