Idyntree

Fixed
- Fix export of `iDynTree::PrismaticJoint` in `iDynTree::getRandomModel` (https://github.com/robotology/idyntree/pull/1057).

Changed

- Binary wheels available on PyPI now target `manylinux_2_28`, and the options `IDYNTREE_USES_ASSIMP`, `IDYNTREE_USES_IPOPT` and `IDYNTREE_USES_IRRLICHT` are disable in binary wheels on PyPI. If you need these options enabled, please use conda-forge binaries or build iDynTree from source (https://github.com/robotology/idyntree/pull/1068).
- Compilation with `IDYNTREE_USES_IRRLICHT` set to `ON` now requires `glfw` library. Furthermore, now `IDYNTREE_USES_IRRLICHT` on Windows requires irrlicht to be compiled with SDL support. This changes have been done to support resizable visualizer windows on Windows (https://github.com/robotology/idyntree/issues/1070, https://github.com/robotology/idyntree/pull/1071).
- Use iDynTree::InverseKinematicsRotationParametrizationRollPitchYaw as default parametrization in iDynTree::InverseKinematics (https://github.com/robotology/idyntree/pull/1058).

URDF XML parser change

The XML parser API has changed. Now an additional `XMLParserState` context object is propagated while parsing.
To catch logic errors (which are not pure XML errors that are currently caught by the parser itself) the `XMLParserState` contains a `bool` variable. Further logic can be added to the context state.

The following errors are currently check:
- Duplicate joints in the URDF will cause an error.

Added

- Build and deploy PyPI wheels for Python 3.10 (https://github.com/robotology/idyntree/pull/1061)

Added
- Enabled the use of irrlicht dependency in PyPI builds (https://github.com/robotology/idyntree/pull/1045).

Fix
- Fix `MatrixView` constructor when `MatrixView<const T>` is built from `MatrixView<T>` (https://github.com/robotology/idyntree/pull/1044).

Added
- Added the possibility to set the alpha channel while loading a model in the meshcat visualizer (https://github.com/robotology/idyntree/pull/1033).
- Add the possibility to pass the list containing the mesh path while building the model (https://github.com/robotology/idyntree/pull/1036).
- Enable implicit conversion and change KinDynComputations holder in the iDynTree bindings (https://github.com/robotology/idyntree/pull/1037).

Fixed
- Fix compilation against PyPy (https://github.com/robotology/idyntree/pull/1018).

Changed
- estimateExternalWrenches: Avoid to compute the pseudoinverse to evaluate the external wrenches (https://github.com/robotology/idyntree/pull/1017).

Added
- Added creation of sub model object starting from the full model and a sub traversal (https://github.com/robotology/idyntree/pull/1011).

Fixed
- Fix bug of `InverseKinematics::updateRotationTarget` that did not actually changed the RotationWeight, but changed the PositionWeight instead (https://github.com/robotology/idyntree/pull/1012).