[dartpy] Add nanobind dependency

.github/workflows/ci_windows.yml

@@ -47,6 +47,7 @@ jobs:
             bullet3
             freeglut
             glfw3
+            nanobind
             nlopt
             opengl
             osg
@@ -55,7 +56,7 @@ jobs:
             tracy
             urdfdom
           triplet: x64-windows
-          revision: "2024.02.14"
+          revision: "2024.03.25"
           github-binarycache: true
           token: ${{ github.token }}
 

.github/workflows/publish_dartpy.yml

@@ -111,6 +111,7 @@ jobs:
             freeglut
             glfw3
             imgui
+            nanobind
             nlopt
             ode
             opengl
@@ -119,7 +120,7 @@ jobs:
             tinyxml2
             urdfdom
           triplet: x64-windows
-          revision: "2024.02.14"
+          revision: "2024.03.25"
           github-binarycache: true
           token: ${{ github.token }}
 

CMakeLists.txt

@@ -88,6 +88,7 @@ dart_option(DART_ENABLE_SIMD
   "Build DART with all SIMD instructions on the current local machine" ON)
 dart_option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 dart_option(DART_BUILD_DARTPY "Build dartpy" ON)
+dart_option(DART_BUILD_DARTPY2 "[Experimental] Build Python binding (dartpy2) with nanobind" OFF)
 dart_option(DART_BUILD_PROFILE "Build DART with profiling options" OFF)
 dart_option(DART_CODECOV "Turn on codecov support" OFF)
 dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
@@ -162,24 +163,25 @@ endif()
 #===============================================================================
 # Build type settings
 #===============================================================================
-if(NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: Debug | Release | RelWithDebInfo | MinSizeRel" FORCE)
-endif()
-string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)
-
-set(DART_BUILD_MODE_DEBUG FALSE)
-set(DART_BUILD_MODE_RELEASE FALSE)
-
-if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
-  set(DART_BUILD_MODE_DEBUG TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
-  set(DART_BUILD_MODE_RELEASE TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO")
-  set(DART_BUILD_MODE_RELEASE TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "MINSIZEREL")
-  set(DART_BUILD_MODE_RELEASE TRUE)
-else()
-  message(WARNING "CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug | Release | RelWithDebInfo | MinSizeRel")
+if(NOT CMAKE_CONFIGURATION_TYPES)
+  if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+  endif()
+  string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)
+
+  # Initialize Dart build mode variables
+  set(DART_BUILD_MODE_DEBUG FALSE)
+  set(DART_BUILD_MODE_RELEASE FALSE)
+
+  # Set Dart build mode based on the CMAKE_BUILD_TYPE
+  if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
+    set(DART_BUILD_MODE_DEBUG TRUE)
+  elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" MATCHES "RELEASE|RELWITHDEBINFO|MINSIZEREL")
+    set(DART_BUILD_MODE_RELEASE TRUE)
+  else()
+    message(WARNING "CMAKE_BUILD_TYPE '${CMAKE_BUILD_TYPE}' unknown. Valid options are: Debug | Release | RelWithDebInfo | MinSizeRel")
+  endif()
 endif()
 
 # Active log level:
@@ -355,14 +357,16 @@ if(DART_VERBOSE)
   message(STATUS "Build gui::osg   : ${DART_BUILD_GUI_OSG}")
   message(STATUS "Install path     : ${CMAKE_INSTALL_PREFIX}")
   message(STATUS "CXX_FLAGS        : ${CMAKE_CXX_FLAGS}")
-  if(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELEASE")
-    message(STATUS "CXX_FLAGS_RELEASE: ${CMAKE_CXX_FLAGS_RELEASE}")
-  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "DEBUG")
-    message(STATUS "CXX_FLAGS_DEBUG  : ${CMAKE_CXX_FLAGS_DEBUG}")
-  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELWITHDEBINFO")
-    message(STATUS "CXX_FLAGS_RELWITHDEBINFO: ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
-  elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "PROFILE")
-    message(STATUS "CXX_FLAGS_PROFILE: ${CMAKE_CXX_FLAGS_PROFILE}")
+  if(NOT CMAKE_CONFIGURATION_TYPES)
+    if(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELEASE")
+      message(STATUS "CXX_FLAGS_RELEASE: ${CMAKE_CXX_FLAGS_RELEASE}")
+    elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "DEBUG")
+      message(STATUS "CXX_FLAGS_DEBUG  : ${CMAKE_CXX_FLAGS_DEBUG}")
+    elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "RELWITHDEBINFO")
+      message(STATUS "CXX_FLAGS_RELWITHDEBINFO: ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
+    elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "PROFILE")
+      message(STATUS "CXX_FLAGS_PROFILE: ${CMAKE_CXX_FLAGS_PROFILE}")
+    endif()
   endif()
   message(STATUS "DART_SOURCE_DIR : ${DART_SOURCE_DIR}")
   message(STATUS "DART_BINARY_DIR : ${DART_BINARY_DIR}")

cmake/DARTFindDependencies.cmake

@@ -110,6 +110,19 @@ endif()
 # Optional dependencies
 #=======================
 
+find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+
+if(DART_BUILD_DARTPY2)
+  include(FetchContent)
+  FetchContent_Declare(nanobind
+    GIT_REPOSITORY https://github.com/wjakob/nanobind.git
+    GIT_TAG master
+    GIT_SHALLOW TRUE
+    GIT_PROGRESS TRUE
+  )
+  FetchContent_MakeAvailable(nanobind)
+endif()
+
 if(DART_BUILD_PROFILE)
   include(FetchContent)
   FetchContent_Declare(tracy
@@ -126,8 +139,6 @@ if(DART_BUILD_PROFILE)
   endif()
 endif()
 
-find_package(Python3 COMPONENTS Interpreter Development)
-
 option(DART_SKIP_spdlog "If ON, do not use spdlog even if it is found." OFF)
 mark_as_advanced(DART_SKIP_spdlog)
 dart_find_package(spdlog)

docker/dev/v6.14/Dockerfile.ubuntu.noble

@@ -62,6 +62,7 @@ RUN apt-get install -y --no-install-recommends \
 
 RUN apt-get install -y --no-install-recommends \
     libpython3-dev \
+    nanobind-dev \
     pybind11-dev \
     python3 \
     python3-dev \

pixi.lock

@@ -119,6 +119,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/mumps-include-5.6.2-ha770c72_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/mumps-seq-5.6.2-hfef103a_4.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/nanobind-1.9.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.4-h59595ed_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/nettle-3.9.1-h7ab15ed_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.11.1-h924138e_0.conda
@@ -276,6 +277,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/mumps-include-5.6.2-h694c41f_4.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/mumps-seq-5.6.2-he3629b0_4.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/nanobind-1.9.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ncurses-6.4-h93d8f39_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/nettle-3.9.1-h8e11ae5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ninja-1.11.1-hb8565cd_0.conda
@@ -417,6 +419,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-include-5.6.2-hce30654_4.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-seq-5.6.2-hbbab245_4.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/nanobind-1.9.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ncurses-6.4-h463b476_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/nettle-3.9.1-h40ed0f5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ninja-1.11.1-hffc8910_0.conda
@@ -535,6 +538,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/win-64/mkl-2024.0.0-h66d3029_49657.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/mumps-seq-5.6.2-h1f49738_4.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/nanobind-1.9.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/ninja-1.11.1-h91493d7_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/nlopt-2.7.1-py312h7fb0d8c_4.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/numpy-1.26.4-py312h8753938_0.conda
@@ -5805,6 +5809,21 @@ packages:
   license_family: MIT
   size: 10492
   timestamp: 1675543414256
+- kind: conda
+  name: nanobind
+  version: 1.9.2
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/nanobind-1.9.2-pyhd8ed1ab_0.conda
+  sha256: 79702a7055d2cbc4a5e5299248694a5ec14f07bce4715c320bc9fb19e85be08b
+  md5: 9ffe2a357e884ff9cb4a61a542bee596
+  depends:
+  - python >=3.8
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 138768
+  timestamp: 1708688744475
 - kind: conda
   name: ncurses
   version: '6.4'

pixi.toml

@@ -35,6 +35,8 @@ ipopt = ">=3.14.14,<3.15"
 nlopt = ">=2.7.1,<2.8"
 pagmo = ">=2.19.0,<2.20"
 numpy = ">=1.26.4,<1.27"
+nanobind = ">=1.9.2,<1.10"
+python = ">=3.12.2,<3.13"
 
 [tasks]
 clean = "rm -rf build"
@@ -48,6 +50,13 @@ install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_
 configure-unix = { cmd = "cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=Release -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON" }
 configure-win = { cmd = "cmake -S . -B build -G 'Visual Studio 17 2022' -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_USE_SYSTEM_IMGUI=OFF" }
 
+build-dartpy2-unix = { cmd = "cmake --build build -j --target dartpy2", depends_on = [
+    "configure",
+] }
+build-dartpy2-win = { cmd = "cmake --build build -j --target dartpy2 --config Release", depends_on = [
+    "configure",
+] }
+
 example-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
     "configure",
 ] }
@@ -101,6 +110,7 @@ build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
 build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
+build-dartpy2 = { depends_on = ["build-dartpy2-unix"] }
 test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
     "build-tests",
 ] }
@@ -140,6 +150,7 @@ build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
 build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
+build-dartpy2 = { depends_on = ["build-dartpy2-unix"] }
 test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
     "build-tests",
 ] }
@@ -175,6 +186,7 @@ build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
 build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
+build-dartpy2 = { depends_on = ["build-dartpy2-unix"] }
 test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
     "build-tests",
 ] }
@@ -207,6 +219,7 @@ build-tests = { cmd = "cmake --build build --config Release -j --target tests",
 build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
+build-dartpy2 = { depends_on = ["build-dartpy2-win"] }
 test = { cmd = "ctest --test-dir build --build-config Release --output-on-failure", depends_on = [
     "build-tests",
 ] }

python/CMakeLists.txt

@@ -22,6 +22,9 @@ endif()
 set(DART_DARTPY_BUILD_DIR "${CMAKE_CURRENT_BINARY_DIR}/dartpy")
 
 add_subdirectory(dartpy)
+if(DART_BUILD_DARTPY2)
+  add_subdirectory(dartpy2)
+endif()
 add_subdirectory(tests)
 add_subdirectory(examples)
 add_subdirectory(tutorials)

python/dartpy2/CMakeLists.txt

@@ -0,0 +1,10 @@
+# Copyright (c) 2011-2024, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/main/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(Python3 COMPONENTS Interpreter Development.Module REQUIRED)
+nanobind_add_module(dartpy2 dartpy2.cpp)

python/dartpy2/dartpy2.cpp

@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 2011-2024, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <nanobind/nanobind.h>
+
+namespace dart::python {
+
+NB_MODULE(dartpy2, m)
+{
+  //   m.doc() = "dartpy2: Python API of Dynamic Animation and Robotics
+  //   Toolkit";
+
+  // #ifdef DARTPY_VERSION_INFO
+  //   m.attr("__version__") = DARTPY_VERSION_INFO;
+  // #else
+  //   m.attr("__version__") = "dev";
+  // #endif
+}
+
+} // namespace dart::python