Add the possibility to set the SwingFootPlanner position and orientation tolerances as configuration parameters

[GiulioRomualdi]

As per the title, this PR adds the possibility of setting the orientation and position tolerances for the swing foot planner. These tolerances are used to check if the position of a contact changes when it is already active. Having a tunable tolerance will make the planner more robust when the contact location are computed by an optimization procedure, for instance sqpmethod