Serialize an assembly's links and revolute/prismatic joints to a URDF string. Returns an error if any joint is multi-DOF or carries a fixed offset, since URDF cannot represent those as a single joint.
offset
Serialize an assembly's links and revolute/prismatic joints to a URDF string. Returns an error if any joint is multi-DOF or carries a fixed
offset, since URDF cannot represent those as a single joint.