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Convert links and joints to USD #35

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Run time

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Job	Run time
build (ubuntu-latest)	9s
check-code-format	11s
build (windows-latest)	1m 21s
test-package (ubuntu-latest)	11s
test (ubuntu-latest)	20s
test (windows-latest)	49s
test-package (windows-latest)	29s
	3m 30s