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Merge remote-tracking branch 'upstream/dev' into 3d_sim

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Merged

3d sim #97

Merge remote-tracking branch 'upstream/dev' into 3d_sim
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1 warning and 1 notice
build (macos-13, osx-64, unilabos-osx-64.yaml)
succeeded Nov 13, 2025 in 16m 10s