TABLE 2.

Selected parameters for each setup

	DOFs	Size (cmd)	$h$ (mm)	Runtime (h)	Topological gradient	ECG
$\mathbf{1}$	${50}^2$	$2\times 2$	$0.4$	1/2 (ECG)	✓	✓
$\mathbf{2}$	$7980$	$2\times 2$	$0.11$	1/2 (ECG)	✓	✓
$\mathbf{3}$	$1.5\times {10}^4$	$10.7\times 8.9\times 9.5$	$1.9$	2.5	✓
$\mathbf{4}$	$1.08\times {10}^5$	$10.3\times 8.1\times 12.6$	$0.66$	3.5/18 (ECG)		✓

Note: The size refers to the bounding box of the setups and $h$ is the average element spacing. Tested extensions are indicated by check marks. The ECG runtimes are separately denoted behind the dash as the experiments are more computationally demanding.