Python version

[GijsGroote]

Python 3.10 allows dataclasses to become keyword_only, see this

This would allow a base class to handle optional parameters such as color, mass, and orientation and put the functionality in the base class. While child classes can handle required classes such as geometry.

This will lower redundant code.

I think we must now wait for casadi to support python 3.10 as mentioned here casadi/casadi#2877

after that, we could (not should) move toward python 3.10