[CMake] Update Pinocchio version
[CMake] Update Pinocchio version

Changes in HPP-Core need version 2.2.3 of Pinocchio.
humanoid-path-planner/hpp-doc,humanoid-path-planner/hpp-doc,jmirabel/hpp-doc,florent-lamiraux/hpp-doc,jmirabel/hpp-doc,florent-lamiraux/hpp-doc