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Add iDynTree::removeAdditionalFramesFromModel function to create a ne… #4572

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Run time

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Job	Run time
[conda:ubuntu-20.04]	5m 48s
[apt:ubuntu:20.04@Release]	16m 50s
[apt:ubuntu:22.04@Release]	14m 45s
[conda:macos-12]	1s
[conda:windows-2019]	10m 15s
	47m 39s