Add custom dev/stubgen.py based on pybind11-stubgen

* Removes from __future__ import annotations

dev/generate_stub_and_doc.sh

@@ -51,7 +51,7 @@ BUILD_STUB_CMD="\
   export PATH=\"/opt/python/cp${PY_VERSION}-cp${PY_VERSION}/bin:\${PATH}\" \
   && python3 -m pip install pybind11-stubgen \
   && python3 -m pip install wheelhouse/mplib*.whl \
-  && pybind11-stubgen --numpy-array-use-type-var mplib
+  && python3 dev/stubgen.py
 "
 # TODO: add ruff
 

dev/stubgen.py

@@ -0,0 +1,120 @@
+from pathlib import Path
+
+from pybind11_stubgen import (
+    BaseParser,
+    ExtractSignaturesFromPybind11Docstrings,
+    FilterClassMembers,
+    FilterInvalidIdentifiers,
+    FilterPybindInternals,
+    FilterTypingModuleAttributes,
+    FixBuiltinTypes,
+    FixCurrentModulePrefixInTypeNames,
+    FixMissing__all__Attribute,
+    FixMissingEnumMembersAnnotation,
+    FixMissingFixedSizeImport,
+    FixMissingImports,
+    FixMissingNoneHashFieldAnnotation,
+    FixNumpyArrayDimTypeVar,
+    FixNumpyArrayFlags,
+    FixNumpyDtype,
+    FixPEP585CollectionNames,
+    FixPybind11EnumStrDoc,
+    FixRedundantBuiltinsAnnotation,
+    FixRedundantMethodsFromBuiltinObject,
+    FixScipyTypeArguments,
+    FixTypingTypeNames,
+    FixValueReprRandomAddress,
+    IParser,
+    LogErrors,
+    LoggerData,
+    OverridePrintSafeValues,
+    ParserDispatchMixin,
+    Printer,
+    RemoveSelfAnnotation,
+    ReplaceReadWritePropertyWithField,
+    RewritePybind11EnumValueRepr,
+    SuggestCxxSignatureFix,
+    Writer,
+    run,
+)
+
+
+def stub_parser() -> IParser:
+    error_handlers_top: list[type] = [
+        LoggerData,
+        # IgnoreAllErrors,  # args.ignore_all_errors
+        # IgnoreInvalidIdentifierErrors, # args.ignore_invalid_identifiers
+        # IgnoreInvalidExpressionErrors, # args.ignore_invalid_expressions
+        # IgnoreUnresolvedNameErrors, # args.ignore_unresolved_names
+    ]
+    error_handlers_bottom: list[type] = [
+        LogErrors,
+        SuggestCxxSignatureFix,
+        # TerminateOnFatalErrors, # args.exit_code
+    ]
+
+    numpy_fixes: list[type] = [
+        FixNumpyArrayDimTypeVar,  # args.numpy_array_use_type_var
+    ]
+
+    class Parser(
+        *error_handlers_top,  # type: ignore[misc]
+        # FixMissing__future__AnnotationsImport,  # ruff: PYI044
+        FixMissing__all__Attribute,
+        FixMissingNoneHashFieldAnnotation,
+        FixMissingImports,
+        FilterTypingModuleAttributes,
+        FixPEP585CollectionNames,
+        FixTypingTypeNames,
+        FixScipyTypeArguments,
+        FixMissingFixedSizeImport,
+        FixMissingEnumMembersAnnotation,
+        OverridePrintSafeValues,
+        *numpy_fixes,  # type: ignore[misc]
+        FixNumpyDtype,
+        FixNumpyArrayFlags,
+        FixCurrentModulePrefixInTypeNames,
+        FixBuiltinTypes,
+        RewritePybind11EnumValueRepr,
+        FilterClassMembers,
+        ReplaceReadWritePropertyWithField,
+        FilterInvalidIdentifiers,
+        FixValueReprRandomAddress,
+        FixRedundantBuiltinsAnnotation,
+        FilterPybindInternals,
+        FixRedundantMethodsFromBuiltinObject,
+        RemoveSelfAnnotation,
+        FixPybind11EnumStrDoc,
+        ExtractSignaturesFromPybind11Docstrings,
+        ParserDispatchMixin,
+        BaseParser,
+        *error_handlers_bottom,  # type: ignore[misc]
+    ):
+        pass
+
+    parser = Parser()
+
+    # if args.enum_class_locations:
+    #     parser.set_pybind11_enum_locations(dict(args.enum_class_locations))
+    # if args.ignore_invalid_identifiers is not None:
+    #     parser.set_ignored_invalid_identifiers(args.ignore_invalid_identifiers)
+    # if args.ignore_invalid_expressions is not None:
+    #     parser.set_ignored_invalid_expressions(args.ignore_invalid_expressions)
+    # if args.ignore_unresolved_names is not None:
+    #     parser.set_ignored_unresolved_names(args.ignore_unresolved_names)
+    # if args.print_safe_value_reprs is not None:
+    #     parser.set_print_safe_value_pattern(args.print_safe_value_reprs)
+
+    return parser
+
+
+if __name__ == "__main__":
+    run(
+        parser=stub_parser(),
+        printer=Printer(invalid_expr_as_ellipses=True),
+        module_name="mplib",  # args.module_name
+        out_dir=Path("stubs"),
+        sub_dir=None,
+        dry_run=False,
+        writer=Writer(stub_ext="pyi"),
+    )

docs/mplib.html

@@ -89,9 +89,10 @@ <h2 id="usage">Usage</h2>
 </span><span id="L-5"><a href="#L-5"><span class="linenos"> 5</span></a><span class="kn">from</span> <span class="nn">importlib.metadata</span> <span class="kn">import</span> <span class="n">version</span>
 </span><span id="L-6"><a href="#L-6"><span class="linenos"> 6</span></a>
 </span><span id="L-7"><a href="#L-7"><span class="linenos"> 7</span></a><span class="kn">from</span> <span class="nn">.planner</span> <span class="kn">import</span> <span class="n">Planner</span>
-</span><span id="L-8"><a href="#L-8"><span class="linenos"> 8</span></a><span class="c1"># from .pymp import set_global_seed</span>
-</span><span id="L-9"><a href="#L-9"><span class="linenos"> 9</span></a>
-</span><span id="L-10"><a href="#L-10"><span class="linenos">10</span></a><span class="n">__version__</span> <span class="o">=</span> <span class="n">version</span><span class="p">(</span><span class="s2">&quot;mplib&quot;</span><span class="p">)</span>
+</span><span id="L-8"><a href="#L-8"><span class="linenos"> 8</span></a>
+</span><span id="L-9"><a href="#L-9"><span class="linenos"> 9</span></a><span class="c1"># from .pymp import set_global_seed</span>
+</span><span id="L-10"><a href="#L-10"><span class="linenos">10</span></a>
+</span><span id="L-11"><a href="#L-11"><span class="linenos">11</span></a><span class="n">__version__</span> <span class="o">=</span> <span class="n">version</span><span class="p">(</span><span class="s2">&quot;mplib&quot;</span><span class="p">)</span>
 </span></pre></div>
 
 

mplib/__init__.pyi

@@ -2,10 +2,9 @@
 
 .. include:: ./README.md
 """
-from __future__ import annotations
 from importlib.metadata import version
 from mplib.planner import Planner
 from . import planner
 from . import pymp
 __all__ = ['Planner', 'planner', 'pymp', 'version']
-__version__: str = '0.0.9.dev20240115+git.50741d33.dirty'
+__version__: str = '0.0.9.dev20240115+git.3449b367.dirty'

mplib/planner.pyi

@@ -1,13 +1,12 @@
-from __future__ import annotations
 from mplib.pymp import articulation
 import mplib.pymp.articulation
 from mplib.pymp import fcl
 from mplib.pymp import kdl
 from mplib.pymp import ompl
 from mplib.pymp import pinocchio
 from mplib.pymp import planning_world
-import numpy
 import numpy as np
+import numpy
 import os as os
 import toppra as ta
 from toppra import algorithm as algo

mplib/pymp/__init__.pyi

@@ -1,7 +1,6 @@
 """
 Motion planning python binding. To see its documentation, please see the stub files in your IDE.
 """
-from __future__ import annotations
 from . import articulation
 from . import fcl
 from . import kdl

mplib/pymp/articulation.pyi

@@ -1,7 +1,6 @@
 """
 articulated model submodule, i.e. models with moving parts
 """
-from __future__ import annotations
 import mplib.pymp.fcl
 import mplib.pymp.pinocchio
 import numpy

mplib/pymp/fcl.pyi

@@ -1,4 +1,3 @@
-from __future__ import annotations
 import numpy
 import typing
 __all__ = ['BVHModel', 'Box', 'Capsule', 'CollisionGeometry', 'CollisionObject', 'CollisionRequest', 'CollisionResult', 'Contact', 'ContactPoint', 'Convex', 'CostSource', 'Cylinder', 'DistanceRequest', 'DistanceResult', 'FCLModel', 'GJKSolverType', 'GST_INDEP', 'GST_LIBCCD', 'OcTree', 'Triangle', 'collide', 'distance', 'load_mesh_as_BVH', 'load_mesh_as_Convex']

mplib/pymp/kdl.pyi

@@ -1,4 +1,3 @@
-from __future__ import annotations
 import numpy
 import typing
 __all__ = ['KDLModel']

mplib/pymp/ompl.pyi

@@ -1,4 +1,3 @@
-from __future__ import annotations
 import mplib.pymp.planning_world
 import numpy
 import typing

mplib/pymp/pinocchio.pyi

@@ -1,4 +1,3 @@
-from __future__ import annotations
 import numpy
 import typing
 __all__ = ['PinocchioModel']

mplib/pymp/planning_world.pyi

@@ -1,4 +1,3 @@
-from __future__ import annotations
 import mplib.pymp.articulation
 import mplib.pymp.fcl
 import numpy