fix: improve orca reliability, less deadlocks

[WilliamTakeshi]

This PR improves ORCA a bit.

Before since we used the same for time_horizon and time_step where the same, sometimes the bot got stuck.

Time_horizon should be how long the bot is looking forward to avoid collisions,
timestep is the simulator DT

[codecov]

Codecov Report

❌ Patch coverage is 80.00000% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 80.81%. Comparing base (12a6e1e) to head (25c6735).
⚠️ Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
dotbot/examples/orca.py	80.00%	2 Missing ⚠️
dotbot/examples/charging_station.py	66.66%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #200      +/-   ##
==========================================
+ Coverage   79.27%   80.81%   +1.53%     
==========================================
  Files          21       25       +4     
  Lines        2157     2533     +376     
==========================================
+ Hits         1710     2047     +337     
- Misses        447      486      +39     

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[geonnave]

Thanks! I don't fully understand the code, so I trust it's good :)
Is there some test missing or it is ready to merge?