wip: these are why we need to gc-ify DrakeLcmInterface

RobotLocomotion · Nov 8, 2024 · c65d58d · c65d58d
1 parent cf9d5a0
commit c65d58d
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Showing 5 changed files with 9 additions and 1 deletion.
diff --git a/bindings/pydrake/geometry/test/visualizers_test.py b/bindings/pydrake/geometry/test/visualizers_test.py
@@ -56,6 +56,7 @@ def by_hand(builder, scene_graph, params):
                             visualizer.query_object_input_port())
 
         def auto_connect_to_system(builder, scene_graph, params):
+            # XXX lcm annotations??
             mut.DrakeVisualizer_[T].AddToBuilder(builder=builder,
                                                  scene_graph=scene_graph,
                                                  lcm=lcm, params=params)

diff --git a/bindings/pydrake/lcm_py.cc b/bindings/pydrake/lcm_py.cc
@@ -26,7 +26,7 @@ PYBIND11_MODULE(lcm, m) {
   {
     using Class = DrakeLcmInterface;
     constexpr auto& cls_doc = doc.DrakeLcmInterface;
-    py::class_<Class>(m, "DrakeLcmInterface", py::dynamic_attr(), cls_doc.doc)
+    py::class_<Class>(m, "DrakeLcmInterface", cls_doc.doc)
         .def("get_lcm_url", &DrakeLcmInterface::get_lcm_url,
             cls_doc.get_lcm_url.doc)
         .def(

diff --git a/bindings/pydrake/multibody/test/plant_test.py b/bindings/pydrake/multibody/test/plant_test.py
@@ -3095,6 +3095,7 @@ def test_connect_contact_results(self):
                 [{}, {"publish_period": None}, {"publish_period": 1.0/32}]):
             kwargs = collections.ChainMap(*optional_args)
             with self.subTest(num_optional_args=len(kwargs), **kwargs):
+                # XXX lcm annotations??
                 publisher = ConnectContactResultsToDrakeVisualizer(
                     builder=builder, plant=plant, scene_graph=scene_graph,
                     **kwargs)

diff --git a/bindings/pydrake/systems/test/sensors_test.py b/bindings/pydrake/systems/test/sensors_test.py
@@ -246,6 +246,7 @@ def test_camera_config(self):
         plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
         system_count = len(builder.GetSystems())
         lcm = DrakeLcm()
+        # XXX lcm annotations??
         mut.ApplyCameraConfig(config=config, plant=plant, builder=builder,
                               scene_graph=scene_graph, lcm=lcm)
         # Systems have been added.

diff --git a/bindings/pydrake/visualization/test/meldis_test.py b/bindings/pydrake/visualization/test/meldis_test.py
@@ -95,6 +95,7 @@ def _make_diagram(self, *, resource, visualizer_params, lcm):
         parser = Parser(plant=plant)
         parser.AddModels(url=f"package://{resource}")
         plant.Finalize()
+        # XXX lcm annotations??
         DrakeVisualizer.AddToBuilder(builder=builder, scene_graph=scene_graph,
                                      params=visualizer_params, lcm=lcm)
         diagram = builder.Build()
@@ -458,6 +459,7 @@ def test_viewer_applet_alpha_slider(self):
 </sdf>
 """, "sdf")
         plant.Finalize()
+        # XXX lcm annotations??
         DrakeVisualizer.AddToBuilder(builder=builder, scene_graph=scene_graph,
                                      params=DrakeVisualizerParams(), lcm=lcm)
         diagram = builder.Build()
@@ -516,6 +518,7 @@ def test_viewer_applet_in_memory_mesh(self):
         scene_graph.AssignRole(plant.get_source_id(), g_id,
                                IllustrationProperties())
         lcm = dut._lcm
+        # XXX lcm annotations??
         DrakeVisualizer.AddToBuilder(builder=builder, scene_graph=scene_graph,
                                      params=DrakeVisualizerParams(), lcm=lcm)
         plant.Finalize()
@@ -589,6 +592,7 @@ def test_contact_applet_point_pair(self):
             name="sphere2_x", frame_on_parent=plant.world_body().body_frame(),
             frame_on_child=body2.body_frame(), axis=[1, 0, 0]))
         plant.Finalize()
+        # XXX lcm annotations??
         ConnectContactResultsToDrakeVisualizer(
             builder=builder, plant=plant, scene_graph=scene_graph, lcm=lcm)
         diagram = builder.Build()
@@ -632,6 +636,7 @@ def test_contact_applet_hydroelastic(self):
             name="body2", frame_on_parent=plant.world_body().body_frame(),
             frame_on_child=body2.body_frame(), axis=[1, 0, 0]))
         plant.Finalize()
+        # XXX lcm annotations??
         ConnectContactResultsToDrakeVisualizer(
             builder=builder, plant=plant, scene_graph=scene_graph, lcm=lcm)
         diagram = builder.Build()