RobotLocomotion · jwnimmer-tri · Nov 2, 2023 · Oct 12, 2023
diff --git a/bindings/pydrake/common/BUILD.bazel b/bindings/pydrake/common/BUILD.bazel
@@ -161,16 +161,6 @@ drake_cc_library(
     ],
 )
 
-drake_cc_library(
-    name = "monostate_pybind",
-    hdrs = ["monostate_pybind.h"],
-    declare_installed_headers = False,
-    visibility = ["//visibility:public"],
-    deps = [
-        "@pybind11",
-    ],
-)
-
 drake_cc_library(
     name = "serialize_pybind",
     hdrs = ["serialize_pybind.h"],

diff --git a/bindings/pydrake/common/monostate_pybind.h b/bindings/pydrake/common/monostate_pybind.h
diff --git a/bindings/pydrake/common/test/type_safe_index_pybind_test.cc b/bindings/pydrake/common/test/type_safe_index_pybind_test.cc
@@ -58,15 +58,16 @@ GTEST_TEST(TypeSafeIndexTest, CheckCasting) {
   // TypeSafeIndex<> is not implicitly constructible from an int.
   // TODO(eric.cousineau): Consider relaxing this to *only* accept `int`s, and
   // puke if another `TypeSafeIndex<U>` is encountered.
-  ASSERT_THROW(py::eval("pass_thru_index(10)"), std::runtime_error);
+  ASSERT_THROW(py::eval("pass_thru_index(10)"), py::error_already_set);
   CheckValue("pass_thru_index(Index(10))", 10);
   CheckValue("pass_thru_index(Index(10))", Index{10});
 
   struct OtherTag {};
   using OtherIndex = TypeSafeIndex<OtherTag>;
   BindTypeSafeIndex<OtherIndex>(m, "OtherIndex");
 
-  ASSERT_THROW(py::eval("pass_thru_index(OtherIndex(10))"), std::runtime_error);
+  ASSERT_THROW(
+      py::eval("pass_thru_index(OtherIndex(10))"), py::error_already_set);
   py::object py_index = py::eval("Index(10)");
   ASSERT_THROW(py_index.cast<OtherIndex>(), std::runtime_error);
 

diff --git a/bindings/pydrake/geometry/BUILD.bazel b/bindings/pydrake/geometry/BUILD.bazel
@@ -38,7 +38,6 @@ drake_pybind_library(
         "//bindings/pydrake/common:default_scalars_pybind",
         "//bindings/pydrake/common:deprecation_pybind",
         "//bindings/pydrake/common:identifier_pybind",
-        "//bindings/pydrake/common:monostate_pybind",
         "//bindings/pydrake/common:serialize_pybind",
         "//bindings/pydrake/common:sorted_pair_pybind",
         "//bindings/pydrake/common:type_pack",

diff --git a/bindings/pydrake/geometry/geometry_py_scene_graph.cc b/bindings/pydrake/geometry/geometry_py_scene_graph.cc
@@ -4,7 +4,6 @@
  pydrake.geometry module. */
 
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
-#include "drake/bindings/pydrake/common/monostate_pybind.h"
 #include "drake/bindings/pydrake/common/type_pack.h"
 #include "drake/bindings/pydrake/common/value_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"

diff --git a/bindings/pydrake/multibody/BUILD.bazel b/bindings/pydrake/multibody/BUILD.bazel
@@ -174,7 +174,6 @@ drake_pybind_library(
         "//bindings/pydrake:documentation_pybind",
         "//bindings/pydrake/common:cpp_template_pybind",
         "//bindings/pydrake/common:default_scalars_pybind",
-        "//bindings/pydrake/common:monostate_pybind",
         "//bindings/pydrake/common:serialize_pybind",
         "//bindings/pydrake/common:type_pack",
     ],

diff --git a/bindings/pydrake/multibody/meshcat_py.cc b/bindings/pydrake/multibody/meshcat_py.cc
@@ -1,6 +1,5 @@
 #include "drake/bindings/pydrake/common/cpp_template_pybind.h"
 #include "drake/bindings/pydrake/common/default_scalars_pybind.h"
-#include "drake/bindings/pydrake/common/monostate_pybind.h"
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 #include "drake/bindings/pydrake/common/type_pack.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"

diff --git a/tools/workspace/pybind11/package.BUILD.bazel b/tools/workspace/pybind11/package.BUILD.bazel
@@ -27,6 +27,9 @@ _HDRS = [
     "include/pybind11/detail/type_caster_base.h",
     "include/pybind11/detail/typeid.h",
     "include/pybind11/eigen.h",
+    "include/pybind11/eigen/common.h",
+    "include/pybind11/eigen/matrix.h",
+    "include/pybind11/eigen/tensor.h",
     "include/pybind11/embed.h",
     "include/pybind11/eval.h",
     "include/pybind11/functional.h",
@@ -40,6 +43,7 @@ _HDRS = [
     "include/pybind11/stl.h",
     "include/pybind11/stl/filesystem.h",
     "include/pybind11/stl_bind.h",
+    "include/pybind11/type_caster_pyobject_ptr.h",
 ]
 
 check_lists_consistency(

diff --git a/tools/workspace/pybind11/pybind11-config-version.cmake b/tools/workspace/pybind11/pybind11-config-version.cmake
@@ -1,5 +1,5 @@
-set(PACKAGE_VERSION "2.9.0.dev1")
-set(PACKAGE_COMPAT_VERSION "2.9.0.dev1")
+set(PACKAGE_VERSION "2.11.1")
+set(PACKAGE_COMPAT_VERSION "2.11.1")
 
 if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
   set(PACKAGE_VERSION_COMPATIBLE FALSE)

diff --git a/tools/workspace/pybind11/pybind11-config.cmake b/tools/workspace/pybind11/pybind11-config.cmake
@@ -51,7 +51,7 @@ unset(_targetsDefined)
 unset(_targetsNotDefined)
 unset(_expectedTargets)
 
-set(pybind11_VERSION "2.9.0.dev1")
+set(pybind11_VERSION "2.11.1")
 
 add_library(pybind11::embed INTERFACE IMPORTED)
 set_target_properties(pybind11::embed PROPERTIES

diff --git a/tools/workspace/pybind11/repository.bzl b/tools/workspace/pybind11/repository.bzl
@@ -8,9 +8,9 @@ _REPOSITORY = "RobotLocomotion/pybind11"
 #  https://github.com/RobotLocomotion/pybind11/blob/drake/include/pybind11/detail/common.h
 # and if it has changed, then update the version number in the two
 # pybind11-*.cmake files in the current directory to match.
-_COMMIT = "36695db542e1c34f6db7ca3ebb0415de30762395"
+_COMMIT = "c1b0cddf0af5dbca6030fe51fcba25c386bf46a6"
 
-_SHA256 = "36b35032ae6279af6257588856b0284b8106221c816b26509a05801c54d60e30"
+_SHA256 = "b98c9ec522a89fabef86b23d6ea530a2291eafd518f6a7a8a18b0f58b7e3515e"
 
 def pybind11_repository(
         name,