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fix(robot): Robot.set_default_backend replaces rtbtool's monkey-patch; URDFRobot drops a dead guard - #810
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Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
…; URDFRobot drops a dead guard rtbtool assigned a string to Robot.default_backend on the class, replacing the property for every robot. It worked because an instance assignment then shadows the class attribute. Robot.set_default_backend(be) is a classmethod that sets a class-level default which the property falls back to; the robot's own value still wins, and the property stays a property. URDFRobot wrapped elink.geometry = [...] in try/except AttributeError, with a comment that geometry has no setter. It has one, and every visual that parses has a shape (a missing mesh or an empty geometry is a URDFError at parse time), so the guard could not fire. Removed, with tests for both facts. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Not up to standards ⛔🔴 Issues
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| Category | Results |
|---|---|
| ErrorProne | 1 high |
| Security | 8 high |
🟢 Metrics 9 complexity · 0 duplication
Metric Results Complexity 9 Duplication 0
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Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## main #810 +/- ##
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Coverage 0.00% 0.00%
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Files 144 144
Lines 14914 14917 +3
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- Misses 14914 14917 +3 ☔ View full report in Codecov by Harness. 🚀 New features to boost your workflow:
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Summary
Items 58 and 59 of the typing pass.
58,
rtbtool:rtbtoolassigned a string toRobot.default_backendon the class, replacing the property for every robot. It worked because an instance assignment then shadows the class attribute, and needed atype: ignore.Robot.set_default_backend(be)is a classmethod that sets a class-level default which thedefault_backendproperty falls back to. The robot's own value still wins, the property stays a property, andrtbtoolcalls the classmethod.59,
URDFRobot:elink.geometry = [...]was insidetry/except AttributeError, under a comment saying geometry has no setter. It has one (Link.py), and the assignment works. Every visual that parses has a shape (a missing mesh, an empty<geometry/>, no<geometry>or an unknown shape tag is aURDFErrorat parse time), so the guard could not fire. It is removed, and tests assert both facts.Tests
tests/test_default_backend.py, written first: 4 of 4 failed (AttributeError: no attribute 'set_default_backend'), then pass.tests/test_urdf_visual_geometry.py: shapes reach the link, and four malformed visuals are rejected when parsed.mainhere (stale compiled extension). mypy clean on 164 files.Related issue
None.
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