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Merge branch '25_04_work_on_new_prefabs' into pr_basemodelpydantic

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[Prefabs] dataclasses to pydantic BaseModel #607

Merge branch '25_04_work_on_new_prefabs' into pr_basemodelpydantic
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1 error and 3 warnings
Run on ubuntu-22.04 with SOFA master and python 3.10
failed May 19, 2026 in 6m 42s