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

yypsybs

2023-09-27 56fd7e8181fa8db461333e0451cbabbf03f290f9

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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