Add commit argument to all loaders

Author: stephane-caron

robot_descriptions/loaders/idyntree.py

@@ -2,6 +2,7 @@
 # -*- coding: utf-8 -*-
 #
 # Copyright 2022 Giulio Romualdi
+# Copyright 2023 Inria
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -19,6 +20,7 @@
 Load a robot description in iDynTree.
 """
 
+import os
 from importlib import import_module  # type: ignore
 from typing import List, Optional
 
@@ -30,6 +32,7 @@
 def load_robot_description(
     description_name: str,
     joints_list: Optional[List[str]] = None,
+    commit: Optional[str] = None,
 ) -> idyn.Model:
     """
     Load a robot description in iDynTree.
@@ -48,6 +51,8 @@ def load_robot_description(
         ValueError:
             If the description is not URDF, or iDynTree is unable to load it.
     """
+    if commit is not None:
+        os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
     if not hasattr(module, "URDF_PATH"):
         raise ValueError(f"{description_name} is not a URDF description")

robot_descriptions/loaders/mujoco.py

@@ -2,6 +2,7 @@
 # -*- coding: utf-8 -*-
 #
 # Copyright 2022 Stéphane Caron
+# Copyright 2023 Inria
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -19,12 +20,16 @@
 Load a robot description in MuJoCo.
 """
 
+import os
 from importlib import import_module  # type: ignore
+from typing import Optional
 
 import mujoco
 
 
-def load_robot_description(description_name: str) -> mujoco.MjModel:
+def load_robot_description(
+    description_name: str, commit: Optional[str] = None
+) -> mujoco.MjModel:
     """
     Load a robot description in MuJoCo.
 
@@ -34,6 +39,8 @@ def load_robot_description(description_name: str) -> mujoco.MjModel:
     Returns:
         Robot model for MuJoCo.
     """
+    if commit is not None:
+        os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
     if not hasattr(module, "MJCF_PATH"):
         raise ValueError(f"{description_name} is not an MJCF description")

robot_descriptions/loaders/pinocchio.py

@@ -19,6 +19,7 @@
 Load a robot description in Pinocchio.
 """
 
+import os
 from importlib import import_module  # type: ignore
 from typing import Optional, Union
 
@@ -44,6 +45,7 @@
 def load_robot_description(
     description_name: str,
     root_joint: Optional[PinocchioJoint] = None,
+    commit: Optional[str] = None,
 ) -> pin.RobotWrapper:
     """
     Load a robot description in Pinocchio.
@@ -57,6 +59,8 @@ def load_robot_description(
     Returns:
         Robot model for Pinocchio.
     """
+    if commit is not None:
+        os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
     robot = pin.RobotWrapper.BuildFromURDF(
         filename=module.URDF_PATH,

robot_descriptions/loaders/pybullet.py

@@ -19,12 +19,16 @@
 Load a robot description in PyBullet.
 """
 
+import os
 from importlib import import_module  # type: ignore
+from typing import Optional
 
 import pybullet
 
 
-def load_robot_description(description_name: str) -> int:
+def load_robot_description(
+    description_name: str, commit: Optional[str] = None
+) -> int:
     """
     Load a robot description in PyBullet.
 
@@ -34,6 +38,8 @@ def load_robot_description(description_name: str) -> int:
     Returns:
         Identifier of the robot in PyBullet.
     """
+    if commit is not None:
+        os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
     if not hasattr(module, "URDF_PATH"):
         raise ValueError(f"{description_name} is not a URDF description")

robot_descriptions/loaders/robomeshcat.py

@@ -20,14 +20,18 @@
 <https://github.com/petrikvladimir/RoboMeshCat>`_.
 """
 
+import os
 from importlib import import_module  # type: ignore
+from typing import Optional
 
 import robomeshcat
 
 from .pinocchio import get_package_dirs
 
 
-def load_robot_description(description_name: str) -> robomeshcat.Robot:
+def load_robot_description(
+    description_name: str, commit: Optional[str] = None
+) -> robomeshcat.Robot:
     """
     Load a robot description in RoboMeshCat.
 
@@ -37,6 +41,8 @@ def load_robot_description(description_name: str) -> robomeshcat.Robot:
     Returns:
         Robot model for RoboMeshCat.
     """
+    if commit is not None:
+        os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
     robot = robomeshcat.Robot(
         urdf_path=module.URDF_PATH,

robot_descriptions/loaders/yourdfpy.py

@@ -19,7 +19,9 @@
 Load a robot description in yourdfpy.
 """
 
+import os
 from importlib import import_module  # type: ignore
+from typing import Optional
 
 try:
     import yourdfpy
@@ -30,7 +32,9 @@
     ) from e
 
 
-def load_robot_description(description_name: str) -> yourdfpy.URDF:
+def load_robot_description(
+    description_name: str, commit: Optional[str] = None
+) -> yourdfpy.URDF:
     """
     Load a robot description in yourdfpy.
 
@@ -40,6 +44,8 @@ def load_robot_description(description_name: str) -> yourdfpy.URDF:
     Returns:
         Robot model for yourdfpy.
     """
+    if commit is not None:
+        os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
     if not hasattr(module, "URDF_PATH"):
         raise ValueError(f"{description_name} is not a URDF description")