Working on a script to export to URDF (Robot Operating System format) and have run into a number of issues

[khokeson]

Some issues I've run into in no particular order:

1. Breaking links sometimes randomly rotates components causing them to be in an incorrect position for no good reason.
2. All API returned units are in cm, even when the document is in mm, however STLs will be exported in the document unit. This is IMO reasonable behavior, however it's not documented anywhere in the API help.
3. Transform2 100% is in global frame (highest level assembly), not local assembly origin; the documentation is wrong.

I think I've run into some other issues, but these are the ones that stick out and cause a significant number of hours to figure out and develop work-arounds for.

[Jorge_Jaramillo]

Hi,

Regarding second item: you can find information on this article:

About the third item: are you talking about occurrence orientation?  If so, every occurrence in the design tree have its own matrix (transform2 property) which defines its orientation.  

Regards,

Jorge Jaramillo

[khokeson]

Hi @Jorge_Jaramillo ,

You are correct on point 2 - thank you! I wish this were made more clear though, this is not immediately obvious when diving into other functions.

Regarding point 3 - that's my point, the documentation on transform2 is incorrect. From the help file:

Gets and sets the 3d matrix data that defines this occurrences orientation and position in its assembly context

---

Emphasis mine. However this is incorrect, it returns position to the highest global assembly context. Additionally this appears to be a recent thing - the script we were running ran perfectly fine in May/June, however it stopped exporting position correctly some time over the last 3 months or so.