Allow backward compatibility with Python 3.10

[flferretti]

Fixes #141

@diegoferigo should we also add a CI for Python 3.10 or do we want to keep it "unofficial"?

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📚 Documentation preview 📚: https://jaxsim--143.org.readthedocs.build//143/

[diegoferigo]

If we have use cases where Python 3.11 is not installed and we cannot upgrade (like remote machines / colab / etc), I'm in favor of supporting officially Python 3.10.

should we also add a CI for Python 3.10 or do we want to keep it "unofficial"?

Considering that there are not big changes between 3.10 and 3.11 (just Self in our code base), adding back the support should be straightforward. Regardless, to prevent to overlook things, I would also enable 3.10 in CI. In any case it would run concurrently with the other Python versions.

We can consider to remove Python 3.10 support in the future. For the time being, supporting for a while more ubuntu 22.04 makes sense to me.

[traversaro]

If we have use cases where Python 3.11 is not installed and we cannot upgrade (like remote machines / colab / etc), I'm in favor of supporting officially Python 3.10.

Yes, I guess the use case is mainly that, see #141 .