Merge branch 'dev' into dev_yy

yanyuan

2023-09-07 a33bacd3caa946e7259a2a480385d4995339ae3a

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LIBRARIES
{
  Name 'LibMacroPlanner'
  Version ['2022.3.0.0']
}
{
  Name 'LibMacroPlannerOptimizer'
  Version ['2022.3.0.0']
}
FRIENDS