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Migration to gazebo sim garden#433

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Commits on Dec 23, 2023

• refactor ignition to gz

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  a7b5570

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Commits on Dec 24, 2023

• use new sdf::Plugin API to load plugins

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Commits on Dec 29, 2023

• port to gymnasium v.0.29

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Commits on Jan 2, 2024

• migrate to new render API

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Commits on Jan 3, 2024

• formatting and sorting

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