Resolve iDynTree deprecation warnings and require iDynTree v10.0.0

[GiulioRomualdi]

This PR resolves all the iDynTree warnings and requires iDynTree v10.0.0

[traversaro]

Thanks a lot!

[GiulioRomualdi]

Peculiar error on windows

D:\a\bipedal-locomotion-framework\bipedal-locomotion-framework\osqp\lin_sys\direct\qdldl\qdldl_sources\src\qdldl.c : fatal error C1041: cannot open program database 'D:\a\bipedal-locomotion-framework\bipedal-locomotion-framework\osqp\build\lin_sys\direct\qdldl\qdldl_sources\out\Debug\qdldl.pdb'; if multiple CL.EXE write to the same .PDB file, please use /FS [D:\a\bipedal-locomotion-framework\bipedal-locomotion-framework\osqp\build\lin_sys\direct\qdldl\qdldl_sources\qdldlstatic.vcxproj]

[traversaro]

Peculiar error on windows

D:\a\bipedal-locomotion-framework\bipedal-locomotion-framework\osqp\lin_sys\direct\qdldl\qdldl_sources\src\qdldl.c : fatal error C1041: cannot open program database 'D:\a\bipedal-locomotion-framework\bipedal-locomotion-framework\osqp\build\lin_sys\direct\qdldl\qdldl_sources\out\Debug\qdldl.pdb'; if multiple CL.EXE write to the same .PDB file, please use /FS [D:\a\bipedal-locomotion-framework\bipedal-locomotion-framework\osqp\build\lin_sys\direct\qdldl\qdldl_sources\qdldlstatic.vcxproj]

It is probably flaky. The root for the problem I guess is the same of robotology/robotology-superbuild#1083, it was fixed in osqp master but that has not seen a release in a long time.