Merge branch 'dev' into dev_yy

yanweiyuan3

2023-10-17 face55e7f35130d29d7f395a4b4501d57b97ef81

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