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ca429ba
Apply changes from SOFA PR #6117
bakpaul Jun 10, 2026
635a19f
Fix scenes
bakpaul Jun 11, 2026
beb0f6a
Fix tests
bakpaul Jun 11, 2026
1740fe5
Fix requiredPlugins
bakpaul Jun 11, 2026
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8 changes: 4 additions & 4 deletions BeamAdapter_test/BeamInterpolation_test.cpp
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Expand Up @@ -66,7 +66,7 @@ struct BeamInterpolationTest : public sofa::testing::BaseSimulationTest,
{
void doSetUp() override
{
sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Backward);
sofa::simpleapi::importPlugin(Sofa.Component.IntegrationSchemes.Backward);
sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative);
sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Constant);
Expand All @@ -78,7 +78,7 @@ struct BeamInterpolationTest : public sofa::testing::BaseSimulationTest,
string scene =
"<?xml version='1.0'?>"
"<Node name='Root' gravity='0 -9.81 0' dt='0.01'>"
" <RequiredPlugin name='Sofa.Component.ODESolver.Backward' />"
" <RequiredPlugin name='Sofa.Component.IntegrationSchemes.Backward' />"
" <RequiredPlugin name='Sofa.Component.LinearSolver.Direct' />"
" <RequiredPlugin name='Sofa.Component.Constraint.Projective' />"
" <RequiredPlugin name='Sofa.Component.StateContainer' />"
Expand All @@ -88,7 +88,7 @@ struct BeamInterpolationTest : public sofa::testing::BaseSimulationTest,
" <DefaultAnimationLoop />"
" <DefaultVisualManagerLoop />"
" <Node name='BeamModel'/>"
" <EulerImplicitSolver rayleighStiffness='0.0' rayleighMass='0.0' />"
" <EulerImplicitIntegrationScheme rayleighStiffness='0.0' rayleighMass='0.0' />"
" <BTDLinearSolver />"
" <RegularGridTopology name='MeshLines' nx='200' ny='1' nz='1' xmax='100' xmin='0' ymin='0' ymax='0' zmax='0' zmin='0'/>"
" <MechanicalObject template='Rigid3d' name='DOFs' />"
Expand Down Expand Up @@ -142,7 +142,7 @@ struct BeamInterpolationTest : public sofa::testing::BaseSimulationTest,
string scene =
"<?xml version='1.0'?>"
"<Node name='Root' gravity='0 0 0' time='0' animate='0'>"
" <EulerImplicitSolver rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
" <EulerImplicitIntegrationScheme rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
" <CGLinearSolver iterations='100' threshold='1e-10' tolerance='1e-15' />"
" $line1"
" <BeamInterpolation template='Rigid3d' name='Interpol' radius='0.1'/>"
Expand Down
8 changes: 4 additions & 4 deletions BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
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Expand Up @@ -48,13 +48,13 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
string scene =
"<?xml version='1.0'?>"
"<Node name='Root' gravity='0 0 0' time='0' animate='0'>"
" <RequiredPlugin name='Sofa.Component.ODESolver.Backward' />"
" <RequiredPlugin name='Sofa.Component.IntegrationSchemes.Backward' />"
" <RequiredPlugin name='Sofa.Component.LinearSolver.Iterative' />"
" <RequiredPlugin name='Sofa.Component.StateContainer' />"
" <RequiredPlugin name='Sofa.Component.Constraint.Projective' />"
" <RequiredPlugin name='Sofa.Component.Topology.Container.Constant' />"
" <RequiredPlugin name='BeamAdapter' />"
" <EulerImplicitSolver rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
" <EulerImplicitIntegrationScheme rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
" <CGLinearSolver iterations='100' threshold='1e-10' tolerance='1e-15' />"
" <MeshTopology name='meshSuture' edges='0 1' />"
" <MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' position='0 0 0 0 0 0 1 1 0 0 0 0 0 1'/>"
Expand Down Expand Up @@ -87,7 +87,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
string scene =
"<?xml version='1.0'?>"
"<Node name='Root' gravity='0 -9.81 0' dt='0.01'>"
" <RequiredPlugin name='Sofa.Component.ODESolver.Backward' />"
" <RequiredPlugin name='Sofa.Component.IntegrationSchemes.Backward' />"
" <RequiredPlugin name='Sofa.Component.LinearSolver.Direct' />"
" <RequiredPlugin name='Sofa.Component.Constraint.Projective' />"
" <RequiredPlugin name='Sofa.Component.StateContainer' />"
Expand All @@ -97,7 +97,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
" <DefaultAnimationLoop />"
" <DefaultVisualManagerLoop />"
" <Node name='BeamModel'/>"
" <EulerImplicitSolver rayleighStiffness='0.0' rayleighMass='0.0' />"
" <EulerImplicitIntegrationScheme rayleighStiffness='0.0' rayleighMass='0.0' />"
" <BTDLinearSolver />"
" <RegularGridTopology name='MeshLines' nx='200' ny='1' nz='1' xmax='100' xmin='0' ymin='0' ymax='0' zmax='0' zmin='0'/>"
" <MechanicalObject template='Rigid3d' name='DOFs' />"
Expand Down
6 changes: 3 additions & 3 deletions BeamAdapter_test/component/mapping/BeamLengthMappingTest.cpp
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Expand Up @@ -118,7 +118,7 @@ struct BeamLengthMappingTest : public sofa::mapping_test::Mapping_test<_BeamLeng
const int Nout=2; // WARNING this number has to be changed to test with more than one beam !!
const int Nin=3;

sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward");
sofa::simpleapi::importPlugin("Sofa.Component.IntegrationSchemes.Backward");
sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative");

string scene =
Expand Down Expand Up @@ -191,9 +191,9 @@ struct BeamLengthMappingTest : public sofa::mapping_test::Mapping_test<_BeamLeng
string scene =
"<?xml version='1.0'?>"
"<Node name='Root' gravity='0 0 0' time='0' animate='0'>"
" <RequiredPlugin name=\"Sofa.Component.ODESolver.Backward\"/>"
" <RequiredPlugin name=\"Sofa.Component.IntegrationSchemes.Backward\"/>"
" <RequiredPlugin name=\"Sofa.Component.LinearSolver.Iterative\"/>"
" <EulerImplicitSolver rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
" <EulerImplicitIntegrationScheme rayleighStiffness='0.08' rayleighMass='0.08' printLog='false' />"
" <CGLinearSolver iterations='100' threshold='1e-10' tolerance='1e-15' />"
" <Mesh name='meshSuture' edges='0 1' />"
" <MechanicalObject template='Rigid3' name='DOFs' showIndices='0' position='0 0 0 0 0 0 1 1 0 0 0 0 0 1'/>"
Expand Down
4 changes: 2 additions & 2 deletions examples/3instruments.scn
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Expand Up @@ -5,7 +5,7 @@
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier] -->
Expand Down Expand Up @@ -57,7 +57,7 @@


<Node name='InstrumentCombined'>
<EulerImplicitSolver rayleighStiffness='0.2' rayleighMass='0.1' printLog='false' />
<EulerImplicitIntegrationScheme rayleighStiffness='0.2' rayleighMass='0.1' printLog='false' />
<BTDLinearSolver subpartSolve='0' verification='0' verbose='0'/>
<RegularGridTopology name='meshLinesCombined'
nx='181' ny='1' nz='1'
Expand Down
4 changes: 2 additions & 2 deletions examples/3instruments_collis.scn
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Expand Up @@ -13,7 +13,7 @@
<RequiredPlugin pluginName="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
Expand Down Expand Up @@ -73,7 +73,7 @@


<Node name="InstrumentCombined">
<EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
<EulerImplicitIntegrationScheme rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
<BTDLinearSolver subpartSolve="0" verification="0" verbose="0"/>
<RegularGridTopology name="meshLinesCombined"
nx="181" ny="1" nz="1"
Expand Down
6 changes: 3 additions & 3 deletions examples/AdaptiveBeamController.scn
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Expand Up @@ -2,7 +2,7 @@
<Node name="root" gravity="0 -9.81 0" dt="0.01" bbox="0 0 0 10 10 10">
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [EigenSparseLU] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
Expand All @@ -12,7 +12,7 @@
<DefaultAnimationLoop />

<Node name="AdaptiveBeam1">
<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
<EulerImplicitIntegrationScheme rayleighStiffness="0" rayleighMass="0" printLog="false" />
<EigenSparseLU template="CompressedRowSparseMatrixMat3x3d"/>
<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0 0 0 0 1 0.5 0 0 0 0 0 1 1 0 0 0 0 0 1 1.5 0 0 0 0 0 1 2 0 0 0 0 0 1 2.5 0 0 0 0 0 1 3 0 0 0 0 0 1"/>
<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6" />
Expand All @@ -30,7 +30,7 @@
</Node>

<Node name="AdaptiveBeam2">
<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
<EulerImplicitIntegrationScheme rayleighStiffness="0" rayleighMass="0" printLog="false" />
<EigenSparseLU template="CompressedRowSparseMatrixMat3x3d"/>
<MeshTopology name="lines" lines="0 1 1 2 2 3" />
<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 2 0 0 0 1 1 0 2 0 0 0 1 2 0 2 0 0 0 1 3 0 2 0 0 0 1"/>
Expand Down
4 changes: 2 additions & 2 deletions examples/AdaptiveBeamMapping.scn
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Expand Up @@ -3,7 +3,7 @@
<RequiredPlugin pluginName="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [CubeTopology MeshTopology] -->
<RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
Expand All @@ -15,7 +15,7 @@
<DefaultVisualManagerLoop />

<Node name="AdaptiveBeam2">
<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
<EulerImplicitIntegrationScheme rayleighStiffness="0" rayleighMass="0" printLog="false" />
<BTDLinearSolver verbose="0"/>
<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 2 0 0 0 1 1 0 2 0 0 0 1 2 0 2 0 0 0 1 3 0 2 0 0 0 1"/>
<MeshTopology name="lines" lines="0 1 1 2 2 3" />
Expand Down
4 changes: 2 additions & 2 deletions examples/SingleBeam.scn
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Expand Up @@ -3,7 +3,7 @@
<RequiredPlugin pluginName="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin pluginName="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
Expand All @@ -13,7 +13,7 @@
<DefaultVisualManagerLoop />

<Node name="BeamModel">
<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
<EulerImplicitIntegrationScheme rayleighStiffness="0" rayleighMass="0" printLog="false" />
<BTDLinearSolver verbose="0"/>
<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0 0 0 0 1 2 0 0 0 0 0 1 4 0 0 0 0 0 1 6 0 0 0 0 0 1"/>
<MeshTopology name="lines" lines="0 1 1 2 2 3" />
Expand Down
4 changes: 2 additions & 2 deletions examples/SingleBeamDeployment.scn
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Expand Up @@ -3,7 +3,7 @@
<RequiredPlugin pluginName="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier] -->
Expand All @@ -26,7 +26,7 @@
</Node>

<Node name="BeamModel">
<EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
<EulerImplicitIntegrationScheme rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
<BTDLinearSolver verbose="0"/>
<RegularGridTopology name="MeshLines" nx="36" ny="1" nz="1"
xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
Expand Down
4 changes: 2 additions & 2 deletions examples/SingleBeamDeploymentCollision.scn
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Expand Up @@ -11,7 +11,7 @@
<RequiredPlugin pluginName="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin pluginName="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshSTLLoader] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
Expand Down Expand Up @@ -44,7 +44,7 @@
</Node>

<Node name="BeamModel">
<EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
<EulerImplicitIntegrationScheme rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
<BTDLinearSolver verbose="0"/>
<RegularGridTopology name="MeshLines" nx="61" ny="1" nz="1"
xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
Expand Down
4 changes: 2 additions & 2 deletions examples/Tool_from_loader.scn
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Expand Up @@ -9,7 +9,7 @@
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin pluginName="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
Expand Down Expand Up @@ -37,7 +37,7 @@
</Node>

<Node name="Instrument">
<EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" />
<EulerImplicitIntegrationScheme rayleighStiffness="0.2" rayleighMass="0.1" />
<BTDLinearSolver />
<RegularGridTopology name="MeshLines" nx="331" ny="1" nz="1"
xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
Expand Down
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