Reduce penalty for collisions

Signed-off-by: Eduardo L. Buratti <elb09@c3sl.ufpr.br>
Fix motor samples units scale (mm to meters, time step to seconds)

Signed-off-by: Eduardo L. Buratti <elb09@c3sl.ufpr.br>
Fix robot speed and size definitions according to ePuck specification

Signed-off-by: Eduardo L. Buratti <elb09@c3sl.ufpr.br>
Fix max_trips

Signed-off-by: Eduardo L. Buratti <elb09@c3sl.ufpr.br>