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Avoid logging error when <empty> geometry is included #3175
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Add check for EMPTY geometry type in `GeometryToSDF()` to avoid writing an error message to the server log. <empty> geometry is listed as a valid option the [SDF spec](http://sdformat.org/spec?ver=1.9&elem=geometry#geometry_empty), and already implemented in `GeometryFromSDF()`.
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This is a very small change to avoid an error message while using geometry in models. I simply added a check for the
msgs::Geometry::EMPTYtype with an empty statement to avoid writing an error message for "Unrecognized geometry type" in the defaultelsestatement.geometry is listed as a valid option the SDF spec, and is already supported by
GeometryFromSDF().