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Update submodule urls

Shankar Patali requested to merge shankarpatali/openscenario1_engine:update_submodule_urls into main

mantle api repository is moved to https://gitlab.eclipse.org/eclipse/openpass/mantle-api and yase is moved to https://gitlab.eclipse.org/eclipse/openpass/yase.

These new urls are updated in .gitmodules file and README.md file.

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