Set iDynTree::ModelExporterOptions::exportFirstBaseLinkAdditionalFrameAsFakeURDFBase to false by default and expose it as a parameter #142
Conversation
…eAsFakeURDFBase to false by default and expose it as a parameter
traversaro
requested review from
Nicogene and
mfussi66
and removed request for
mfussi66
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Summary of Changes
Hello @traversaro, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!
This pull request refines the URDF export process by modifying the default behavior of a specific iDynTree option and making it user-configurable. The primary goal is to enhance clarity and provide more control over how the base link is handled during URDF generation, resolving previously reported issues related to unexpected base link assignments.
Highlights
- Default Behavior Change: I've changed the default value of
iDynTree::ModelExporterOptions::exportFirstBaseLinkAdditionalFrameAsFakeURDFBasefromtruetofalse. This addresses user feedback regarding confusing behavior where the first additional frame attached to the base link was automatically exported as the URDF model's base link. - New Configuration Parameter: I've exposed
exportFirstBaseLinkAdditionalFrameAsFakeURDFBaseas a configurable parameter in thecreo2urdfconfiguration. Users can now explicitly set this option totrueif they wish to revert to the previous behavior (pre-v0.5.11) orfalseto use the new default. - Documentation Update: I've updated the
README.mdto document the newexportFirstBaseLinkAdditionalFrameAsFakeURDFBaseparameter, including its default value and a brief explanation of its purpose and historical context.
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fyi @xela-95 |
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Code Review
This pull request introduces a breaking change by altering the default behavior of how the base link is determined during URDF export. The iDynTree::ModelExporterOptions::exportFirstBaseLinkAdditionalFrameAsFakeURDFBase option now defaults to false within creo2urdf, aiming to reduce user confusion. The PR also exposes this option as a YAML parameter, allowing users to revert to the previous behavior if necessary. The changes include updating the Creo2Urdf class to handle this new parameter, modifying the OnCommand logic to read it from the configuration, and updating README.md to document the new parameter and its default value.
The implementation of the core logic appears correct and aligns with the stated goals. My primary feedback concerns the clarity of the documentation for this new parameter in README.md, given its nature as a breaking change.
No specific style guide was provided for this review. The submitted code changes are consistent with the established style observed in the surrounding codebase (e.g., naming conventions like camelCase for variables, PascalCase for classes, and brace styling for control flow statements).
Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>
If you do not know how to compile locally the extension I can show you how to do it, it is relatively straightforward (see https://github.com/icub-tech-iit/creo2urdf?tab=readme-ov-file#installation-from-sources), but if you never used vcpkg it may not be super-intuitive.
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Nevermind for the fail, it is failing the dispatch to the private runner CI, we can merge as soon as we have confirmation by @pillai-s and/or @FabioBergonti |
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I am going to merge it and tag it in this way @FabioBergonti and @pillai-s have a binary that is easier to install it, because next week I will be on vacation |
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Enjoy:
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2 participants
Fix #140 .
Fix robotology/idyntree#1201 .
This PR has as a breaking change, but I think it is a useful one based on user feedback. Historically, iDynTree URDF exporter has the
iDynTree::ModelExporterOptions::exportFirstBaseLinkAdditionalFrameAsFakeURDFBaseoptions that automatically exports the first additional frame attached to the link base as the actual base link of the URDF model, as a workaround for a long standing issue ROS issue ( ros/robot_model#6 ). However, this behaviour seems confusing, so this PR:iDynTree::ModelExporterOptions::exportFirstBaseLinkAdditionalFrameAsFakeURDFBasefromtruetofalseexportFirstBaseLinkAdditionalFrameAsFakeURDFBaseargument as a parameter, to permit users that want to set it (or continue to use the default behavior of creo2urdf<=0.5.11 .@FabioBergonti @pillai-s do you know how to compile this extension from source? It would be great to be able to quickly test this PR before merging and/or doing a release.