Pop environment variable after import in all loaders

Author: stephane-caron

robot_descriptions/loaders/idyntree.py

@@ -39,9 +39,11 @@ def load_robot_description(
         ValueError:
             If the description is not URDF, or iDynTree is unable to load it.
     """
-    if commit is not None:
+    if commit is not None:  # technical debt, see #31
         os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
+    if commit is not None:
+        os.environ.pop("ROBOT_DESCRIPTION_COMMIT", None)
     if not hasattr(module, "URDF_PATH"):
         raise ValueError(f"{description_name} is not a URDF description")
 

robot_descriptions/loaders/mujoco.py

@@ -28,9 +28,11 @@ def load_robot_description(
     Returns:
         Robot model for MuJoCo.
     """
-    if commit is not None:
+    if commit is not None:  # technical debt, see #31
         os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
+    if commit is not None:
+        os.environ.pop("ROBOT_DESCRIPTION_COMMIT", None)
     if not hasattr(module, "MJCF_PATH"):
         raise ValueError(f"{description_name} is not an MJCF description")
 

robot_descriptions/loaders/pinocchio.py

@@ -48,9 +48,11 @@ def load_robot_description(
     Returns:
         Robot model for Pinocchio.
     """
-    if commit is not None:
+    if commit is not None:  # technical debt, see #31
         os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
+    if commit is not None:
+        os.environ.pop("ROBOT_DESCRIPTION_COMMIT", None)
     robot = pin.RobotWrapper.BuildFromURDF(
         filename=module.URDF_PATH,
         package_dirs=get_package_dirs(module),

robot_descriptions/loaders/pybullet.py

@@ -38,9 +38,11 @@ def load_robot_description(
     Returns:
         Integer identifier of the robot in PyBullet.
     """
-    if commit is not None:
+    if commit is not None:  # technical debt, see #31
         os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
+    if commit is not None:
+        os.environ.pop("ROBOT_DESCRIPTION_COMMIT", None)
     if not hasattr(module, "URDF_PATH"):
         raise ValueError(f"{description_name} is not a URDF description")
 

robot_descriptions/loaders/robomeshcat.py

@@ -33,9 +33,11 @@ def load_robot_description(
     Returns:
         Robot model for RoboMeshCat.
     """
-    if commit is not None:
+    if commit is not None:  # technical debt, see #31
         os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
+    if commit is not None:
+        os.environ.pop("ROBOT_DESCRIPTION_COMMIT", None)
     robot = robomeshcat.Robot(
         urdf_path=module.URDF_PATH,
         mesh_folder_path=get_package_dirs(module),

robot_descriptions/loaders/yourdfpy.py

@@ -34,9 +34,11 @@ def load_robot_description(
     Returns:
         Robot model for yourdfpy.
     """
-    if commit is not None:
+    if commit is not None:  # technical debt, see #31
         os.environ["ROBOT_DESCRIPTION_COMMIT"] = commit
     module = import_module(f"robot_descriptions.{description_name}")
+    if commit is not None:
+        os.environ.pop("ROBOT_DESCRIPTION_COMMIT", None)
     if not hasattr(module, "URDF_PATH"):
         raise ValueError(f"{description_name} is not a URDF description")