`WORLD` and `LOCAL_WORLD_ALIGNED` reference for force / impulse cost functions

[cmastalli]

It is important to allow users to define various reference for contact force / impulse cost functions as well. This will require tricky conversion of forces --and their derivatives-- from LOCAL to WORLD and LOCAL_WORLD_ALIGNED. Note that our contact dynamics computes everything at the LOCAL level.

This task could be done potentially done inside Pinocchio (i.e. the new contact dynamics). @proyan, @jcarpent have you though about it? Could you add this in the new contact dynamics of Pinocchio? or do we need to handle it here?

In any case, @jcarpent could you help me with this task?