So I am trying to build an urdf model (http://wiki.ros.org/urdf) from our robotic arm design by traversing the whole assembly and checking for rigid groups, rigid joints, normal joints and creating STL files, links and joint elements for the urdf definition.
Here is what I've done so far (https://github.com/GummiArmCE/fusion360_scripts).
One problem I am encountering though is that some joints are referenced to None as either occurrenceOne or occurrenceTwo property and I don't know what to make of it.
I thought that they were joints between the base or world link and the current element, but that does not seem to be the case. Then I thought they were joints between the parent link and something else, but that also does not seem to be the case, since, sometimes both occurrenceOne and occurrenceTwo are referenced to None. How can there be a joint that binds itself to itself?
Thank you very much!
Frederico.
Fusion
