save lcm to fix

bug/drake_scipy_opt_oom_or_ubsan/README.md

@@ -4,11 +4,17 @@ gist: https://gist.github.com/ggould-tri/5c0e1f276e90177a8aafd0fd7da6d213
 
 ## Doing the thing
 
+Fix by saving the LCM thing
+
 ```
 $ ./setup.sh python3 ./repro.py
 ...
 170 experiments run so far...
-external/lcm/lcm/lcm_udpm.c pipe(create): Too many open files
-LCM instance not initialized.  Ignoring call to fileno()
-LCM instance not initialized.  Ignoring call to publish()
+180 experiments run so far...
+190 experiments run so far...
+200 experiments run so far...
+210 experiments run so far...
+220 experiments run so far...
+230 experiments run so far...
+...
 ```

bug/drake_scipy_opt_oom_or_ubsan/repro.py

@@ -3,6 +3,7 @@
 
 from pydrake.systems.framework import (DiagramBuilder,)
 from pydrake.systems.primitives import (ConstantVectorSource,)
+from pydrake.lcm import DrakeLcm
 from pydrake.geometry import (Box,
                               DrakeVisualizer)
 from pydrake.math import (RigidTransform, RollPitchYaw)
@@ -11,6 +12,8 @@
 
 from pydrake.systems.analysis import Simulator
 
+global_lcm_ftw = DrakeLcm()
+
 def make_box(mbp, name):
     inertia = SpatialInertia.MakeFromCentralInertia(1, [0, 0, 0], RotationalInertia(1/600, 1/120, 1/120))
     body = mbp.AddRigidBody(name, inertia)
@@ -64,7 +67,7 @@ def experiment(start_state, force_schedule, sleeptime=None):
     builder = DiagramBuilder()
     mbp, sg = make_mbp(builder)
     mbp.Finalize()
-    DrakeVisualizer.AddToBuilder(builder, sg)
+    DrakeVisualizer.AddToBuilder(builder, sg, lcm=global_lcm_ftw)
 
     thrusters = add_thrusters(builder, mbp)