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Fix: Prevent undefined properties at the root level
Fixes: rjsf-team#3424 by preventing the inclusion of undefined properties at the root level - Updated `@rjsf/utils`, making `computeDefaults()` helper in `getDefaultFormState()` to skip adding undefined values when `allowEmptyObject` is set. - Updated the `getDefaultFormState()` definition in the `ValidatorType` to add this new option - Updated the tests accordingly - Updated `@rjsf/core`, switching the `excludeObjectChildren` with `allowEmptyObject` in `Form` - Updated the documentation for `getDefaultFormState()` to add this new option - Updated the `CHANGELOG.md` accordingly - Also added information the changelog for PR rjsf-team#3202
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