gazebosim/gz-omni

Sharing code with sdformat

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koonpeng commented

There are many duplicated code from sdformat, mostly in parsing msgs into usd. We could use the code in sdformat but most functions takes in sdf objects. Is there already a way to convert ignition::msgs to sdf? If not, should we convert them to sdf and then to usd? @ahcorde Do you think the it is worth the performance penalty?