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Documentation for URDF2Gazebo parser in gzsdf

The URDF2Gazebo parser used by gzsdf for converting URDFs to SDFs is a great tool, but currently hard to use due to the lack of documentation.

For example, I can add a ray sensor in URDF with the code below:

  <gazebo reference="cliff_sensor_right_link">
    <sensor:ray name="cliff_sensor_right">

However, I couldn't find information about how this translates to SDF and what options there are in general (except checking the files by hand) .

Is there any documentation out there (wiki, API etc.)?

I was only able to locate the source code here on Bitbucket.