Is this a new feature, an improvement, or a change to existing functionality?

New Feature

Feature Description

As noted in https://github.com/newton-physics/urdf-usd-converter/pull/25/files#r2583592036, many files in our dataset do not conform to the URDF XML schema. This is highly unfortunate and yet another reason for folks to migrate away from this legacy format, but we do need to make a best effort to load these non-conformant files.

We should consider changing parser errors to warnings & see how far we get.

Additional context or alternatives

No response

Code of Conduct

• I agree to follow urdf-usd-converter Code of Conduct
• I have searched the open issues and have found no duplicates