SW2URDF: Inferring the joint geometry failed...

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Hello all. I'm the mechanical engineer on a robotics team and spend a significant portion of time generating URDF's for our system. Every so often, I get the following error:

Inferring the joint geometry failed for the joint j1 from link l1 to l2 failed. Check that the mates have not fully defined the components in the link l1 and that there is exactly one degree of freedom.

I do not, however, understand when and why this pops up and how I can solve it.

Generally, when I see this error, I can simply mate the parts to get them in the correct position and orientation. Then I dangerously suppress a single mate so that Solidworks thinks a degree of freedom exists.

This time, I'm trying to make l1 and l2 the input and output locations on a single Solidworks part and thus, there are no mates between these two links. It seems weird that the prompt claims there must be a degree of freedom between the two links when fixed joints exist and generally work. I'm not sure how to replicate this error but why is this wrong and how do I avoid this moving forward.

Thanks for your help

https://www.dropbox.com/s/wkr5g871f8e...

https://www.dropbox.com/s/3cwoz0axiac...