Merge upstream changes to support Python 3.10

[Flova]

Webots now supports Python 3.10 (see cyberbotics#4474) and it would be nice to have this here. Otherwise, using Ubuntu 22.04 is not easily possible, as it's targeted Python version is 3.10.

[medrimonia]

Thanks for pointing that out, it makes sense to merge regularly the new content from cyberbotics anyway so I'll give it a try.

[medrimonia]

This will probably not be as straightforward as expected and will probably require some input from Cyberbotics side, see #304.