fix(open3d): leak

dimos/core/module.py

@@ -149,6 +149,12 @@ def _close_module(self) -> None:
         if hasattr(self, "_disposables"):
             self._disposables.dispose()
 
+        # Break the In/Out -> owner -> self reference cycle so the instance
+        # can be freed by refcount instead of waiting for GC.
+        for attr in list(vars(self).values()):
+            if isinstance(attr, (In, Out)):
+                attr.owner = None
+
     def _close_rpc(self) -> None:
         if self.rpc:
             self.rpc.stop()  # type: ignore[attr-defined]

dimos/mapping/voxels.py

@@ -105,6 +105,11 @@ def start(self) -> None:
     @rpc
     def stop(self) -> None:
         super().stop()
+        # Free tensor-tracked objects eagerly so Open3D does not report them as leaks.
+        self.get_global_pointcloud.invalidate_cache(self)
+        self.get_global_pointcloud2.invalidate_cache(self)
+        self.vbg = None
+        self._voxel_hashmap = None
 
     def _on_frame(self, frame: PointCloud2) -> None:
         self.add_frame(frame)

dimos/msgs/sensor_msgs/PointCloud2.py

@@ -363,27 +363,27 @@ def as_numpy(
         colors = np.asarray(self.pointcloud.colors) if self.pointcloud.has_colors() else None
         return points, colors
 
-    @functools.cache
-    def get_axis_aligned_bounding_box(self) -> o3d.geometry.AxisAlignedBoundingBox:
+    @functools.cached_property
+    def axis_aligned_bounding_box(self) -> o3d.geometry.AxisAlignedBoundingBox:
         """Get axis-aligned bounding box of the point cloud."""
         return self.pointcloud.get_axis_aligned_bounding_box()
 
-    @functools.cache
-    def get_oriented_bounding_box(self) -> o3d.geometry.OrientedBoundingBox:
+    @functools.cached_property
+    def oriented_bounding_box(self) -> o3d.geometry.OrientedBoundingBox:
         """Get oriented bounding box of the point cloud."""
         return self.pointcloud.get_oriented_bounding_box()
 
-    @functools.cache
-    def get_bounding_box_dimensions(self) -> tuple[float, float, float]:
+    @functools.cached_property
+    def bounding_box_dimensions(self) -> tuple[float, float, float]:
         """Get dimensions (width, height, depth) of axis-aligned bounding box."""
-        bbox = self.get_axis_aligned_bounding_box()
+        bbox = self.axis_aligned_bounding_box
         extent = bbox.get_extent()
         return tuple(extent)
 
     def bounding_box_intersects(self, other: PointCloud2) -> bool:
         # Get axis-aligned bounding boxes
-        bbox1 = self.get_axis_aligned_bounding_box()
-        bbox2 = other.get_axis_aligned_bounding_box()
+        bbox1 = self.axis_aligned_bounding_box
+        bbox2 = other.axis_aligned_bounding_box
 
         # Get min and max bounds
         min1 = bbox1.get_min_bound()

dimos/perception/detection/conftest.py

@@ -113,7 +113,8 @@ def moment_provider(**kwargs) -> Moment:
             "tf": tf,
         }
 
-    return moment_provider
+    yield moment_provider
+    moment_provider.cache_clear()
 
 
 @pytest.fixture(scope="session")
@@ -217,6 +218,7 @@ def moment_provider(**kwargs) -> Moment2D:
 
     yield moment_provider
 
+    moment_provider.cache_clear()
     module._close_module()
 
 
@@ -250,6 +252,7 @@ def moment_provider(**kwargs) -> Moment3D:
         }
 
     yield moment_provider
+    moment_provider.cache_clear()
     if module is not None:
         module._close_module()
 

dimos/perception/detection/type/detection3d/object.py

@@ -95,7 +95,7 @@ def update_object(self, other: Object) -> None:
 
     def get_oriented_bounding_box(self) -> Any:
         """Get oriented bounding box of the pointcloud."""
-        return self.pointcloud.get_oriented_bounding_box()
+        return self.pointcloud.oriented_bounding_box
 
     def scene_entity_label(self) -> str:
         """Get label for scene visualization."""

dimos/perception/detection/type/detection3d/pointcloud.py

@@ -74,15 +74,15 @@ def pose(self) -> PoseStamped:
 
     def get_bounding_box(self):  # type: ignore[no-untyped-def]
         """Get axis-aligned bounding box of the detection's pointcloud."""
-        return self.pointcloud.get_axis_aligned_bounding_box()
+        return self.pointcloud.axis_aligned_bounding_box
 
     def get_oriented_bounding_box(self):  # type: ignore[no-untyped-def]
         """Get oriented bounding box of the detection's pointcloud."""
-        return self.pointcloud.get_oriented_bounding_box()
+        return self.pointcloud.oriented_bounding_box
 
     def get_bounding_box_dimensions(self) -> tuple[float, float, float]:
         """Get dimensions (width, height, depth) of the detection's bounding box."""
-        return self.pointcloud.get_bounding_box_dimensions()
+        return self.pointcloud.bounding_box_dimensions
 
     def bounding_box_intersects(self, other: Detection3DPC) -> bool:
         """Check if this detection's bounding box intersects with another's."""

dimos/utils/decorators/decorators.py

@@ -16,7 +16,7 @@
 from functools import wraps
 import threading
 import time
-from typing import Any, Protocol, TypeVar
+from typing import Any, Protocol, TypeVar, cast
 
 from .accumulators import Accumulator, LatestAccumulator
 
@@ -113,7 +113,7 @@ def wrapper(*args, **kwargs):  # type: ignore[no-untyped-def]
     return decorator
 
 
-def simple_mcache(method: Callable) -> Callable:  # type: ignore[type-arg]
+def simple_mcache(method: Callable[..., _CacheReturn]) -> CachedMethod[_CacheReturn]:
     """
     Decorator to cache the result of a method call on the instance.
 
@@ -163,7 +163,7 @@ def invalidate_cache(instance: Any) -> None:
 
     getter.invalidate_cache = invalidate_cache  # type: ignore[attr-defined]
 
-    return getter
+    return cast("CachedMethod[_CacheReturn]", getter)
 
 
 def retry(max_retries: int = 3, on_exception: type[Exception] = Exception, delay: float = 0.0):  # type: ignore[no-untyped-def]

dimos/utils/testing/moment.py

@@ -44,6 +44,7 @@ def start(self) -> None:
         pass
 
     def stop(self) -> None:
+        self.value = None
         self.transport.stop()
 
 
@@ -65,6 +66,7 @@ def start(self) -> None:
         pass
 
     def stop(self) -> None:
+        self.value = None
         self.transport.stop()