[pydrake] Port the common-init module to nanobind

.clang-format

@@ -41,7 +41,7 @@ IncludeCategories:
   - Regex:    '^<'
     Priority: 40
   # Your project's h files.
-  - Regex:    '^"drake'
+  - Regex:    '^"drake/'
     Priority: 50
   # Other libraries' h files (with quotes).
   - Regex:    '^"'

bindings/pydrake/.clang-format

@@ -38,7 +38,7 @@ IncludeCategories:
   - Regex:    '^<'
     Priority: 40
   # Your project's h files.
-  - Regex:    '^"drake'
+  - Regex:    '^"drake/'
     Priority: 50
   # Other libraries' h files (with quotes).
   - Regex:    '^"'

bindings/pydrake/BUILD.bazel

@@ -57,7 +57,10 @@ drake_py_library(
 
 drake_cc_library(
     name = "pydrake_pybind",
-    hdrs = ["pydrake_pybind.h"],
+    hdrs = [
+        "numpy_object_pybind.h",
+        "pydrake_pybind.h",
+    ],
     declare_installed_headers = 0,
     defines = select({
         "//tools/workspace/nanobind:enabled": [

bindings/pydrake/common/BUILD.bazel

@@ -417,6 +417,8 @@ drake_pybind_library(
 
 drake_py_unittest(
     name = "eigen_pybind_test",
+    # TODO(#21572) Remove this opt-out.
+    test_alt_binder = False,
     deps = [
         ":eigen_pybind_test_util_py",
     ],
@@ -474,6 +476,8 @@ drake_py_unittest(
     name = "deprecation_test",
     # kcov messes with module ref counts.
     opt_out_conditions = ["//tools/kcov:enabled"],
+    # TODO(#21572) Remove this opt-out.
+    test_alt_binder = False,
     deps = [
         ":common",
         ":deprecation_example",
@@ -484,6 +488,8 @@ drake_py_unittest(
 # See source for an explanation why this is separate from `deprecation_test`.
 drake_py_unittest(
     name = "deprecation_autocomplete_test",
+    # TODO(#21572) Remove this opt-out.
+    test_alt_binder = False,
     deps = [
         ":common",
         ":deprecation_example",
@@ -493,6 +499,8 @@ drake_py_unittest(
 # Provides a unittest for high-level deprecation API.
 drake_py_unittest(
     name = "deprecation_utility_test",
+    # TODO(#21572) Remove this opt-out.
+    test_alt_binder = False,
     deps = [
         ":deprecation_example",
         "//bindings/pydrake/common/test_utilities:deprecation_py",
@@ -534,6 +542,8 @@ drake_pybind_library(
 
 drake_py_unittest(
     name = "ref_cycle_test",
+    # TODO(#21572) Remove this opt-out.
+    test_alt_binder = False,
     deps = [
         ":common",
         ":ref_cycle_test_util_py",
@@ -650,6 +660,8 @@ drake_pybind_library(
 
 drake_py_unittest(
     name = "sorted_pair_test",
+    # TODO(#21572) Remove this opt-out.
+    test_alt_binder = False,
     deps = [
         ":common",
         ":sorted_pair_test_util_py",
@@ -758,6 +770,8 @@ drake_pybind_library(
 
 drake_py_unittest(
     name = "wrap_pybind_test",
+    # TODO(#21572) Remove this opt-out.
+    test_alt_binder = False,
     deps = [
         ":wrap_test_util_py",
     ],
@@ -775,6 +789,8 @@ drake_py_unittest(
     data = [
         "//common/yaml:test/yaml_io_test_input_1.yaml",
     ],
+    # TODO(#21572) Remove this opt-out.
+    test_alt_binder = False,
     deps = [
         ":common",
         ":serialize_test_util_py",

bindings/pydrake/common/cpp_param_pybind.cc

@@ -106,15 +106,23 @@ py::object GetPyParamScalarImpl(const std::type_info& tinfo) {
     // This type is not aliased. Get the pybind-registered type,
     // erroring out if it's not registered.
     // WARNING: Internal API :(
+#ifdef PYDRAKE_USE_PYBIND11
     auto* info = py::detail::get_type_info(tinfo);
+#else  // PYDRAKE_USE_NANOBIND
+    auto* info = py::detail::nb_type_lookup(&tinfo);
+#endif
     if (!info) {
       // TODO(eric.cousineau): Use NiceTypeName::Canonicalize(...Demangle(...))
       // once simpler dependencies are used (or something else is used to
       // justify linking in `libdrake.so`).
       const std::string name = tinfo.name();
       throw std::runtime_error("C++ type is not registered in pybind: " + name);
     }
+#ifdef PYDRAKE_USE_PYBIND11
     py::handle h(reinterpret_cast<PyObject*>(info->type));
+#else  // PYDRAKE_USE_NANOBIND
+    py::handle h(reinterpret_cast<PyObject*>(info));
+#endif
     return py::borrow<py::object>(h);
   }
 }

bindings/pydrake/common/cpp_param_pybind.h

@@ -100,7 +100,7 @@ py::object GetPyParamScalarImpl(const std::type_info& tinfo);
 // Gets Python type for a C++ type (base case).
 template <typename T>
 inline py::object GetPyParamScalarImpl(type_pack<T> = {}) {
-  static_assert(!py::detail::is_pyobject<T>::value,
+  static_assert(!internal::is_pyobject<T>::value,
       "You cannot use `pybind11` types (e.g. `py::object`). Use a publicly "
       "visible replacement type instead (e.g. `drake::pydrake::Object`).");
   return GetPyParamScalarImpl(typeid(T));
@@ -114,12 +114,12 @@ inline py::object GetPyParamScalarImpl(
 }
 
 // Gets Python type for a C++ vector that is not registered using
-// PYBIND11_MAKE_OPAQUE.
+// {PYBIND11,NB}_MAKE_OPAQUE.
 template <typename T>
 inline py::object GetPyParamScalarImpl(type_pack<std::vector<T>> = {}) {
   // Get inner type for validation.
   py::object py_T = GetPyParamScalarImpl(type_pack<T>{});
-  if constexpr (!internal::is_generic_pybind_v<std::vector<T>>) {
+  if constexpr (!internal::is_generic_caster_v<std::vector<T>>) {
     return py::module_::import_("pydrake.common.cpp_param").attr("List")[py_T];
   } else {
     return GetPyParamScalarImpl(typeid(std::vector<T>));
@@ -146,7 +146,7 @@ inline py::tuple GetPyParam(type_pack<Ts...> = {}) {
 }  // namespace pydrake
 }  // namespace drake
 
-namespace pybind11 {
+namespace PYDRAKE_BINDER_NAMESPACE {
 namespace detail {
 
 template <>
@@ -155,4 +155,4 @@ struct type_caster<drake::pydrake::Object>
           drake::pydrake::internal::wrapper_pydrake_object> {};
 
 }  // namespace detail
-}  // namespace pybind11
+}  // namespace PYDRAKE_BINDER_NAMESPACE

bindings/pydrake/common/cpp_template.py

@@ -439,14 +439,14 @@ def _rename_callable(f, scope, name, cls=None):
         qualname = cls.__qualname__ + "." + name
     else:
         qualname = name
-    # If Python2, we have to wrap instancemethods + built-in functions to spoof
-    # the metadata.
-    type_requires_wrap = (
-        types.MethodType,
-        types.BuiltinMethodType,
-        types.BuiltinFunctionType,
-    )
-    if isinstance(f, type_requires_wrap):
+    # Native functions (built-in or nanobind-bound) don't allowing resetting the
+    # metadata unless we wrap them in Python first.
+    if (
+        isinstance(f, types.BuiltinMethodType)
+        or isinstance(f, types.BuiltinFunctionType)
+        or f.__class__.__name__ == "nb_method"
+        or f.__class__.__name__ == "nb_func"
+    ):
         orig = f
 
         def f(*args, **kwargs):

bindings/pydrake/common/cpp_template_pybind.h

@@ -153,7 +153,12 @@ py::object AddTemplateMethod(  // BR
   const std::string instantiation_name =
       internal::GetInstantiationName(py_template, param, mangle);
   py::object py_func = py::cpp_function(std::forward<Method>(method),
-      py::name(instantiation_name.c_str()), py::is_method(scope),
+      py::name(instantiation_name.c_str()),
+#ifdef PYDRAKE_USE_PYBIND11
+      py::is_method(scope),
+#else  // PYDRAKE_USE_NANOBIND
+      py::is_method(),
+#endif
       std::forward<Extra>(extra)...);
   internal::AddInstantiation(py_template, py_func, param);
   return py_template;

bindings/pydrake/common/eigen_pybind.h

@@ -74,19 +74,14 @@ inline py::object WrapToMatchInputShape(py::handle func) {
 }  // namespace pydrake
 }  // namespace drake
 
-namespace pybind11 {
+namespace PYDRAKE_BINDER_NAMESPACE {
 namespace detail {
 
 /**
-Provides pybind11 `type_caster`s for drake::EigenPtr.
-
+Provides `type_caster`s for drake::EigenPtr.
 Uses `type_caster<Eigen::Ref>` internally to avoid code duplication.
-See http://pybind11.readthedocs.io/en/stable/advanced/cast/custom.html for
-more details on custom type casters.
-
-TODO(eric.cousineau): Place all logic inside of `drake` namespace once our
-pybind11 fork includes PYBIND11_TYPE_CASTER macro w/ fully qualified symbols.
 */
+#ifdef PYDRAKE_USE_PYBIND11
 template <typename T>
 struct type_caster<drake::EigenPtr<T>> {
   using PtrType = drake::EigenPtr<T>;
@@ -126,6 +121,12 @@ struct type_caster<drake::EigenPtr<T>> {
  private:
   InnerCaster inner_caster;
 };
+#else   // PYDRAKE_USE_NANOBIND
+template <typename T>
+struct type_caster<drake::EigenPtr<T>> {
+  // TODO(#21572) Implement me.
+};
+#endif  // PYDRAKE_USE_PYBIND11
 
 }  // namespace detail
-}  // namespace pybind11
+}  // namespace PYDRAKE_BINDER_NAMESPACE

bindings/pydrake/common/module_py.cc

@@ -42,11 +42,23 @@ void trigger_an_assertion_failure() {
 // Resolves to a Python handle given a type erased pointer. If the instance or
 // lowest-level RTTI type are unregistered, returns an empty handle.
 py::handle ResolvePyObject(const type_erased_ptr& ptr) {
+#ifdef PYDRAKE_USE_PYBIND11
+  auto py_type_info = py::detail::get_type_info(ptr.info);
+  return py::detail::get_object_handle(ptr.raw, py_type_info);
+#else
   // TODO(#21572) Use is_polymorphic for nanobind (or remove it from the struct,
   // if we change our mind and end up not needing it).
   unused(ptr.is_polymorphic);
-  auto py_type_info = py::detail::get_type_info(ptr.info);
-  return py::detail::get_object_handle(ptr.raw, py_type_info);
+  bool is_new{false};
+  PyObject* result{};
+  result = py::detail::nb_type_put(&ptr.info, const_cast<void*>(ptr.raw),
+      py_rvp::reference, nullptr, &is_new);
+  if (is_new) {
+    py::object delete_me = py::steal(result);
+    return py::handle();
+  }
+  return py::steal(result);
+#endif
 }
 
 // Override for SetNiceTypeNamePtrOverride, to ensure that instances that are
@@ -71,7 +83,9 @@ namespace testing {
 // Registered type. Also a base class for UnregisteredDerivedType.
 class RegisteredType {
  public:
-  virtual ~RegisteredType() {}
+  DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(RegisteredType);
+  RegisteredType() = default;
+  virtual ~RegisteredType() = default;
 };
 // Completely unregistered type.
 class UnregisteredType {};
@@ -244,7 +258,7 @@ void InitLowLevelModules(py::module_ m) {
       const std::string_view name_str(name.c_str());
       if (name_str == "contents" || name_str == "extension" ||
           name_str == "filename_hint") {
-        name = py::str(fmt::format("_{}", name_str));
+        name = py::str(fmt::format("_{}", name_str).c_str());
       }
       py::eval("object.__setattr__", py::globals())(self, name, value);
     });
@@ -256,8 +270,8 @@ void InitLowLevelModules(py::module_ m) {
           return py::bytes(contents.c_str(), contents.size());
         },
         [](Class& self, const py::bytes& contents) {
-          self = MemoryFile{
-              std::string{contents}, self.extension(), self.filename_hint()};
+          self = MemoryFile{std::string{contents.c_str(), contents.size()},
+              self.extension(), self.filename_hint()};
         });
     cls.def_prop_rw(
         "_extension", [](const Class& self) { return self.extension(); },
@@ -325,15 +339,21 @@ discussion), use e.g.
   // Admittedly, it's unusual for a python library like pydrake to raise
   // SystemExit, but for now its better than C++ ::abort() taking down the
   // whole interpreter with a worse diagnostic message.
-  py::register_exception_translator([](std::exception_ptr p) {
-    try {
-      if (p) {
-        std::rethrow_exception(p);
-      }
-    } catch (const drake::internal::assertion_error& e) {
-      PyErr_SetString(PyExc_SystemExit, e.what());
-    }
-  });
+  py::register_exception_translator(
+#ifdef PYDRAKE_USE_PYBIND11
+      [](std::exception_ptr p)
+#else  // PYDRAKE_USE_NANOBIND
+      [](const std::exception_ptr& p, void*)
+#endif
+      {
+        try {
+          if (p) {
+            std::rethrow_exception(p);
+          }
+        } catch (const drake::internal::assertion_error& e) {
+          PyErr_SetString(PyExc_SystemExit, e.what());
+        }
+      });
   // Convenient wrapper for querying FindResource(resource_path).
   m.def("FindResourceOrThrow", &FindResourceOrThrow,
       "Attempts to locate a Drake resource named by the given path string. "
@@ -357,7 +377,7 @@ discussion), use e.g.
       []() {
         py::object result;
         if (auto optional_result = MaybeGetDrakePath()) {
-          result = py::str(*optional_result);
+          result = py::str(optional_result->c_str());
         }
         return result;
       },
@@ -377,9 +397,10 @@ discussion), use e.g.
   // =========================================================================
 
   // Define `_testing` submodule.
-  py::module_ pydrake_top = py::eval("sys.modules['pydrake']", py::globals());
-  py::module_ pydrake_common =
-      py::eval("sys.modules['pydrake.common']", py::globals());
+  py::module_ pydrake_top =
+      py::cast<py::module_>(py::eval("sys.modules['pydrake']", py::globals()));
+  py::module_ pydrake_common = py::cast<py::module_>(
+      py::eval("sys.modules['pydrake.common']", py::globals()));
 
   py::module_ testing = pydrake_common.def_submodule("_testing");
   testing::def_testing(testing);