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Add iDynTree::removeAdditionalFramesFromModel function to create a ne… #2480

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Run time

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Job	Run time
[matlab:R2022a:ubuntu-20.04]	5m 52s
[matlab:R2022b:ubuntu-20.04]	5m 32s
[matlab:R2023a:ubuntu-20.04]	5m 47s
[matlab:R2022a:windows-2019]	14m 55s
[matlab:R2022b:windows-2019]	14m 33s
[matlab:R2023a:windows-2019]	15m 0s
[matlab:R2022a:macos-12]	1s
[matlab:R2022b:macos-12]	1s
[matlab:R2023a:macos-12]	1s
	1h 1m 42s