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[scenes] Add automatic 3Instruments collis motion with the 3 tools de…
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@epernod
epernod committed Aug 30, 2023
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4 changes: 3 additions & 1 deletion examples/3instruments_collis_auto.scn
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<InterventionalRadiologyController template='Rigid3d' name='m_ircontroller' printLog='1' xtip='1 0 0' step='1' rotationInstrument='0 0 0'
speed="0.01" controlledInstrument='0' startingPos='0 0 0 0 -0.7071068 0 0.7071068' instruments='InterpolCatheter InterpolGuide InterpolCoils' />

<BeamAdapterActionController name="AController" interventionController="@m_ircontroller" writeMode="1"
<BeamAdapterActionController name="AController" interventionController="@m_ircontroller" writeMode="0"
timeSteps='4.45 7.6 7.75 7.95 8.15 8.35 8.5 8.7 8.9 9.2 9.4 9.6 9.8 10 10.15 10.35 10.55 10.75 10.95 11.1 11.3 11.5 11.8 11.95 12.15 12.35 12.55 12.75 12.95 13.15 13.3 13.5 13.7 13.9 14.1 14.3 14.6 14.8 15 15.2 15.35 15.55 15.75 15.95 16.15 16.35 16.55 16.75 16.95 17.15 17.45 17.65 17.85 18 18.2 18.4 18.6 18.8 19 19.2 19.35 19.55 19.75 19.95 20.15 20.4 20.6 20.8 21 21.15 21.35 21.55 21.75 21.95 22.15 22.3 22.5 22.7 22.9 23.05 23.25 23.55 23.7 23.9 24.1 24.25 24.45 24.65 24.85 25 25.2 25.4 25.55 25.75 25.95 26.2 26.4 26.6 26.75 26.95 27.1 27.3 27.5 27.65 27.85 28.05 28.25 28.45 28.6 28.8 29 29.25 29.45 29.6 29.8 29.95 30.15 30.3 30.45 30.65 30.8 30.95 31.1 31.25 31.4 31.55 31.75 32 32.15 32.3 32.45 32.65 32.8 32.95 33.1 33.25 33.4 33.55 33.7 33.9 34.05 34.25 34.35 34.5 34.65 34.8 35 35.15 35.3 35.45 35.6 35.85 36 36.15 36.3 36.45 36.6 36.75 36.9 37.05 37.2 37.35 37.5 37.65 37.8 38.05 38.2 38.35 38.5 38.65 38.8 39 39.15 39.3 39.45 39.55 39.75 39.9 40.05 40.2 40.35 40.55 40.7 40.85 41.05 41.2 41.35 41.5 41.65 41.8 42 42.1 42.25 42.4 42.55 42.7 42.95 43.1 43.2 43.35 43.5 43.65 43.85 44 44.15 44.3 44.45 44.6 44.75 44.9 45.1 45.25 45.4 45.55 45.7 45.85 46 46.1 46.25 46.4 46.55 46.7 46.85 47 47.2 47.35 47.5 47.6 47.75 47.9 48.05 48.2 48.3 48.45 48.6 48.75 48.95 49.1 49.25 49.4 49.5 49.65 49.8 49.95 50.05 50.2 50.3 50.45 50.6 50.8 50.95 51.1 51.2 51.3 51.45 51.55 51.65 51.8 51.95 52.1 52.25 52.4 52.6 52.75 52.9 53.05 53.2 53.35 53.5 53.65 53.8 53.95 54.1 54.25 55.55 57.85 58 58.15 58.3 58.45 58.6 58.75 58.85 59 59.15 59.3 59.45 62.45 64.6 64.75 64.9 65.05 65.2 65.3 65.45 65.6 65.75 65.9 66.05 66.2 66.35 66.5 66.6 66.75 66.95 67.1 67.25 67.4 67.55 68.4 70.65 70.8 70.95 71.1 71.25 71.4 71.55 71.7 71.85 72 72.15 76.45 77.7 79.35 79.45 79.6 79.7 79.85 79.95 80.1 80.2 80.3 80.45 80.6 80.75 80.85 80.95 81.05 81.15 81.3 81.4 81.5 81.6 81.8 81.85 82 82.1 82.2 82.3 82.4 82.5 82.65 82.8 82.9 83 83.1 83.2 83.35 83.45 83.55 83.65 83.8 83.9 84.05 84.15 84.25 84.4 84.5 84.65 84.75 84.85 84.95 85.05 85.15 85.25 85.35 85.45 85.6 85.7 85.8 85.9 86 86.1 86.2 86.3 86.45 86.55 86.65 86.8 86.9 87.05 87.15 87.2 87.3 87.4 87.5 87.6 87.7 87.8 87.9 88 88.1 88.3 88.4 88.5 88.6 88.7 88.8 88.9 89 89.1 89.2 89.35 89.5 89.6 89.7 89.8 89.9 90 90.1 90.25 90.4 90.55 90.65 90.75 90.9 91 91.1 91.25 91.35 91.45 91.65 91.75 91.9 92 92.1 92.25 92.35 92.45 92.55 92.65 92.75 92.85 93 93.15 93.3 93.4 93.55 93.65 93.8 93.9 94.05 94.15 94.25 94.4 94.5 94.6 94.75 94.85 95 95.15 95.25 95.35 95.5 95.6 95.7 95.8 95.9 96 96.1 96.2 96.3 96.4 96.45 96.6 96.7 96.8 96.9 97 97.1 97.2 97.3 97.4 97.5 97.6 97.65 97.75 97.85 97.95 98 98.1 98.2 98.25 98.3 98.4 98.45 98.55 98.65 98.7 98.8 98.85 98.95 99.05 99.1 99.2 99.3 99.4 99.5 99.6 99.7 99.8 99.9 100 100.1 100.2 100.3 100.4 100.45 100.5 100.6 100.7 100.8 100.9 101 101.1 101.15 101.2 101.3 101.45 101.5 101.55 101.65 101.75 101.85 101.95 102.05 102.15 102.3 102.4 102.5 102.55 102.65 102.75 102.85 102.95 103.05 103.2 103.25 103.35 103.45 103.6 103.7 103.8 103.9 103.95 104 104.05 104.15 104.25 104.3 104.4 104.45 104.6 104.7 104.8 104.9 105 105.1 105.2 105.25 105.3 105.4 105.5 105.6 105.7 105.85 105.95 106.05 106.15 106.25 106.35 106.45 106.55 106.65 106.75 107.2 108.2 108.7 109.6 109.7 109.8 110.45 111.5 111.6 111.7 111.8 111.85 111.95 112.05 112.15 112.25 113.9 115.25 115.6 116 116.25 117.25 117.7 118.65 118.7 118.8 118.9 119 119.1 119.2 119.3 119.4 119.55 119.65 119.75 119.9 120 120.15 120.25 120.3 120.4 120.5 120.6 120.7 120.85 120.95 121.05 121.2 121.35 121.45 121.55 121.65 121.8 121.9 122 122.15 122.25 122.35 122.45 122.55 122.65 122.75 122.8 122.95 123.05 123.15 123.25 123.35 123.5 123.6 123.7 123.8 123.9 124.1 124.2 124.3 124.4 124.5 124.6 124.7 124.75 124.85 124.95 125.05 125.15 125.25 125.35 125.55 125.65 125.75 125.85 125.95 126.05 126.15 126.3 126.4 126.5 126.6 126.7 126.75 126.85 127 127.1 127.2 127.3 127.4 127.5 127.6 127.75 127.85 127.95 128.05 128.15 128.25 128.35 128.5 128.6 128.7 128.8 128.85 128.9 129 129.05 129.15 129.25 129.35 129.5 129.65 129.75 129.85 129.95 130.1 130.2 130.3 130.4 130.5 130.6 130.7 130.8 130.95 131 131.1 131.2 131.3 131.4 131.5 131.6 131.7 131.8 131.9 132 132.1 132.2 132.3 132.4 132.5 132.6 132.7 132.8 132.9 133 133.1 133.2 133.3 133.4 133.5 133.65 133.75 133.85 133.95 134.05 134.15 134.25 134.4 134.5 134.6 134.7 134.8 134.9 135 135.05 135.15 135.25 135.35 135.4 135.5 135.6 135.8 135.9 136 136.1 136.2 136.3 136.4 136.5 136.6 136.7 136.8 136.9 137 137.1 137.25 137.35 137.45 137.55 137.65 137.75 137.85 137.95 138.05 138.2 138.3 138.4 138.5 138.6 138.7 138.8 138.9 139 139.1 139.15 139.3 139.4 139.5 139.55 139.65 139.75 139.85 139.95 140.05 140.15 140.2 140.3 140.4 140.55 140.65 140.75 140.85 140.9 141 141.1 141.2 141.25 141.35 141.45 141.55 141.65 141.75 141.85 141.95 142.05 142.1 142.2 142.3 142.4 142.5 142.6 142.7 142.8 142.9 143 143.1 143.15 143.25 143.35 143.45 143.5 143.6 143.7 143.8 143.85 144 144.1 144.15 144.25 144.35 144.45 144.55 144.6 144.7 144.8 144.9 145 145.1 145.2 145.25 145.4 145.5 145.6 145.65 145.75 145.85 145.95 146.05 146.1 146.2 146.3 146.35 146.5 146.55 146.7 146.8 146.9 147 147.1 147.2 147.3 147.4 147.5 149.35 149.65 150.3 150.35 150.45 150.5 150.6 150.65 150.75 150.85 150.95 151.05 151.1 151.2 151.35 151.45 151.55 151.65 151.75 151.8 151.9 152.05 152.15 152.25 152.35 152.45 152.55 152.65 152.7 152.8 152.9 153 153.1 153.2 153.3 153.4 153.5 153.6 153.7 153.75 153.85 153.95 154.05 154.15 154.25 154.3 154.4 154.5 154.6 154.7 154.8 154.9 155 155.1 155.15 155.25 155.3 155.4 155.5 155.55 155.7 155.75 155.85 155.95 156.05 156.1 156.2 156.3 156.4 156.45 156.55 156.65 156.75 156.85 156.95 157 157.1 157.15 157.2 157.3 157.35 157.4 157.5 157.6 157.7 157.8 157.9 158 158.1 158.15 158.25 158.35 158.45 158.55 158.6 158.7 158.8 158.85 158.95 159 159.1 159.15 159.25 159.3 159.4 159.45 159.55 159.65 159.7 159.75 159.85 159.9 160 160.05 160.2 160.3 160.4 160.5 160.6 160.65 160.75 160.8 160.9 161 161.05 161.15 161.25 161.35 161.45 161.55 161.6 161.7 161.75 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184.15 184.25 184.35 184.45 184.55 184.6 184.65 184.75 184.8 184.9 185 185.1 185.15 185.25 185.3 185.4 185.5 185.55 185.65 185.75 185.8 185.9 186 186.05 186.1 186.2 186.25 186.3 186.4 186.45 186.5 186.6 186.65 186.7 186.8 186.85 186.95 187 187.1 187.15 187.2 187.3 187.35 187.45 187.55 187.6 187.7 187.8 187.9 187.95 188.05 188.15 188.25 188.3 188.35 188.4 188.45 188.5 188.55 188.6 188.7 188.8 188.9 188.95 189 189.1 189.15 189.25 189.3 189.35 189.45 189.55 189.6 189.7 189.75 189.85 189.95 190.05 190.15 190.25 190.35 190.45 190.55 190.6 190.65 190.7 190.75 190.8 190.9 191 191.1 191.15 191.25 191.35 191.45 191.5 191.55 191.6 191.65 191.7 191.75 191.8 191.85 191.9 192 192.1 192.15 192.2 192.3 192.4 192.5 192.6 192.7 192.8 192.85 192.9 192.95 193 193.05 193.1 193.15 193.2 193.25 193.3 193.4 193.5 193.6 193.7 193.8 193.9 194 194.1 194.2 194.25 194.35 194.45 194.55 194.6 194.65 194.7 194.8 194.9 195 195.05 195.15 195.2 195.25 195.3 195.35 195.45 195.55 195.65 195.7 195.75 195.85 195.95 196.05 196.15 196.25 196.35 196.45 196.55 196.65 196.7 196.8 196.9 197 197.1 197.2 197.3 197.4 197.5 197.6 197.7 197.8 197.9 198 198.1 198.2 198.3 198.4 198.5 198.55 198.65 198.75 198.8 198.9 198.95 199.05 199.15 199.2 199.25 199.35 199.45 199.55 199.65 199.7 199.75 199.85 199.95 200.05 200.1 200.2 200.25 200.3 200.35 200.45 200.55 200.6 200.7 200.75 200.8 200.9 200.95 201 201.05 201.1 201.15 201.2 201.3 201.4 201.45 201.55 201.65 201.7 201.75 201.85 201.95 202 202.05 202.15 202.2 202.3 202.4 202.5 202.6 202.65 202.75 202.85 202.95 203 203.1 203.15 203.2 203.3 203.4 203.5 203.55 203.65 203.75 203.85 203.9 203.95 204.05 204.15 204.25 204.35 204.45 204.5 204.6 204.7 204.75 204.85 204.95 205.05 205.1 205.2 205.3 205.35 205.4 205.5 205.55 205.65 205.75 205.85 205.9 205.95 206.05 206.15 206.2 206.25 206.35 206.4 206.5 206.6 206.65 206.7 206.8 206.9 206.95 207.05 207.15 207.2 207.3 207.4 207.5 207.6 207.7 207.8 207.85 207.9 208 208.05 208.15 208.25 208.3 208.35 208.45 208.55 208.6 208.65 208.75 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221.3 221.35 221.45 221.55 221.6 221.65 221.75 221.8 221.9 222 222.05 222.1 222.2 222.3 222.35 222.4 222.45 222.55 222.65 222.7 222.8 222.9 223 223.1 223.2 223.25 223.35 223.4 223.5 223.6 223.7 223.8 223.9 224 224.1 224.15 224.25 224.35 224.4 224.5 224.6 224.7 224.8 224.9 224.95 225 225.05 225.15 225.2 225.25 225.3 225.35 225.4 225.45 225.5 225.55 225.6 225.65 225.7 225.75 225.8 225.85 225.9 225.95 226 226.05 226.1 226.15 226.2 226.25 226.3 226.35 226.4 226.45 226.5 226.55 226.6 226.65 226.7 226.8 226.9 227 227.1 227.15 227.2 227.25 227.3 227.4 227.45 227.5 227.55 227.6 227.65 227.7 227.8 227.85 227.95 228.05 228.1 228.2 228.3 228.4 228.45 228.5 228.6 228.7 228.8 228.85 228.95 229 229.05 229.1 229.15 229.2 229.3 229.4 229.45 229.5 229.55 229.65 229.75 229.85 229.95 230 230.05 230.15 230.25 230.35 230.45 230.55 230.65 230.7 230.75 230.8 230.85 230.95 231.05 231.15 231.2 231.25 231.3 231.35 231.45 231.55 231.65 231.75 231.8 231.9 232 232.05 232.1 232.2 232.3 232.35 232.45 232.55 232.65 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actions='1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 9 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 4 4 4 4 4 4 4 4 4 4 1 1 1 1 1 8 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 9 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 10 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1'
/>

<LinearSolverConstraintCorrection printLog='false' wire_optimization='true'/>
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