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Simulator dimension mismatches & fluid generation config #1369

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Run time

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Job	Run time
clang-tidy	12m 36s
ament_lint_cmake	1m 48s
colcon-test	4m 12s
ament_flake8	1m 53s
ament_mypy	2m 21s
ament_xmllint	1m 54s
	24m 44s