snozawa commented 2 months ago

Summary

Description

Without uriHint, referenceUri is contained into saved json file.
It seems the current jsonwriter.cpp only contains all the resolved bodies into one file, so referenceUri seems unnecessary.
In addition, if saved referenceUri is unnecessarily contained in the file,
- When we load it by jsonreader.cpp, warning message is shown.
- Other non-openrave model loader software cannot load it because referenced file does not exist.
I added noUriHint option just in case. It's unnecessary right now, but in future, once we support file saving preserving the reference files, it might be necessary.

rdiankov commented 2 months ago

Changing default option like this could affect a lot... we should have ziyan and yoshiki comment on this.

snozawa commented 2 months ago

Changing default option like this could affect a lot... we should have ziyan and yoshiki comment on this.

thanks for your comment!

@yoshikikanemoto @ziyan

I guess, the current jsonwriter.cpp does not require referenceUri. I'm not fully sure about the negative effect if we remove referenceUri. But, I'm not also sure there is positive effect if we have referenceUri.
In my understanding, referenceUriHint is something like comment, and no behavioral effect for the saved json file. Is this correct?

Thanks!

p.s. It looks some tests are failing and needs to investigate.