diff --git a/README.md b/README.md
index fd68f1c2..5f5d4a68 100644
--- a/README.md
+++ b/README.md
@@ -240,6 +240,18 @@ To compile and install the GTDynamics python library:
     make && make python-install
     ```
 
+    To generate stubs explicitly (useful for IDEs/type checkers), run:
+
+    ```sh
+    make python-stubs
+    ```
+
+    On non-Windows platforms, `python-install` depends on `python-stubs`.
+
+    For VS Code / Pylance setup (including `python.analysis.extraPaths`), see `python/README.md`.
+
+    Important: use a `gtsam` Python package built from the same install/prefix as the GTSAM library linked into GTDynamics. Mixing a local GTDynamics build with an unrelated pip/conda `gtsam` wheel can cause runtime aborts.
+
 4. To run the Python tests, you can simply run:
 
     ```sh
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 7a9b8d77..44345bb8 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -46,18 +46,47 @@ set_target_properties(
              RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
 )
 
-add_custom_target(
-  python-install
-  COMMAND ${PYTHON_EXECUTABLE} -m pip install .
-  DEPENDS ${PROJECT_NAME}_py
-  WORKING_DIRECTORY ${GTD_PYTHON_BINARY_DIR})
-
 if(UNIX)
   set(GTD_PATH_SEP ":")
 else()
   set(GTD_PATH_SEP ";")
 endif()
 
+set(GTD_PYTHON_INSTALL_EXTRA "")
+set(GTD_PYTHON_STUB_MODULE "${PROJECT_NAME}.${PROJECT_NAME}")
+
+# Determine library path for stub generation
+# On Linux/Unix, we need LD_LIBRARY_PATH; on macOS, DYLD_LIBRARY_PATH
+get_target_property(GTSAM_LIBRARY_LOCATION gtsam LOCATION)
+get_filename_component(GTSAM_LIBRARY_DIR "${GTSAM_LIBRARY_LOCATION}" DIRECTORY)
+
+if(APPLE)
+  set(GTD_STUB_LIB_PATH_VAR "DYLD_LIBRARY_PATH")
+else()
+  set(GTD_STUB_LIB_PATH_VAR "LD_LIBRARY_PATH")
+endif()
+
+add_custom_target(
+  python-stubs
+  COMMAND
+    ${CMAKE_COMMAND} -E env
+    "PYTHONPATH=${GTD_PYTHON_BINARY_DIR}${GTD_PATH_SEP}$ENV{PYTHONPATH}"
+    "${GTD_STUB_LIB_PATH_VAR}=${GTSAM_LIBRARY_DIR}${GTD_PATH_SEP}${CMAKE_LIBRARY_OUTPUT_DIRECTORY}${GTD_PATH_SEP}$ENV{${GTD_STUB_LIB_PATH_VAR}}"
+    ${PYTHON_EXECUTABLE} -m pybind11_stubgen -o . --ignore-all-errors
+    ${GTD_PYTHON_STUB_MODULE}
+  DEPENDS ${PROJECT_NAME}_py
+  WORKING_DIRECTORY ${GTD_PYTHON_BINARY_DIR})
+
+if(NOT WIN32)
+  list(APPEND GTD_PYTHON_INSTALL_EXTRA python-stubs)
+endif()
+
+add_custom_target(
+  python-install
+  COMMAND ${PYTHON_EXECUTABLE} -m pip install .
+  DEPENDS ${PROJECT_NAME}_py ${GTD_PYTHON_INSTALL_EXTRA}
+  WORKING_DIRECTORY ${GTD_PYTHON_BINARY_DIR})
+
 # Unit tests
 set(python_unit_test_suites)
 macro(PYTHON_UNIT_TEST_SUITE suiteName directory)
diff --git a/python/README.md b/python/README.md
index 45cfe4ed..e271e3fc 100644
--- a/python/README.md
+++ b/python/README.md
@@ -11,7 +11,7 @@ This directory is where the Pybind11-generated GTDynamics package lives and wher
 ## Build prerequisites
 
 1. **GTSAM** must be built with Python support (i.e., `-DGTSAM_BUILD_PYTHON=ON`) and installed to a prefix that GTDynamics can see via `GTSAM_DIR` or `CMAKE_PREFIX_PATH`.
-2. **Python tooling**: the CI job installs `setuptools<70`, `wheel`, `numpy`, `pyparsing`, `pyyaml`, and `pybind11-stubgen` before configuring the project; matching this list locally avoids the same runtime issues.
+2. **Python tooling**: the CI job installs `setuptools<70`, `wheel`, `numpy`, `pyparsing`, `pyyaml`, and `pybind11-stubgen` before configuring the project; matching this list locally avoids the same runtime issues. `pybind11-stubgen` is required for the `python-stubs` CMake target.
 3. On macOS, the workflow creates and activates a virtual environment (`pythonX -m venv venv`) so that `pip install` and the tests run in the same interpreter that baked the bindings.
 
 ## Building and installing locally
@@ -30,7 +30,47 @@ This directory is where the Pybind11-generated GTDynamics package lives and wher
    ```sh
    make python-install
    ```
-   This runs `${PYTHON_EXECUTABLE} -m pip install .` in `build/python`, which produces a wheel in `pip`'s cache before installing it.
+   This runs `${PYTHON_EXECUTABLE} -m pip install .` in `build/python`, which produces a wheel in `pip`'s cache before installing it. On non-Windows platforms, `python-install` depends on `python-stubs`, so `.pyi` files are generated first.
+
+## GTSAM Python compatibility (important)
+
+Use a `gtsam` Python package built from the same GTSAM install/prefix that GTDynamics links against.
+Mixing a local GTDynamics build with an unrelated pip/conda `gtsam` wheel can cause hard runtime failures (for example, process aborts when adding factors to a graph).
+
+If you built GTSAM from source in a sibling repo, prepend it before importing:
+
+```sh
+export PYTHONPATH=/path/to/gtsam/build/python:/path/to/GTDynamics/build/python:$PYTHONPATH
+```
+
+## Generating type stubs
+
+- Run `make python-stubs` to generate stubs with `pybind11-stubgen`.
+- Stubs are generated in `build/python/gtdynamics/*.pyi`.
+- The generated `gtdynamics.pyi` file is what tools like Pylance use for attribute completion/type checking on wrapped symbols.
+
+### VS Code / Pylance configuration
+
+If your runtime works but Pylance still reports unknown attributes (for example, `CreateRobotFromFile`), make sure VS Code analyzes the build package path.
+
+In workspace `.vscode/settings.json`:
+
+```json
+{
+  "python.defaultInterpreterPath": "/path/to/your/python",
+  "python.analysis.extraPaths": [
+    "${workspaceFolder}/build/python"
+  ]
+}
+```
+
+Then run:
+
+```sh
+make python-stubs
+```
+
+and reload the VS Code window.
 
 ## Running Python tests
 
@@ -40,9 +80,9 @@ This directory is where the Pybind11-generated GTDynamics package lives and wher
 
 ## Packaging tips
 
-- `python/templates/setup.py.in` reads the CMake-generated `requirements.txt` and packages the shared library blobs (`.so` / `.pyd`) from `python/gtdynamics` so running `pip wheel .` in `build/python` yields a complete asset.
-- Keep `python/requirements.txt` in sync with the requirements file copied to `build/python/requirements.txt` so that CI and a local `pip install` use the same dependency list.
-- If you need to publish a wheel manually, the packaged wheel that `pip install .` writes to `~/.cache/pip` already encodes the GTDynamics version reported by `CMakeLists.txt`.
+- `python/templates/pyproject.toml.in` drives packaging in `build/python`.
+- `make python-install` runs `pip install .` from `build/python`, which installs the generated extension module and package files from `build/python/gtdynamics`.
+- If you need to publish a wheel manually, the wheel produced by `pip` already encodes the GTDynamics version reported by CMake.
 
 ## Wheels
 ### CI wheel pipeline