Addings stubs with pybind11-stubgen.

Author: Murilo Marinho

.github/workflows/python_package.yml

@@ -55,6 +55,10 @@ jobs:
       run: |
         python -m pip install --upgrade pip
         pip install setuptools wheel setuptools-git-versioning
+    - name: Generate Stubs
+      run: |
+        pip install pybind11-stubgen
+        pybind11-stubgen dqrobotics --output-dir .
     - name: Compile
       run: |
         python setup.py bdist_wheel

py.typed

@@ -79,6 +79,9 @@ def build_extension(self, ext):
               'dqrobotics.interfaces.json11',
               'dqrobotics.robot_control',
               'dqrobotics.solvers'],
+    package_data={
+        'dqrobotics': ['py.typed'],
+    },
     classifiers=[
         "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",

setup.py

@@ -42,35 +42,6 @@ PYBIND11_MODULE(_dqrobotics, m) {
     //DQ_Math
     init_DQ_Math_py(utils_py);
 
-    /*****************************************************
-     *  Robots Kinematic Models
-     * **************************************************/
-    py::module robots_py = m.def_submodule("_robots", "A submodule of dqrobotics");
-
-    //#include <dqrobotics/robots/Ax18ManipulatorRobot.h>
-    py::class_<Ax18ManipulatorRobot> ax18manipulatorrobot_py(robots_py, "Ax18ManipulatorRobot");
-    ax18manipulatorrobot_py.def_static("kinematics",&Ax18ManipulatorRobot::kinematics,"Returns the kinematics of the Ax18ManipulatorRobot");
-
-    //#include <dqrobotics/robots/BarrettWamArmRobot.h>
-    py::class_<BarrettWamArmRobot> barrettwamarmrobot_py(robots_py, "BarrettWamArmRobot");
-    barrettwamarmrobot_py.def_static("kinematics",&BarrettWamArmRobot::kinematics,"Returns the kinematics of the BarrettWamArmRobot");
-
-    //#include <dqrobotics/robots/ComauSmartSixRobot.h>
-    py::class_<ComauSmartSixRobot> comausmartsixrobot_py(robots_py, "ComauSmartSixRobot");
-    comausmartsixrobot_py.def_static("kinematics",&ComauSmartSixRobot::kinematics,"Returns the kinematics of the ComauSmartSixRobot");
-
-    //#include <dqrobotics/robots/KukaLw4Robot.h>
-    py::class_<KukaLw4Robot> kukalw4robot_py(robots_py, "KukaLw4Robot");
-    kukalw4robot_py.def_static("kinematics",&KukaLw4Robot::kinematics,"Returns the kinematics of the KukaLw4Robot");
-
-    //#include <dqrobotics/robots/KukaYoubotRobot.h>
-    py::class_<KukaYoubotRobot> kukayoubotrobot_py(robots_py, "KukaYoubotRobot");
-    kukayoubotrobot_py.def_static("kinematics",&KukaYoubotRobot::kinematics,"Returns the kinematics of the KukaYoubotRobot");
-
-    //#include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
-    py::class_<FrankaEmikaPandaRobot> frankaemikapandarobot_py(robots_py, "FrankaEmikaPandaRobot");
-    frankaemikapandarobot_py.def_static("kinematics",&FrankaEmikaPandaRobot::kinematics,"Returns the kinematics of the FrankaEmikaPandaRobot");
-
     /*****************************************************
      *  Robot Modeling <dqrobotics/robot_modeling/...>
      * **************************************************/
@@ -109,6 +80,35 @@ PYBIND11_MODULE(_dqrobotics, m) {
     //DQ_SerialWholeBody
     init_DQ_SerialWholeBody_py(robot_modeling);
 
+/*****************************************************
+     *  Robots Kinematic Models
+     * **************************************************/
+    py::module robots_py = m.def_submodule("_robots", "A submodule of dqrobotics");
+
+    //#include <dqrobotics/robots/Ax18ManipulatorRobot.h>
+    py::class_<Ax18ManipulatorRobot> ax18manipulatorrobot_py(robots_py, "Ax18ManipulatorRobot");
+    ax18manipulatorrobot_py.def_static("kinematics",&Ax18ManipulatorRobot::kinematics,"Returns the kinematics of the Ax18ManipulatorRobot");
+
+    //#include <dqrobotics/robots/BarrettWamArmRobot.h>
+    py::class_<BarrettWamArmRobot> barrettwamarmrobot_py(robots_py, "BarrettWamArmRobot");
+    barrettwamarmrobot_py.def_static("kinematics",&BarrettWamArmRobot::kinematics,"Returns the kinematics of the BarrettWamArmRobot");
+
+    //#include <dqrobotics/robots/ComauSmartSixRobot.h>
+    py::class_<ComauSmartSixRobot> comausmartsixrobot_py(robots_py, "ComauSmartSixRobot");
+    comausmartsixrobot_py.def_static("kinematics",&ComauSmartSixRobot::kinematics,"Returns the kinematics of the ComauSmartSixRobot");
+
+    //#include <dqrobotics/robots/KukaLw4Robot.h>
+    py::class_<KukaLw4Robot> kukalw4robot_py(robots_py, "KukaLw4Robot");
+    kukalw4robot_py.def_static("kinematics",&KukaLw4Robot::kinematics,"Returns the kinematics of the KukaLw4Robot");
+
+    //#include <dqrobotics/robots/KukaYoubotRobot.h>
+    py::class_<KukaYoubotRobot> kukayoubotrobot_py(robots_py, "KukaYoubotRobot");
+    kukayoubotrobot_py.def_static("kinematics",&KukaYoubotRobot::kinematics,"Returns the kinematics of the KukaYoubotRobot");
+
+    //#include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
+    py::class_<FrankaEmikaPandaRobot> frankaemikapandarobot_py(robots_py, "FrankaEmikaPandaRobot");
+    frankaemikapandarobot_py.def_static("kinematics",&FrankaEmikaPandaRobot::kinematics,"Returns the kinematics of the FrankaEmikaPandaRobot");
+
     /*****************************************************
      *  Solvers <dqrobotics/solvers/...>
      * **************************************************/