Merge remote-tracking branch 'origin/dev' into dev

lihongji

2024-11-28 e8e4aac007c3d1356813e4568a148cf46bbff458

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LIBRARIES
{
  Name 'LibMacroPlanner'
  Version ['2022.3.0.0']
}
{
  Name 'LibOpt'
  Version ['631.3.0.0']
}
{
  Name 'LibOpt_BT'
  Version ['631.3.0.0']
}
FRIENDS