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Dev [Major] update from sot-dynamic to sot-dynamic-pinocchio

Merged Dev [Major] update from sot-dynamic to sot-dynamic-pinocchio
thomasfla:dev into dev
Merged Guilhem Saurel requested to merge thomasfla:dev into dev

Created by: thomasfla

create a minimal Dynamic class change CMakeLists update dev_test.cpp

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Merged by avatar (Mar 13, 2025 8:30pm UTC)

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