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gazebosim / sdformat Public

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Merge pull request #1283 from gazebosim/merge_12_13_20230518 #6137

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Merge pull request #1283 from gazebosim/merge_12_13_20230518

Merge pull request #1283 from gazebosim/merge_12_13_20230518 #6137

Summary
Jobs
- Ubuntu Focal CI
- Ubuntu Jammy CI
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- Usage
- Workflow file

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