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Merge pull request #1025 from gazebosim/Crola1702/3_to_6-2023-07-30 #4970

Merge pull request #1025 from gazebosim/Crola1702/3_to_6-2023-07-30

Merge pull request #1025 from gazebosim/Crola1702/3_to_6-2023-07-30 #4970