Add possibility to get the optimizer logs for TSID

[Alessandro Croci]

In @ami-iit/isaac we are using blf TSID feature and we would like to have the optimizer logs to know what's going on during the optimization and also when the optimization problem fails due to infeasibilities.

[Alessandro Croci]

I found out that there is a verbosity parameter (that defaults to false) that can be used to do that.
We used that in our toml configuration:

[TSID]
robot_acceleration_variable_name = "robot_acceleration"
joint_torques_variable_name = "joint_torques"
contact_wrench_variables_name = ["lf_wrench", "rf_wrench"]
verbosity = true

This issue can be closed.