WIP: Update robot descriptions to new syntax

Author: stephane-caron

robot_descriptions/a1_description.py

@@ -19,11 +19,15 @@
 A1 description.
 """
 
+from os import getenv as _getenv
 from os import path as _path
 
 from ._cache import clone_to_cache as _clone_to_cache
 
-REPOSITORY_PATH: str = _clone_to_cache("unitree_ros")
+REPOSITORY_PATH: str = _clone_to_cache(
+    "unitree_ros",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
 
 PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "robots", "a1_description")
 

robot_descriptions/a1_mj_description.py

@@ -19,11 +19,15 @@
 A1 MJCF description.
 """
 
+from os import getenv as _getenv
 from os import path as _path
 
 from ._cache import clone_to_cache as _clone_to_cache
 
-REPOSITORY_PATH: str = _clone_to_cache("unitree_mujoco")
+REPOSITORY_PATH: str = _clone_to_cache(
+    "unitree_mujoco",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
 
 PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "data", "a1")
 

robot_descriptions/aliengo_description.py

@@ -19,11 +19,15 @@
 Aliengo description.
 """
 
+from os import getenv as _getenv
 from os import path as _path
 
 from ._cache import clone_to_cache as _clone_to_cache
 
-REPOSITORY_PATH: str = _clone_to_cache("unitree_mujoco")
+REPOSITORY_PATH: str = _clone_to_cache(
+    "unitree_mujoco",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
 
 PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "data", "aliengo")
 

robot_descriptions/allegro_hand_description.py

@@ -19,11 +19,15 @@
 Allegro Hand description.
 """
 
+from os import getenv as _getenv
 from os import path as _path
 
 from ._cache import clone_to_cache as _clone_to_cache
 
-REPOSITORY_PATH: str = _clone_to_cache("drake")
+REPOSITORY_PATH: str = _clone_to_cache(
+    "drake",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
 
 PACKAGE_PATH: str = _path.join(
     REPOSITORY_PATH, "manipulation", "models", "allegro_hand_description"