diff --git a/.cargo/config.toml b/.cargo/config.toml
new file mode 100644
index 0000000..f648169
--- /dev/null
+++ b/.cargo/config.toml
@@ -0,0 +1,6 @@
+[target.aarch64-apple-darwin]
+
+rustflags = [
+  "-C", "link-arg=-undefined",
+  "-C", "link-arg=dynamic_lookup",
+]
diff --git a/Cargo.toml b/Cargo.toml
index 7ae510b..5728b47 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -19,4 +19,4 @@ tracing-subscriber = { version = "0.3", features = ["env-filter"] }
 prost-build = "0.12"
 
 [workspace]
-members = ["python"]
+members = ["python/krec/bindings"]
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..6a8d2f7
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,86 @@
+[tool.black]
+
+line-length = 120
+target-version = ["py311"]
+include = '\.pyi?$'
+
+[tool.pytest.ini_options]
+
+addopts = "-rx -rf -x -q --full-trace"
+testpaths = ["tests"]
+
+markers = [
+    "slow: Marks test as being slow",
+]
+
+[tool.mypy]
+
+pretty = true
+show_column_numbers = true
+show_error_context = true
+show_error_codes = true
+show_traceback = true
+disallow_untyped_defs = true
+strict_equality = true
+allow_redefinition = true
+
+warn_unused_ignores = true
+warn_redundant_casts = true
+
+incremental = true
+namespace_packages = false
+
+[[tool.mypy.overrides]]
+
+module = [
+    "setuptools",
+    "setuptools_rust",
+]
+ignore_missing_imports = true
+
+[[tool.mypy.overrides]]
+
+module = ["krec.bindings"]
+
+disable_error_code = ["no-untyped-def"]
+
+[tool.isort]
+
+profile = "black"
+
+[tool.ruff]
+
+line-length = 120
+target-version = "py310"
+
+[tool.ruff.lint]
+
+select = ["ANN", "D", "E", "F", "I", "N", "PGH", "PLC", "PLE", "PLR", "PLW", "W"]
+
+ignore = [
+    "ANN101", "ANN102",
+    "D101", "D102", "D103", "D104", "D105", "D106", "D107",
+    "N812", "N817",
+    "PLR0911", "PLR0912", "PLR0913", "PLR0915", "PLR2004",
+    "PLW0603", "PLW2901",
+]
+
+dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
+
+[tool.ruff.lint.per-file-ignores]
+
+"__init__.py" = ["E402", "F401", "F403", "F811"]
+
+[tool.ruff.lint.isort]
+
+known-first-party = ["krec", "tests"]
+combine-as-imports = true
+
+[tool.ruff.lint.pydocstyle]
+
+convention = "google"
+
+[build-system]
+
+requires = ["setuptools>=42", "wheel", "setuptools-rust>=1.5.2"]
+build-backend = "setuptools.build_meta"
diff --git a/python/Cargo.toml b/python/Cargo.toml
deleted file mode 100644
index fee731c..0000000
--- a/python/Cargo.toml
+++ /dev/null
@@ -1,14 +0,0 @@
-[package]
-name = "krec-py"
-version = "0.1.0"
-edition = "2021"
-
-[lib]
-name = "krec"
-crate-type = ["cdylib"]
-
-[dependencies]
-krec = { version = "0.1.0", path = ".." }
-pyo3 = { version = "0.19", features = ["extension-module"] }
-pyo3-stub-gen = ">= 0.6.0"
-tracing = "0.1"
diff --git a/python/krec/__init__.py b/python/krec/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/python/krec/bindings/Cargo.toml b/python/krec/bindings/Cargo.toml
new file mode 100644
index 0000000..0aa4bfe
--- /dev/null
+++ b/python/krec/bindings/Cargo.toml
@@ -0,0 +1,16 @@
+[package]
+name = "bindings"
+version = "0.1.0"
+edition = "2021"
+
+[lib]
+name = "bindings"
+crate-type = ["cdylib", "rlib"]
+
+[dependencies]
+pyo3 = { version = ">= 0.21", features = ["extension-module"] }
+pyo3-stub-gen = ">= 0.6"
+tracing = "0.1"
+
+# Workspace packages.
+krec = { version = "0.1.0", path = "../../.." }
diff --git a/python/krec/bindings/bindings.pyi b/python/krec/bindings/bindings.pyi
new file mode 100644
index 0000000..0693c4b
--- /dev/null
+++ b/python/krec/bindings/bindings.pyi
@@ -0,0 +1,360 @@
+# This file is automatically generated by pyo3_stub_gen
+# ruff: noqa: E501, F401
+
+import typing
+
+class ActuatorCommand:
+    r"""
+    Command for an actuator
+    """
+    actuator_id: int
+    position: float
+    velocity: float
+    torque: float
+    def __new__(cls,actuator_id,position = ...,velocity = ...,torque = ...,values = ...): ...
+    def __repr__(self) -> str:
+        ...
+
+    def set_position(self, value:float) -> None:
+        ...
+
+    def set_velocity(self, value:float) -> None:
+        ...
+
+    def set_torque(self, value:float) -> None:
+        ...
+
+
+class ActuatorConfig:
+    r"""
+    Configuration for an actuator
+    """
+    actuator_id: int
+    kp: typing.Optional[float]
+    kd: typing.Optional[float]
+    ki: typing.Optional[float]
+    max_torque: typing.Optional[float]
+    name: typing.Optional[str]
+    def __new__(cls,actuator_id,kp = ...,kd = ...,ki = ...,max_torque = ...,name = ...,values = ...): ...
+    def __repr__(self) -> str:
+        ...
+
+    def set_kp(self, value:typing.Optional[float]) -> None:
+        ...
+
+    def set_kd(self, value:typing.Optional[float]) -> None:
+        ...
+
+    def set_ki(self, value:typing.Optional[float]) -> None:
+        ...
+
+    def set_max_torque(self, value:typing.Optional[float]) -> None:
+        ...
+
+    def set_name(self, value:typing.Optional[str]) -> None:
+        ...
+
+
+class ActuatorState:
+    r"""
+    State information for a single actuator
+    """
+    actuator_id: int
+    online: bool
+    position: typing.Optional[float]
+    velocity: typing.Optional[float]
+    torque: typing.Optional[float]
+    temperature: typing.Optional[float]
+    voltage: typing.Optional[float]
+    current: typing.Optional[float]
+    def __new__(cls,actuator_id,online = ...,position = ...,velocity = ...,torque = ...,temperature = ...,voltage = ...,current = ...,values = ...): ...
+    def __repr__(self) -> str:
+        ...
+
+    def set_online(self, value:bool) -> None:
+        ...
+
+    def set_position(self, value:typing.Optional[float]) -> None:
+        ...
+
+    def set_velocity(self, value:typing.Optional[float]) -> None:
+        ...
+
+    def set_torque(self, value:typing.Optional[float]) -> None:
+        ...
+
+    def set_temperature(self, value:typing.Optional[float]) -> None:
+        ...
+
+    def set_voltage(self, value:typing.Optional[float]) -> None:
+        ...
+
+    def set_current(self, value:typing.Optional[float]) -> None:
+        ...
+
+
+class FrameIterator:
+    r"""
+    Iterator for frames
+    """
+    def __iter__(self) -> FrameIterator:
+        ...
+
+    def __next__(self) -> typing.Optional[KRecFrame]:
+        ...
+
+
+class IMUQuaternion:
+    r"""
+    A quaternion representing 3D rotation
+    """
+    x: float
+    y: float
+    z: float
+    w: float
+    def __new__(cls,x = ...,y = ...,z = ...,w = ...,values = ...): ...
+    def __repr__(self) -> str:
+        ...
+
+
+class IMUValues:
+    r"""
+    IMU sensor values including acceleration, gyroscope, and orientation data
+    """
+    accel: typing.Optional[Vec3]
+    gyro: typing.Optional[Vec3]
+    quaternion: typing.Optional[IMUQuaternion]
+    def __new__(cls,accel = ...,gyro = ...,mag = ...,quaternion = ...,values = ...): ...
+    def __repr__(self) -> str:
+        ...
+
+    def set_accel(self, value:typing.Optional[Vec3]) -> None:
+        ...
+
+    def set_gyro(self, value:typing.Optional[Vec3]) -> None:
+        ...
+
+    def set_quaternion(self, value:typing.Optional[IMUQuaternion]) -> None:
+        ...
+
+
+class KRec:
+    frame_count: int
+    header: KRecHeader
+    def __new__(cls,header:KRecHeader): ...
+    def get_frame(self, index:int) -> KRecFrame:
+        r"""
+        Get a specific frame by index
+        """
+        ...
+
+    def get_frames(self) -> list[KRecFrame]:
+        r"""
+        Get all frames
+        """
+        ...
+
+    def add_frame(self, frame:KRecFrame) -> None:
+        r"""
+        Add a frame to the recording
+        """
+        ...
+
+    def remove_frame(self, index:int) -> None:
+        r"""
+        Remove a frame at the specified index
+        """
+        ...
+
+    def clear_frames(self) -> None:
+        r"""
+        Clear all frames
+        """
+        ...
+
+    def __getitem__(self, index:int) -> KRecFrame:
+        r"""
+        Get a frame by index (Python [] operator)
+        """
+        ...
+
+    def __len__(self) -> int:
+        r"""
+        Get the length (Python len() function)
+        """
+        ...
+
+    def __iter__(self) -> FrameIterator:
+        r"""
+        Iterator support for frames
+        """
+        ...
+
+    def __repr__(self) -> str:
+        ...
+
+    def __str__(self) -> str:
+        ...
+
+    def display(self) -> str:
+        r"""
+        Returns a detailed string representation of the KRec contents
+        """
+        ...
+
+    def display_frame(self, frame_number:int) -> str:
+        r"""
+        Returns a more detailed string representation of a specific frame
+        """
+        ...
+
+    def save(self, path:str) -> None:
+        ...
+
+    @staticmethod
+    def load(path:str) -> KRec:
+        ...
+
+    def combine_with_video(self, video_path:str, output_path:str) -> None:
+        ...
+
+
+class KRecFrame:
+    def new(self, video_timestamp:typing.Optional[int], frame_number:typing.Optional[int], inference_step:typing.Optional[int], values:typing.Optional[typing.Any]) -> KRecFrame:
+        ...
+
+    def __repr__(self) -> str:
+        ...
+
+    def get_video_timestamp(self) -> int:
+        ...
+
+    def set_video_timestamp(self, value:int) -> None:
+        ...
+
+    def get_frame_number(self) -> int:
+        ...
+
+    def set_frame_number(self, value:int) -> None:
+        ...
+
+    def get_inference_step(self) -> int:
+        ...
+
+    def set_inference_step(self, value:int) -> None:
+        ...
+
+    def add_actuator_state(self, state:ActuatorState) -> None:
+        ...
+
+    def get_actuator_states(self) -> list[ActuatorState]:
+        ...
+
+    def clear_actuator_states(self) -> None:
+        ...
+
+    def set_actuator_commands(self, commands:typing.Sequence[ActuatorCommand]) -> None:
+        ...
+
+    def get_actuator_commands(self) -> list[ActuatorCommand]:
+        ...
+
+    def clear_actuator_commands(self) -> None:
+        ...
+
+    def add_actuator_command(self, command:ActuatorCommand) -> None:
+        ...
+
+    def has_actuator_commands(self) -> bool:
+        ...
+
+    def actuator_command_count(self) -> int:
+        ...
+
+    def set_imu_values(self, imu:typing.Optional[IMUValues]) -> None:
+        ...
+
+    def get_imu_values(self) -> typing.Optional[IMUValues]:
+        ...
+
+    def clear_imu_values(self) -> None:
+        ...
+
+    def has_imu_values(self) -> bool:
+        ...
+
+    def actuator_state_count(self) -> int:
+        ...
+
+
+class KRecHeader:
+    def new(self, uuid:typing.Optional[str], task:typing.Optional[str], robot_platform:typing.Optional[str], robot_serial:typing.Optional[str], start_timestamp:typing.Optional[int], end_timestamp:typing.Optional[int], values:typing.Optional[typing.Any]) -> KRecHeader:
+        ...
+
+    def __repr__(self) -> str:
+        ...
+
+    def get_uuid(self) -> str:
+        ...
+
+    def set_uuid(self, value:str) -> None:
+        ...
+
+    def get_task(self) -> str:
+        ...
+
+    def set_task(self, value:str) -> None:
+        ...
+
+    def get_robot_platform(self) -> str:
+        ...
+
+    def set_robot_platform(self, value:str) -> None:
+        ...
+
+    def get_robot_serial(self) -> str:
+        ...
+
+    def set_robot_serial(self, value:str) -> None:
+        ...
+
+    def get_start_timestamp(self) -> int:
+        ...
+
+    def set_start_timestamp(self, value:int) -> None:
+        ...
+
+    def get_end_timestamp(self) -> int:
+        ...
+
+    def set_end_timestamp(self, value:int) -> None:
+        ...
+
+    def add_actuator_config(self, config:ActuatorConfig) -> None:
+        ...
+
+    def get_actuator_configs(self) -> list[ActuatorConfig]:
+        ...
+
+    def clear_actuator_configs(self) -> None:
+        ...
+
+
+class Vec3:
+    r"""
+    A 3D vector with x, y, z components
+    """
+    x: float
+    y: float
+    z: float
+    def __new__(cls,x = ...,y = ...,z = ...,values = ...): ...
+    def __repr__(self) -> str:
+        ...
+
+
+def combine_with_video(video_path:str,krec_path:str,output_path:str) -> None:
+    ...
+
+def extract_from_video(video_path:str,output_path:str) -> None:
+    ...
+
diff --git a/python/pyproject.toml b/python/krec/bindings/pyproject.toml
similarity index 95%
rename from python/pyproject.toml
rename to python/krec/bindings/pyproject.toml
index 164540f..d4d3c3c 100644
--- a/python/pyproject.toml
+++ b/python/krec/bindings/pyproject.toml
@@ -3,7 +3,7 @@ requires = ["maturin>=1.0,<2.0"]
 build-backend = "maturin"
 
 [project]
-name = "krec"
+name = "bindings"
 version = "0.1.4"
 description = "Python bindings for KRec"
 authors = [{ name = "Denys Bezmenov", email = "denys@kscale.dev" }]
diff --git a/python/src/bin/stub_gen.rs b/python/krec/bindings/src/bin/stub_gen.rs
similarity index 100%
rename from python/src/bin/stub_gen.rs
rename to python/krec/bindings/src/bin/stub_gen.rs
diff --git a/python/src/lib.rs b/python/krec/bindings/src/lib.rs
similarity index 93%
rename from python/src/lib.rs
rename to python/krec/bindings/src/lib.rs
index 863d46d..2937292 100644
--- a/python/src/lib.rs
+++ b/python/krec/bindings/src/lib.rs
@@ -1,33 +1,37 @@
-use ::krec::{
+use krec::{
     ActuatorCommand, ActuatorConfig, ActuatorState, ImuQuaternion, ImuValues, KRec, KRecFrame,
     KRecHeader, Vec3,
 };
 use pyo3::exceptions::{PyIndexError, PyValueError};
 use pyo3::prelude::*;
 use pyo3::types::PyIterator;
+use pyo3_stub_gen::define_stub_info_gatherer;
+use pyo3_stub_gen::derive::{gen_stub_pyclass, gen_stub_pyfunction, gen_stub_pymethods};
 use tracing::{info, instrument};
 
 /// A 3D vector with x, y, z components
+#[gen_stub_pyclass]
 #[pyclass(name = "Vec3")]
 #[derive(Debug, Clone)]
 struct PyVec3 {
     inner: Vec3,
 }
 
+#[gen_stub_pymethods]
 #[pymethods]
 impl PyVec3 {
     #[new]
-    #[pyo3(text_signature = "(x=0.0, y=0.0, z=0.0, /, values=None)")]
+    #[pyo3(signature = (x=None, y=None, z=None, values=None))]
     fn new(
-        py: Python<'_>,
+        _py: Python<'_>,
         x: Option<f64>,
         y: Option<f64>,
         z: Option<f64>,
-        values: Option<&PyAny>,
+        values: Option<Bound<'_, PyAny>>,
     ) -> PyResult<Self> {
         if let Some(values) = values {
             // Try to convert from iterable
-            if let Ok(iter) = PyIterator::from_object(py, values) {
+            if let Ok(iter) = PyIterator::from_bound_object(&values) {
                 let mut coords: Vec<f64> = Vec::new();
                 for item in iter {
                     let value: f64 = item?.extract()?;
@@ -76,26 +80,28 @@ impl PyVec3 {
 }
 
 /// A quaternion representing 3D rotation
+#[gen_stub_pyclass]
 #[pyclass(name = "IMUQuaternion")]
 #[derive(Debug, Clone)]
 struct PyIMUQuaternion {
     inner: ImuQuaternion,
 }
 
+#[gen_stub_pymethods]
 #[pymethods]
 impl PyIMUQuaternion {
     #[new]
-    #[pyo3(text_signature = "(x=0.0, y=0.0, z=0.0, w=1.0, /, values=None)")]
+    #[pyo3(signature = (x=None, y=None, z=None, w=None, values=None))]
     fn new(
-        py: Python<'_>,
+        _py: Python<'_>,
         x: Option<f64>,
         y: Option<f64>,
         z: Option<f64>,
         w: Option<f64>,
-        values: Option<&PyAny>,
+        values: Option<Bound<'_, PyAny>>,
     ) -> PyResult<Self> {
         if let Some(values) = values {
-            if let Ok(iter) = PyIterator::from_object(py, values) {
+            if let Ok(iter) = PyIterator::from_bound_object(&values) {
                 let mut coords: Vec<f64> = Vec::new();
                 for item in iter {
                     let value: f64 = item?.extract()?;
@@ -149,26 +155,28 @@ impl PyIMUQuaternion {
 }
 
 /// IMU sensor values including acceleration, gyroscope, and orientation data
+#[gen_stub_pyclass]
 #[pyclass(name = "IMUValues")]
 #[derive(Debug, Clone)]
 struct PyIMUValues {
     inner: ImuValues,
 }
 
+#[gen_stub_pymethods]
 #[pymethods]
 impl PyIMUValues {
     #[new]
-    #[pyo3(text_signature = "(accel=None, gyro=None, mag=None, quaternion=None, /, values=None)")]
+    #[pyo3(signature = (accel=None, gyro=None, mag=None, quaternion=None, values=None))]
     fn new(
         py: Python<'_>,
         accel: Option<PyVec3>,
         gyro: Option<PyVec3>,
         mag: Option<PyVec3>,
         quaternion: Option<PyIMUQuaternion>,
-        values: Option<&PyAny>,
+        values: Option<Bound<'_, PyAny>>,
     ) -> PyResult<Self> {
         if let Some(values) = values {
-            if let Ok(iter) = PyIterator::from_object(py, values) {
+            if let Ok(iter) = PyIterator::from_bound_object(&values) {
                 let mut items = Vec::new();
                 for item in iter {
                     let item = item?;
@@ -270,18 +278,18 @@ impl PyIMUValues {
 }
 
 /// State information for a single actuator
+#[gen_stub_pyclass]
 #[pyclass(name = "ActuatorState")]
 #[derive(Debug, Clone)]
 struct PyActuatorState {
     inner: ActuatorState,
 }
 
+#[gen_stub_pymethods]
 #[pymethods]
 impl PyActuatorState {
     #[new]
-    #[pyo3(
-        text_signature = "(actuator_id, online=False, position=None, velocity=None, torque=None, temperature=None, voltage=None, current=None, /, values=None)"
-    )]
+    #[pyo3(signature = (actuator_id, online=None, position=None, velocity=None, torque=None, temperature=None, voltage=None, current=None, values=None))]
     fn new(
         py: Python<'_>,
         actuator_id: u32,
@@ -292,10 +300,10 @@ impl PyActuatorState {
         temperature: Option<f64>,
         voltage: Option<f32>,
         current: Option<f32>,
-        values: Option<&PyAny>,
+        values: Option<Bound<'_, PyAny>>,
     ) -> PyResult<Self> {
         if let Some(values) = values {
-            if let Ok(iter) = PyIterator::from_object(py, values) {
+            if let Ok(iter) = PyIterator::from_bound_object(&values) {
                 let mut items = Vec::new();
                 for item in iter {
                     let item = item?;
@@ -439,18 +447,18 @@ impl PyActuatorState {
 }
 
 /// Configuration for an actuator
+#[gen_stub_pyclass]
 #[pyclass(name = "ActuatorConfig")]
 #[derive(Debug, Clone)]
 struct PyActuatorConfig {
     inner: ActuatorConfig,
 }
 
+#[gen_stub_pymethods]
 #[pymethods]
 impl PyActuatorConfig {
     #[new]
-    #[pyo3(
-        text_signature = "(actuator_id, kp=None, kd=None, ki=None, max_torque=None, name=None, /, values=None)"
-    )]
+    #[pyo3(signature = (actuator_id, kp=None, kd=None, ki=None, max_torque=None, name=None, values=None))]
     fn new(
         py: Python<'_>,
         actuator_id: u32,
@@ -459,10 +467,10 @@ impl PyActuatorConfig {
         ki: Option<f64>,
         max_torque: Option<f64>,
         name: Option<String>,
-        values: Option<&PyAny>,
+        values: Option<Bound<'_, PyAny>>,
     ) -> PyResult<Self> {
         if let Some(values) = values {
-            if let Ok(iter) = PyIterator::from_object(py, values) {
+            if let Ok(iter) = PyIterator::from_bound_object(&values) {
                 let mut items = Vec::new();
                 for item in iter {
                     let item = item?;
@@ -578,28 +586,28 @@ impl PyActuatorConfig {
 }
 
 /// Command for an actuator
+#[gen_stub_pyclass]
 #[pyclass(name = "ActuatorCommand")]
 #[derive(Debug, Clone)]
 struct PyActuatorCommand {
     inner: ActuatorCommand,
 }
 
+#[gen_stub_pymethods]
 #[pymethods]
 impl PyActuatorCommand {
     #[new]
-    #[pyo3(
-        text_signature = "(actuator_id, position=0.0, velocity=0.0, effort=0.0, /, values=None)"
-    )]
+    #[pyo3(signature = (actuator_id, position=None, velocity=None, torque=None, values=None))]
     fn new(
-        py: Python<'_>,
+        _py: Python<'_>,
         actuator_id: u32,
         position: Option<f32>,
         velocity: Option<f32>,
         torque: Option<f32>,
-        values: Option<&PyAny>,
+        values: Option<Bound<'_, PyAny>>,
     ) -> PyResult<Self> {
         if let Some(values) = values {
-            if let Ok(iter) = PyIterator::from_object(py, values) {
+            if let Ok(iter) = PyIterator::from_bound_object(&values) {
                 let mut coords: Vec<f32> = Vec::new();
                 for item in iter {
                     let value: f32 = item?.extract()?;
@@ -667,12 +675,14 @@ impl PyActuatorCommand {
     }
 }
 
+#[gen_stub_pyclass]
 #[pyclass(name = "KRec")]
 #[derive(Debug, Clone)]
 struct PyKRec {
     inner: KRec,
 }
 
+#[gen_stub_pymethods]
 #[pymethods]
 impl PyKRec {
     #[new]
@@ -981,6 +991,7 @@ impl PyKRec {
     }
 }
 
+#[gen_stub_pyclass]
 #[pyclass(name = "KRecHeader")]
 #[derive(Debug, Clone)]
 struct PyKRecHeader {
@@ -988,11 +999,10 @@ struct PyKRecHeader {
 }
 
 #[pymethods]
+#[gen_stub_pymethods]
 impl PyKRecHeader {
     #[new]
-    #[pyo3(
-        text_signature = "(uuid=None, task=None, robot_platform=None, robot_serial=None, start_timestamp=None, end_timestamp=None, /, values=None)"
-    )]
+    #[pyo3(signature = (uuid=None, task=None, robot_platform=None, robot_serial=None, start_timestamp=None, end_timestamp=None, values=None))]
     fn new(
         py: Python<'_>,
         uuid: Option<String>,
@@ -1001,10 +1011,10 @@ impl PyKRecHeader {
         robot_serial: Option<String>,
         start_timestamp: Option<u64>,
         end_timestamp: Option<u64>,
-        values: Option<&PyAny>,
+        values: Option<Bound<'_, PyAny>>,
     ) -> PyResult<Self> {
         if let Some(values) = values {
-            if let Ok(iter) = PyIterator::from_object(py, values) {
+            if let Ok(iter) = PyIterator::from_bound_object(&values) {
                 let mut items = Vec::new();
                 for item in iter {
                     let item = item?;
@@ -1123,6 +1133,7 @@ impl PyKRecHeader {
     }
 }
 
+#[gen_stub_pyclass]
 #[pyclass(name = "KRecFrame")]
 #[derive(Debug, Clone)]
 struct PyKRecFrame {
@@ -1130,20 +1141,19 @@ struct PyKRecFrame {
 }
 
 #[pymethods]
+#[gen_stub_pymethods]
 impl PyKRecFrame {
     #[new]
-    #[pyo3(
-        text_signature = "(video_timestamp=None, frame_number=None, inference_step=None, /, values=None)"
-    )]
+    #[pyo3(signature = (video_timestamp=None, frame_number=None, inference_step=None, values=None))]
     fn new(
         py: Python<'_>,
         video_timestamp: Option<u64>,
         frame_number: Option<u64>,
         inference_step: Option<u64>,
-        values: Option<&PyAny>,
+        values: Option<Bound<'_, PyAny>>,
     ) -> PyResult<Self> {
         if let Some(values) = values {
-            if let Ok(iter) = PyIterator::from_object(py, values) {
+            if let Ok(iter) = PyIterator::from_bound_object(&values) {
                 let mut items = Vec::new();
                 for item in iter {
                     let item = item?;
@@ -1258,6 +1268,7 @@ impl PyKRecFrame {
     }
 
     // Methods for IMU values
+    #[pyo3(signature = (imu=None))]
     fn set_imu_values(&mut self, imu: Option<&PyIMUValues>) {
         self.inner.imu_values = imu.map(|imu| imu.inner.clone());
     }
@@ -1285,12 +1296,14 @@ impl PyKRecFrame {
 }
 
 /// Iterator for frames
+#[gen_stub_pyclass]
 #[pyclass]
 struct FrameIterator {
     frames: Vec<KRecFrame>,
     index: usize,
 }
 
+#[gen_stub_pymethods]
 #[pymethods]
 impl FrameIterator {
     fn __iter__(slf: PyRef<'_, Self>) -> PyRef<'_, Self> {
@@ -1310,12 +1323,14 @@ impl FrameIterator {
     }
 }
 
+#[gen_stub_pyfunction]
 #[pyfunction]
 fn combine_with_video(video_path: &str, krec_path: &str, output_path: &str) -> PyResult<()> {
     ::krec::combine_with_video(video_path, krec_path, output_path)
         .map_err(|e| PyErr::new::<pyo3::exceptions::PyIOError, _>(e.to_string()))
 }
 
+#[gen_stub_pyfunction]
 #[pyfunction]
 fn extract_from_video(video_path: &str, output_path: &str) -> PyResult<()> {
     ::krec::extract_from_video(video_path, output_path)
@@ -1323,7 +1338,7 @@ fn extract_from_video(video_path: &str, output_path: &str) -> PyResult<()> {
 }
 
 #[pymodule]
-fn krec(_py: Python, m: &PyModule) -> PyResult<()> {
+fn bindings(m: &Bound<PyModule>) -> PyResult<()> {
     let _ = ::krec::init();
     m.add_class::<PyVec3>()?;
     m.add_class::<PyIMUQuaternion>()?;
@@ -1340,3 +1355,5 @@ fn krec(_py: Python, m: &PyModule) -> PyResult<()> {
 
     Ok(())
 }
+
+define_stub_info_gatherer!(stub_info);
diff --git a/python/krec/py.typed b/python/krec/py.typed
new file mode 100644
index 0000000..e69de29
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..f8f7d19
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,63 @@
+# mypy: disable-error-code="import-untyped"
+#!/usr/bin/env python
+"""Setup script for the project."""
+
+import os
+import re
+import shutil
+import subprocess
+
+from setuptools import find_packages, setup
+from setuptools.command.build_ext import build_ext
+from setuptools_rust import Binding, RustExtension
+
+with open("README.md", "r", encoding="utf-8") as f:
+    long_description: str = f.read()
+
+
+with open("Cargo.toml", "r", encoding="utf-8") as fh:
+    version_re = re.search(r"^version = \"([^\"]*)\"", fh.read(), re.MULTILINE)
+assert version_re is not None, "Could not find version in Cargo.toml"
+version: str = version_re.group(1)
+
+
+class RustBuildExt(build_ext):
+    def run(self) -> None:
+        # Generate the stub file
+        subprocess.run(["cargo", "run", "--bin", "stub_gen"], check=True)
+
+        # Move the generated stub file to parent directory
+        src_file = "krec/rust/rust.pyi"
+        dst_file = "krec/rust.pyi"
+        if os.path.exists(src_file) and not os.path.exists(dst_file):
+            shutil.move(src_file, dst_file)
+        if not os.path.exists(dst_file):
+            raise RuntimeError(f"Failed to generate {dst_file}")
+        if os.path.exists(src_file):
+            os.remove(src_file)
+
+        super().run()
+
+
+setup(
+    name="krec",
+    version=version,
+    description="Python bindings for K-Scale recordingss",
+    author="K-Scale Labs",
+    url="https://github.com/kscalelabs/krec",
+    rust_extensions=[
+        RustExtension(
+            target="actuator.bindings",
+            path="actuator/bindings/Cargo.toml",
+            binding=Binding.PyO3,
+        ),
+    ],
+    setup_requires=["setuptools-rust"],
+    zip_safe=False,
+    long_description=long_description,
+    long_description_content_type="text/markdown",
+    python_requires=">=3.11",
+    include_package_data=True,
+    packages=find_packages(where="python", include=["python/krec"]),
+    cmdclass={"build_ext": RustBuildExt},
+)