WIP: Fix stubgen

[cielavenir]

@felixvd @gywn

---

Background

We would like to get type stub for openravepy. However we have some issues.

For example, on production HEAD, GetManipulator is like this:

In [1]: openravepy.Robot.GetManipulator?
Docstring:      
GetManipulator(self: openravepy._openravepy_0_114.openravepy_int.Robot, manipname: str) -> openravepy::PyRobotBase::PyManipulator

With this patch, GetManipulator is like this:

In [1]: openravepy.Robot.GetManipulator?
Docstring:      
GetManipulator(self: openravepy._openravepy_0_114.openravepy_int.Robot, manipname: str) -> openravepy._openravepy_0_114.openravepy_int.Manipulator

You can see the difference in return type. And latter form is required for pybind11-stubgen. This is achieved by declaring Manipulator class before Robot.GetManipulator method declaration in pybind11 entrypoint.

Result

I have fixed most order, but some cannot be fixed (yet).

• ConfigurationSpecification.ExtractAffineValues has KinBody parameter. KinBody::GetConfigurationSpecification has ConfigurationSpecification parameter. But they are defined in different file.
• Controller.Init has Robot parameter. Robot::GetController has Controller parameter. But they are defined in different file.
• KinBody.CheckSelfCollision has CollisionChecker parameter. CollisionChecker.CheckCollision has KinBody parameter. But they are defined in different file.

When there are mutual dependency, this method can be used:

• py::class_ a declaration
• py::class_ b declaration
• a.def(b);
• b.def(a);

However, if the files are separated, such dependency cannot be written.

[cielavenir]

The current state is this

mujin@desktop105:~/tmp $ python3 -m pybind11_stubgen --ignore-invalid=all openravepy
[2023-06-13 00:25:21,457] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,457] {__init__.py:149} WARNING - def ExtractAffineValues(self: openravepy._openravepy_.openravepy_int.ConfigurationSpecification, data: object, body: openravepy::PyKinBody, affinedofs: int, timederivative: int = 0) -> object: ...
[2023-06-13 00:25:21,457] {__init__.py:150} WARNING -                                                                                                                                ^-- Invalid syntax
[2023-06-13 00:25:21,458] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,458] {__init__.py:149} WARNING - def ExtractJointValues(self: openravepy._openravepy_.openravepy_int.ConfigurationSpecification, data: object, body: openravepy::PyKinBody, indices: object, timederivative: int = 0) -> object: ...
[2023-06-13 00:25:21,458] {__init__.py:150} WARNING -                                                                                                                               ^-- Invalid syntax
[2023-06-13 00:25:21,458] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,458] {__init__.py:149} WARNING - def ExtractTransform(self: openravepy._openravepy_.openravepy_int.ConfigurationSpecification, transform: object, data: object, body: openravepy::PyKinBody, timederivative: int = 0) -> object: ...
[2023-06-13 00:25:21,458] {__init__.py:150} WARNING -                                                                                                                                                ^-- Invalid syntax
[2023-06-13 00:25:21,459] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,459] {__init__.py:149} WARNING - def ExtractUsedIndices(self: openravepy._openravepy_.openravepy_int.ConfigurationSpecification, env: openravepy::PyKinBody) -> object: ...
[2023-06-13 00:25:21,459] {__init__.py:150} WARNING -                                                                                                                ^-- Invalid syntax
[2023-06-13 00:25:21,461] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,461] {__init__.py:149} WARNING - def InsertJointValues(self: openravepy._openravepy_.openravepy_int.ConfigurationSpecification, data: object, values: object, body: openravepy::PyKinBody, indices: object, timederivative: int = 0) -> bool: ...
[2023-06-13 00:25:21,461] {__init__.py:150} WARNING -                                                                                                                                              ^-- Invalid syntax
[2023-06-13 00:25:21,470] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,470] {__init__.py:149} WARNING - def Init(self: openravepy._openravepy_.openravepy_int.Controller, arg0: openravepy::PyRobotBase, arg1: str) -> bool: ...
[2023-06-13 00:25:21,470] {__init__.py:150} WARNING -                                                                                   ^-- Invalid syntax
[2023-06-13 00:25:21,470] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,470] {__init__.py:149} WARNING - def Init(self: openravepy._openravepy_.openravepy_int.Controller, robot: openravepy::PyRobotBase, dofindices: object, controltransform: int) -> bool: ...
[2023-06-13 00:25:21,470] {__init__.py:150} WARNING -                                                                                    ^-- Invalid syntax
[2023-06-13 00:25:21,471] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,471] {__init__.py:149} WARNING - def SetPath(self: openravepy._openravepy_.openravepy_int.Controller, arg0: openravepy::PyTrajectoryBase) -> bool: ...
[2023-06-13 00:25:21,471] {__init__.py:150} WARNING -                                                                                      ^-- Invalid syntax
[2023-06-13 00:25:21,534] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,534] {__init__.py:149} WARNING - def GetInterfaceType(self: openravepy._openravepy_.openravepy_int.Interface) -> OpenRAVE::InterfaceType: ...
[2023-06-13 00:25:21,534] {__init__.py:150} WARNING -                                                                                          ^-- Invalid syntax
[2023-06-13 00:25:21,536] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,536] {__init__.py:149} WARNING - def SetUserData(self: openravepy._openravepy_.openravepy_int.Interface, data: openravepy::PyUserData) -> None: ...
[2023-06-13 00:25:21,536] {__init__.py:150} WARNING -                                                                                         ^-- Invalid syntax
[2023-06-13 00:25:21,536] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,536] {__init__.py:149} WARNING - def SetUserData(self: openravepy._openravepy_.openravepy_int.Interface, key: str, data: openravepy::PyUserData) -> None: ...
[2023-06-13 00:25:21,536] {__init__.py:150} WARNING -                                                                                                   ^-- Invalid syntax
[2023-06-13 00:25:21,609] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,609] {__init__.py:149} WARNING - def CheckSelfCollision(self: openravepy._openravepy_.openravepy_int.KinBody, report: openravepy::PyCollisionReport = None, collisionchecker: openravepy::PyCollisionCheckerBase = None) -> bool: ...
[2023-06-13 00:25:21,609] {__init__.py:150} WARNING -                                                                                                ^-- Invalid syntax
[2023-06-13 00:25:21,633] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,633] {__init__.py:149} WARNING - def SetSelfCollisionChecker(self: openravepy._openravepy_.openravepy_int.KinBody, collisionchecker: openravepy::PyCollisionCheckerBase) -> None: ...
[2023-06-13 00:25:21,633] {__init__.py:150} WARNING -                                                                                                               ^-- Invalid syntax
[2023-06-13 00:25:21,865] {__init__.py:1158} INFO - Useful link: Avoiding C++ types in docstrings:
[2023-06-13 00:25:21,865] {__init__.py:1159} INFO -       https://pybind11.readthedocs.io/en/latest/advanced/misc.html#avoiding-cpp-types-in-docstrings

[cielavenir]

@felixvd @gywn we might need to redesign init_openravepy_kinbody() etc, please check..

[cielavenir]

[2023-06-13 00:25:21,633] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,633] {__init__.py:149} WARNING - def SetSelfCollisionChecker(self: openravepy._openravepy_.openravepy_int.KinBody, collisionchecker: openravepy::PyCollisionCheckerBase) -> None: ...
[2023-06-13 00:25:21,633] {__init__.py:150} WARNING -                                                                                                               ^-- Invalid syntax

This one can be removed by 8bdb91f, but I'm not sure if such PyCollisionCheckerBaseBinderPtr is a good approach

[Edit] I kindof mean by redesign init_openravepy_kinbody proposing alternative approach(es) to PyCollisionCheckerBaseBinderPtr.

[cielavenir]

7a7df6f is much cleaner (see https://github.com/rdiankov/openrave/commits/fixStubgen_binderPtr)

[cielavenir]

[2023-06-13 00:25:21,609] {__init__.py:142} WARNING - Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for
[2023-06-13 00:25:21,609] {__init__.py:149} WARNING - def CheckSelfCollision(self: openravepy._openravepy_.openravepy_int.KinBody, report: openravepy::PyCollisionReport = None, collisionchecker: openravepy::PyCollisionCheckerBase = None) -> bool: ...
[2023-06-13 00:25:21,609] {__init__.py:150} WARNING -     

this one got fixed too

[cielavenir]

further fix generated the very first typestub

openravepy_pybind11_stubgen_20230613.zip