Add cache GitHub Action to cache dependency compiled from source

[GiulioRomualdi]

This PR adds support for use GitHub Actions cache (see https://github.com/actions/cache) for storing the dependency build from source (YCM, YARP and ICUB).
Furthermore:

• Switch to use predefined commits for vcpkg, YCM, YARP iDynTree and Catch2 used for testing
• Switch to use pre-compiled vcpkg archive (fix CI integration is failing on Windows #30)

Check also: actions/runner-images#605

[S-Dafarra]

We would just need to update the iDynTree tag if we add a new feature there that we need.

[S-Dafarra]

I don't know whether https://github.com/robotology/whole-body-estimators/pull/52/files could also be helpful, at least avoiding stopping other OS if one fails.

[GiulioRomualdi]

I don't know whether https://github.com/robotology/whole-body-estimators/pull/52/files could also be helpful, at least avoiding stopping other OS if one fails.

I can add it

[GiulioRomualdi]

I don't know whether https://github.com/robotology/whole-body-estimators/pull/52/files could also be helpful, at least avoiding stopping other OS if one fails.

I can add it

Done in 8254136

[S-Dafarra]

2 minutes to complete in Ubuntu and Mac 😍

[S-Dafarra]

4 min and 30 sec in Windows 😍 😍

[GiulioRomualdi]

Merging