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Pretty URLs
By default Hugo will create content with 'pretty' URLs. For example content created at /content/extras/urls.md will be rendered at /content/extras/urls/index.html and accessible at /content/extras/urls. No no standard server side configuration is required for these pretty urls to work.
If you would like to have ugly URLs, you are in luck. Hugo supports the
ability to create your entire site with ugly URLs. Simply use the
--uglyurls=true flag on the command line.
If you want a specific piece of content to have an exact URL, you can specify this in the front matter under the url key. See Content Organization for more details.
Canonicalization
By default, all relative URLs encountered in the input will be canonicalized
using baseurl, so that a link /css/foo.css becomes
http://yoursite.example.com/css/foo.css.
Setting canonifyurls to false will prevent this canonicalization.
Benefits of canonicalization include fixing all URLs to be absolute, which may aid with some parsing tasks. Note though that all real browsers handle this client-side without issues.
Benefits of non-canonicalization include being able to have resource inclusion be scheme-relative, so that http vs https can be decided based on how this page was retrieved.