Fix Ycrb[0] not re-initialized in crbaMinimal. #2040
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## [2.6.21] - 2023-11-27
### Added
- Add inverse dynamics (`rnea`) Python and C++ example ([2083](stack-of-tasks/pinocchio#2083))
- Add visualization of Frames in MeshCat viewer ([2098](stack-of-tasks/pinocchio#2098))
### Fixed
- Re-initialize `Ycrb[0]` in `crbaMinimal` ([2040](stack-of-tasks/pinocchio#2040))
- Fix custom scalar use in `log` function ([2047](stack-of-tasks/pinocchio#2047))
- Raise exception on wrong input size in `XYZQUATToSE3` Python binding function ([2073](stack-of-tasks/pinocchio#2073))
- Remove memory leak in `buildGeomFromUrdf` and `buildGeomFromUrdfString` Python binding functions ([2082]()stack-of-tasks/pinocchio#2082)
- Fix Panda3D viewer examples ([2087](stack-of-tasks/pinocchio#2087))
- Fix centroidal dynamics derivatives with respect to time ([2094](stack-of-tasks/pinocchio#2094)))
### Changed
- Rename freeflyer_joint to root_joint in `humanoid` sample model ([2043](stack-of-tasks/pinocchio#2043))
- CMake minimal version is now 3.10 ([2055](stack-of-tasks/pinocchio#2055))
- Split headers and sources in different directories to have a more standard C++ project ([2070](stack-of-tasks/pinocchio#2070))
### Removed
- Remove support to `hpp-fcl` < v2.0.0 ([2086](stack-of-tasks/pinocchio#2086))
## Packaging changes
- removed patches ad, ae: fixed upstream 🎉
- updated patches af, ah, an
- added patch ao
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