diff --git a/BUILD.bazel b/BUILD.bazel
index 0351d59c771..52a7097e1a7 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -199,6 +199,7 @@ write_source_files(
         "//hal:robotpy-hal-generator.generate_build_info",
         "//ntcore:pyntcore-generator.generate_build_info",
         "//romiVendordep:robotpy-romi-generator.generate_build_info",
+        "//simulation/halsim_gui:robotpy-halsim-gui-generator.generate_build_info",
         "//wpilibc:robotpy-wpilib-generator.generate_build_info",
         "//wpinet:robotpy-wpinet-generator.generate_build_info",
         "//wpimath:robotpy-wpimath-generator.generate_build_info",
diff --git a/apriltag/robotpy_pybind_build_info.bzl b/apriltag/robotpy_pybind_build_info.bzl
index 924346b78c5..b1b7dee649b 100644
--- a/apriltag/robotpy_pybind_build_info.bzl
+++ b/apriltag/robotpy_pybind_build_info.bzl
@@ -2,7 +2,7 @@
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def apriltag_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -198,7 +198,7 @@ def apriltag_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], incl
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -232,6 +232,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "robotpy_apriltag._apriltag.make_pyi",
+        package_name = "robotpy_apriltag._apriltag",
+        output_files = [["robotpy_apriltag/_apriltag.pyi", "src/main/python/robotpy_apriltag/_apriltag.pyi"]],
+        module_files = [["robotpy_apriltag", "src/main/python/robotpy_apriltag/__init__.py"], ["robotpy_apriltag._init__apriltag", "src/main/python/robotpy_apriltag/_init__apriltag.py"], ["robotpy_apriltag._apriltag", "src/main/python/robotpy_apriltag/_apriltag"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "robotpy-apriltag",
@@ -245,6 +253,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/main/python/robotpy_apriltag/_apriltag",
             ":apriltag.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":robotpy_apriltag._apriltag.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//apriltag:robotpy-native-apriltag",
@@ -274,7 +286,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/datalog/robotpy_pybind_build_info.bzl b/datalog/robotpy_pybind_build_info.bzl
index 50cd724fd16..7e408ee0ba5 100644
--- a/datalog/robotpy_pybind_build_info.bzl
+++ b/datalog/robotpy_pybind_build_info.bzl
@@ -2,7 +2,7 @@
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def wpilog_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -221,7 +221,7 @@ def wpilog_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -255,6 +255,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "wpilog._wpilog.make_pyi",
+        package_name = "wpilog._wpilog",
+        output_files = [["wpilog/_wpilog.pyi", "src/main/python/wpilog/_wpilog.pyi"]],
+        module_files = [["wpilog", "src/main/python/wpilog/__init__.py"], ["wpilog._init__wpilog", "src/main/python/wpilog/_init__wpilog.py"], ["wpilog._wpilog", "src/main/python/wpilog/_wpilog"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "robotpy-wpilog",
@@ -268,6 +276,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/main/python/wpilog/_wpilog",
             ":wpilog.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":wpilog._wpilog.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//datalog:robotpy-native-datalog",
@@ -295,7 +307,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/wpilog/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/drivers/robotpy_pybind_build_info.bzl b/drivers/robotpy_pybind_build_info.bzl
index 28a99f26966..4a0d14d3826 100644
--- a/drivers/robotpy_pybind_build_info.bzl
+++ b/drivers/robotpy_pybind_build_info.bzl
@@ -2,7 +2,7 @@
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def drivers_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -275,7 +275,7 @@ def drivers_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], inclu
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -309,6 +309,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "wpilib_drivers._drivers.make_pyi",
+        package_name = "wpilib_drivers._drivers",
+        output_files = [["wpilib_drivers/_drivers.pyi", "src/main/python/wpilib_drivers/_drivers.pyi"]],
+        module_files = [["wpilib_drivers", "src/main/python/wpilib_drivers/__init__.py"], ["wpilib_drivers._init__drivers", "src/main/python/wpilib_drivers/_init__drivers.py"], ["wpilib_drivers._drivers", "src/main/python/wpilib_drivers/_drivers"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "wpilib-drivers",
@@ -322,6 +330,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/main/python/wpilib_drivers/_drivers",
             ":drivers.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":wpilib_drivers._drivers.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//drivers:robotpy-native-wpilib-drivers",
@@ -355,7 +367,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/wpilib_drivers/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/fields/robotpy_pybind_build_info.bzl b/fields/robotpy_pybind_build_info.bzl
index f335687c474..749254180ad 100644
--- a/fields/robotpy_pybind_build_info.bzl
+++ b/fields/robotpy_pybind_build_info.bzl
@@ -2,7 +2,7 @@
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def fields_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -191,7 +191,7 @@ def fields_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -225,6 +225,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "robotpy_fields._fields.make_pyi",
+        package_name = "robotpy_fields._fields",
+        output_files = [["robotpy_fields/_fields.pyi", "src/main/python/robotpy_fields/_fields.pyi"]],
+        module_files = [["robotpy_fields", "src/main/python/robotpy_fields/__init__.py"], ["robotpy_fields._init__fields", "src/main/python/robotpy_fields/_init__fields.py"], ["robotpy_fields._fields", "src/main/python/robotpy_fields/_fields"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "robotpy-fields",
@@ -238,6 +246,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/main/python/robotpy_fields/_fields",
             ":fields.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":robotpy_fields._fields.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//fields:robotpy-native-fields",
@@ -267,7 +279,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/robotpy_fields/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/hal/robotpy_pybind_build_info.bzl b/hal/robotpy_pybind_build_info.bzl
index fe512308fc6..b95febd4d87 100644
--- a/hal/robotpy_pybind_build_info.bzl
+++ b/hal/robotpy_pybind_build_info.bzl
@@ -2,7 +2,7 @@
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -492,7 +492,7 @@ def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -528,6 +528,22 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "hal.simulation._simulation.make_pyi",
+        package_name = "hal.simulation._simulation",
+        output_files = [["hal/simulation/_simulation.pyi", "src/main/python/hal/simulation/_simulation.pyi"]],
+        module_files = [["hal.simulation", "src/main/python/hal/simulation/__init__.py"], ["hal.simulation._init__simulation", "src/main/python/hal/simulation/_init__simulation.py"], ["hal.simulation._simulation", "src/main/python/hal/simulation/_simulation"], ["hal", "src/main/python/hal/__init__.py"], ["hal._init__wpi_hal", "src/main/python/hal/_init__wpi_hal.py"], ["hal._wpi_hal", "src/main/python/hal/_wpi_hal"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
+    make_pyi(
+        name = "hal._wpi_hal.make_pyi",
+        package_name = "hal._wpi_hal",
+        output_files = [["hal/_wpi_hal.pyi", "src/main/python/hal/_wpi_hal.pyi"]],
+        module_files = [["hal.simulation", "src/main/python/hal/simulation/__init__.py"], ["hal.simulation._init__simulation", "src/main/python/hal/simulation/_init__simulation.py"], ["hal.simulation._simulation", "src/main/python/hal/simulation/_simulation"], ["hal", "src/main/python/hal/__init__.py"], ["hal._init__wpi_hal", "src/main/python/hal/_init__wpi_hal.py"], ["hal._wpi_hal", "src/main/python/hal/_wpi_hal"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "robotpy-hal",
@@ -544,6 +560,11 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":hal_simulation.trampoline_hdr_files",
             ":wpihal.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":hal.simulation._simulation.make_pyi",
+            ":hal._wpi_hal.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//hal:robotpy-native-wpihal",
@@ -575,7 +596,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/hal/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/ntcore/robotpy_pybind_build_info.bzl b/ntcore/robotpy_pybind_build_info.bzl
index a58d9d7c5f4..dcdcc23719c 100644
--- a/ntcore/robotpy_pybind_build_info.bzl
+++ b/ntcore/robotpy_pybind_build_info.bzl
@@ -2,7 +2,7 @@
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def ntcore_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -496,7 +496,7 @@ def ntcore_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -530,6 +530,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "ntcore._ntcore.make_pyi",
+        package_name = "ntcore._ntcore",
+        output_files = [["ntcore/_ntcore/__init__.pyi", "src/main/python/ntcore/_ntcore/__init__.pyi"], ["ntcore/_ntcore/meta.pyi", "src/main/python/ntcore/_ntcore/meta.pyi"]],
+        module_files = [["ntcore", "src/main/python/ntcore/__init__.py"], ["ntcore._init__ntcore", "src/main/python/ntcore/_init__ntcore.py"], ["ntcore._ntcore", "src/main/python/ntcore/_ntcore"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "pyntcore",
@@ -543,6 +551,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/main/python/ntcore/_ntcore",
             ":ntcore.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":ntcore._ntcore.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//datalog:robotpy-wpilog",
@@ -574,7 +586,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/ntcore/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/romiVendordep/robotpy_pybind_build_info.bzl b/romiVendordep/robotpy_pybind_build_info.bzl
index 17de5f09ec8..ea71f181bbd 100644
--- a/romiVendordep/robotpy_pybind_build_info.bzl
+++ b/romiVendordep/robotpy_pybind_build_info.bzl
@@ -2,7 +2,7 @@
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def romi_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -198,7 +198,7 @@ def romi_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -232,6 +232,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "romi._romi.make_pyi",
+        package_name = "romi._romi",
+        output_files = [["romi/_romi.pyi", "src/main/python/romi/_romi.pyi"]],
+        module_files = [["romi", "src/main/python/romi/__init__.py"], ["romi._init__romi", "src/main/python/romi/_init__romi.py"], ["romi._romi", "src/main/python/romi/_romi"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "robotpy-romi",
@@ -245,6 +253,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/main/python/romi/_romi",
             ":romi.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":romi._romi.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//romiVendordep:robotpy-native-romi",
@@ -280,7 +292,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/romi/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/shared/bazel/rules/robotpy/BUILD.bazel b/shared/bazel/rules/robotpy/BUILD.bazel
index 95cb4631aa6..b214e3ffdb8 100644
--- a/shared/bazel/rules/robotpy/BUILD.bazel
+++ b/shared/bazel/rules/robotpy/BUILD.bazel
@@ -1,4 +1,5 @@
 load("@allwpilib_pip_deps//:requirements.bzl", "requirement", "whl_requirement")
+load("@platforms//host:constraints.bzl", "HOST_CONSTRAINTS")
 load("@rules_cc//cc:cc_library.bzl", "cc_library")
 load("@rules_python//python:defs.bzl", "py_binary", "py_library")
 load("@rules_python//python:pip.bzl", "whl_filegroup")
@@ -8,6 +9,12 @@ exports_files([
     "version_template.in",
 ])
 
+config_setting(
+    name = "host_platform",
+    constraint_values = HOST_CONSTRAINTS,
+    visibility = ["//visibility:public"],
+)
+
 py_library(
     name = "hack_pkgcfgs",
     srcs = ["hack_pkgcfgs.py"],
diff --git a/shared/bazel/rules/robotpy/compatibility_select.bzl b/shared/bazel/rules/robotpy/compatibility_select.bzl
index 59daa611970..96a8ef65e54 100644
--- a/shared/bazel/rules/robotpy/compatibility_select.bzl
+++ b/shared/bazel/rules/robotpy/compatibility_select.bzl
@@ -1,6 +1,17 @@
+load("@platforms//host:constraints.bzl", "HOST_CONSTRAINTS")
+
 def robotpy_compatibility_select():
     return select({
         "@bazel_tools//src/conditions:windows": ["@platforms//:incompatible"],
         "@wpilib_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
         "//conditions:default": [],
     })
+
+def robotpy_host_only_select(values):
+    return select({
+        "//shared/bazel/rules/robotpy:host_platform": values,
+        "//conditions:default": [],
+    })
+
+def robotpy_host_compatibility():
+    return HOST_CONSTRAINTS + robotpy_compatibility_select()
diff --git a/shared/bazel/rules/robotpy/generate_pybind_build_file.py b/shared/bazel/rules/robotpy/generate_pybind_build_file.py
index e9f4d6e36c3..5aaec5014fa 100644
--- a/shared/bazel/rules/robotpy/generate_pybind_build_file.py
+++ b/shared/bazel/rules/robotpy/generate_pybind_build_file.py
@@ -13,7 +13,9 @@
     CppMacroValue,
     Entrypoint,
     ExtensionModule,
+    InputFile,
     LocalDependency,
+    OutputFile,
     makeplan,
 )
 from semiwrap.pkgconf_cache import PkgconfCache
@@ -166,6 +168,66 @@ def __init__(self, item: BuildTarget):
         assert 0 == len(item.args[idx:])
 
 
+class MakePyiConfig:
+    def __init__(
+        self,
+        item: BuildTarget,
+        project_dir: pathlib.Path,
+        stripped_include_prefix: str,
+    ):
+        args = item.args
+        self.package_name = args[0]
+        self.output_files = []
+
+        idx = 1
+        while args[idx] != "--":
+            output = args[idx + 1]
+            assert isinstance(output, OutputFile)
+            output_path = (
+                pathlib.PurePosixPath(stripped_include_prefix)
+                / item.install_path
+                / output.name
+            ).as_posix()
+            self.output_files.append((args[idx], output_path))
+            idx += 2
+
+        self.module_files = []
+        idx += 1
+        while idx < len(args):
+            module_name = args[idx]
+            module = args[idx + 1]
+
+            if isinstance(module, InputFile):
+                module_path = (
+                    pathlib.PurePosixPath(stripped_include_prefix) / module.path
+                )
+            elif isinstance(module, (str, pathlib.Path)):
+                source_path = pathlib.Path(module)
+                if source_path.is_absolute():
+                    source_path = source_path.relative_to(project_dir.resolve())
+                module_path = (
+                    pathlib.PurePosixPath(stripped_include_prefix) / source_path
+                )
+            elif isinstance(module, BuildTarget):
+                output = next(arg for arg in module.args if isinstance(arg, OutputFile))
+                module_path = (
+                    pathlib.PurePosixPath(stripped_include_prefix)
+                    / module.install_path
+                    / output.name
+                )
+            elif isinstance(module, ExtensionModule):
+                module_path = (
+                    pathlib.PurePosixPath(stripped_include_prefix)
+                    / module.install_path
+                    / module.package_name.rsplit(".", 1)[-1]
+                )
+            else:
+                raise TypeError(f"Unknown make-pyi module type {type(module)}")
+
+            self.module_files.append((module_name, module_path.as_posix()))
+            idx += 2
+
+
 class PublishCastersConfig:
     def __init__(self, projectcfg, item: BuildTarget):
         self.project_file = item.args[0].path
@@ -238,11 +300,12 @@ def __init__(
                 local_extension_dependencies.add(f"//{base_library}:{dep_name}")
             else:
                 base_library = fixup_root_package_name(dep_name.split("_")[0])
+                shared_lib_name = fixup_shared_lib_name(base_library)
                 local_extension_dependencies.add(
-                    f"//{base_library}:{fixup_shared_lib_name(base_library)}"
+                    f"//{base_library}:{shared_lib_name}"
                 )
                 dynamic_dependencies.add(
-                    f"//{base_library}:shared/{fixup_shared_lib_name(base_library)}"
+                    f"//{base_library}:shared/{shared_lib_name}"
                 )
                 if dep_name != self.name:
                     local_extension_dependencies.add(
@@ -334,6 +397,7 @@ def generate_pybind_build_file(
     # Cache built up for an extension module. Gets reset when an ExtensionModule is encountered
     additional_extension_targets: dict[str, BuildTarget] = {}
     publish_casters_targets = []
+    make_pyi_targets = []
 
     for item in plan:
         if isinstance(item, ExtensionModule):
@@ -351,13 +415,16 @@ def generate_pybind_build_file(
                 if item.command in additional_extension_targets:
                     raise RuntimeError(f"Repeated target {item.command}")
                 additional_extension_targets[item.command] = item
+            elif item.command == "make-pyi":
+                make_pyi_targets.append(
+                    MakePyiConfig(item, project_dir, stripped_include_prefix)
+                )
             elif item.command in [
                 "header2dat",
                 "dat2cpp",
                 "dat2tmplcpp",
                 "dat2tmplhpp",
                 "dat2trampoline",
-                "make-pyi",
             ]:
                 pass
             elif item.command == "publish-casters":
@@ -454,6 +521,7 @@ def target_from_python_dep(python_dep):
                 extension_modules=extension_modules,
                 top_level_name=top_level_name,
                 publish_casters_targets=publish_casters_targets,
+                make_pyi_targets=make_pyi_targets,
                 python_deps=sorted(python_deps),
                 all_local_native_deps=all_local_native_deps,
                 stripped_include_prefix=stripped_include_prefix,
diff --git a/shared/bazel/rules/robotpy/generation_utils.py b/shared/bazel/rules/robotpy/generation_utils.py
index a6eaf9d9ad2..ec1eea9486f 100644
--- a/shared/bazel/rules/robotpy/generation_utils.py
+++ b/shared/bazel/rules/robotpy/generation_utils.py
@@ -13,6 +13,8 @@ def fixup_root_package_name(name):
         return "ntcore"
     if name == "halsim-ws":
         return "simulation/halsim_ws_core"
+    if name == "halsim":
+        return "simulation/halsim_gui"
     if name == "halsim_gui":
         return "simulation/halsim_gui"
     if name == "wpimath_test":
@@ -41,6 +43,8 @@ def fixup_shared_lib_name(name):
         return "xrpVendordep"
     if name == "romi":
         return "romiVendordep"
+    if name == "simulation/halsim_gui":
+        return "halsim_gui"
     return name
 
 
diff --git a/shared/bazel/rules/robotpy/pybind_build_file_template.jinja2 b/shared/bazel/rules/robotpy/pybind_build_file_template.jinja2
index 438a37171c3..76a77613e92 100644
--- a/shared/bazel/rules/robotpy/pybind_build_file_template.jinja2
+++ b/shared/bazel/rules/robotpy/pybind_build_file_template.jinja2
@@ -9,7 +9,7 @@ load("@rules_cc//cc:cc_library.bzl", "cc_library")
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 {%- endif %}
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", {% if publish_casters_targets %}"publish_casters", {% endif %}"resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", {% if publish_casters_targets %}"publish_casters", {% endif %}"resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 {% for extension_module in extension_modules%}
 def {{extension_module.name}}_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -103,7 +103,7 @@ def {{extension_module.name}}_extension(srcs = [], header_to_dat_deps = [], extr
         name = "{{extension_module.name}}",
         install_path = "{{stripped_include_prefix}}/{{extension_module.install_path}}/",
         extension_name = "{{ extension_module.gen_modinit.lib_name }}",
-        generated_srcs = [":{{extension_module.name}}.generated_srcs"],
+        generated_srcs = {% if extension_module.generation_data %}[":{{extension_module.name}}.generated_srcs"]{% else %}[]{% endif %},
         semiwrap_header = [":{{extension_module.name}}.gen_modinit_hpp"],
         deps = [
             ":{{extension_module.name}}.tmpl_hdrs",
@@ -156,7 +156,7 @@ def publish_library_casters():
         tags = ["robotpy"],
     )
 {% endfor %}
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -198,6 +198,15 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 {% endif %}
+{%- for pyi_target in make_pyi_targets %}
+    make_pyi(
+        name = "{{pyi_target.package_name}}.make_pyi",
+        package_name = "{{pyi_target.package_name}}",
+        output_files = {{pyi_target.output_files | jsonify}},
+        module_files = {{pyi_target.module_files | jsonify}},
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+{% endfor %}
     robotpy_library(
         name = name,
         distribution = "{{raw_project_config.name}}",
@@ -219,6 +228,12 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":{{em.name}}.trampoline_hdr_files",
         {%- endfor %}
         ],
+        pyi_srcs = [
+        {%- for pyi_target in make_pyi_targets %}
+            ":{{pyi_target.package_name}}.make_pyi",
+        {%- endfor %}
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["{{stripped_include_prefix}}"],
         deps = [
             {%- for d in python_deps %}
@@ -250,7 +265,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "{{package_root_file}}",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "{{ stripped_include_prefix }}/pyproject.toml",
-        yaml_files = native.glob(["{{stripped_include_prefix}}/semiwrap/**"]),
+        yaml_files = native.glob(["{{stripped_include_prefix}}/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/shared/bazel/rules/robotpy/robotpy_rules.bzl b/shared/bazel/rules/robotpy/robotpy_rules.bzl
index 6921091690f..156c3309921 100644
--- a/shared/bazel/rules/robotpy/robotpy_rules.bzl
+++ b/shared/bazel/rules/robotpy/robotpy_rules.bzl
@@ -1,9 +1,10 @@
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@bazel_lib//lib:copy_file.bzl", "copy_file")
 load("@pybind11_bazel//:build_defs.bzl", "pybind_extension", "pybind_library")
 load("@rules_pycross//pycross:defs.bzl", "pycross_wheel_library")
-load("@rules_python//python:defs.bzl", "py_library")
+load("@rules_python//python:defs.bzl", "py_binary", "py_library")
 load("@rules_python//python:packaging.bzl", "py_wheel")
-load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select")
+load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select", "robotpy_host_only_select")
 
 def create_pybind_library(
         name,
@@ -86,6 +87,8 @@ def robotpy_library(
         name,
         deps = [],
         data = [],
+        pyi_srcs = [],
+        pyi_deps = [],
         strip_path_prefixes = None,
         distribution = None,
         summary = None,
@@ -103,9 +106,26 @@ def robotpy_library(
         <name> - The python library
         <name>-wheel - A wheel for the library
     """
+    host_pyi_srcs = robotpy_host_only_select(pyi_srcs)
+
+    if pyi_srcs:
+        py_binary(
+            name = name + ".make_pyi_runner",
+            srcs = ["//shared/bazel/rules/robotpy:wrapper.py"],
+            main = "//shared/bazel/rules/robotpy:wrapper.py",
+            data = data,
+            deps = deps + pyi_deps + [
+                "//shared/bazel/rules/robotpy:hack_pkgcfgs",
+                requirement("numpy"),
+                requirement("semiwrap"),
+            ],
+            tags = ["manual", "robotpy"],
+            target_compatible_with = robotpy_compatibility_select(),
+        )
+
     py_library(
         name = name + "-lib",
-        data = data,
+        data = data + host_pyi_srcs,
         deps = deps,
         tags = ["robotpy"],
         **kwargs
@@ -120,7 +140,7 @@ def robotpy_library(
         requires = requires,
         project_urls = project_urls,
         author_email = author_email,
-        deps = data + [":{}-lib".format(name)],
+        deps = data + host_pyi_srcs + [":{}-lib".format(name)],
         strip_path_prefixes = strip_path_prefixes,
         entry_points = entry_points,
         description_file = description_file,
diff --git a/shared/bazel/rules/robotpy/semiwrap_helpers.bzl b/shared/bazel/rules/robotpy/semiwrap_helpers.bzl
index 0812171a0b1..531c1fcbf88 100644
--- a/shared/bazel/rules/robotpy/semiwrap_helpers.bzl
+++ b/shared/bazel/rules/robotpy/semiwrap_helpers.bzl
@@ -1,5 +1,5 @@
 load("@rules_cc//cc:defs.bzl", "cc_library")
-load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select")
+load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select", "robotpy_host_compatibility")
 
 RESOLVE_CASTERS_DIR = "generated/resolve_casters/"
 HEADER_DAT_DIR = "generated/header_to_dat/"
@@ -8,6 +8,60 @@ DAT_TO_TMPL_CC_DIR = "generated/dat_to_tmpl_cc/"
 DAT_TO_TMPL_HDR_DIR = "generated/dat_to_tmpl_hdr/"
 GEN_MODINIT_HDR_DIR = "generated/gen_modinit_hdr/"
 
+def _make_pyi_impl(ctx):
+    args = ctx.actions.args()
+    args.add("semiwrap.cmd.make_pyi")
+    args.add(ctx.attr.package_name)
+    for stub_path, output_file in zip(ctx.attr.stub_paths, ctx.outputs.outs):
+        args.add(stub_path)
+        args.add(output_file.path)
+    args.add("--")
+
+    module_inputs = []
+    for module_name, module_target in zip(ctx.attr.module_names, ctx.attr.module_files):
+        module_files = module_target.files.to_list()
+        if len(module_files) != 1:
+            fail("make_pyi module {} must provide exactly one file".format(module_name))
+        module_file = module_files[0]
+        module_inputs.append(module_file)
+        args.add(module_name)
+        args.add(module_file.path)
+
+    ctx.actions.run(
+        arguments = [args],
+        executable = ctx.executable.runner,
+        inputs = module_inputs,
+        mnemonic = "MakePyi",
+        outputs = ctx.outputs.outs,
+        progress_message = "Generating Python stubs for {}".format(ctx.attr.package_name),
+    )
+
+_make_pyi = rule(
+    implementation = _make_pyi_impl,
+    attrs = {
+        "module_files": attr.label_list(allow_files = True, cfg = "target"),
+        "module_names": attr.string_list(),
+        "outs": attr.output_list(mandatory = True),
+        "package_name": attr.string(mandatory = True),
+        "runner": attr.label(executable = True, cfg = "target", mandatory = True),
+        "stub_paths": attr.string_list(),
+    },
+)
+
+def make_pyi(name, package_name, output_files, module_files, runner):
+    """Runs semiwrap's pybind11-stubgen wrapper for a compiled extension."""
+    _make_pyi(
+        name = name,
+        module_files = [module_file for _, module_file in module_files],
+        module_names = [module_name for module_name, _ in module_files],
+        outs = [output_file for _, output_file in output_files],
+        package_name = package_name,
+        runner = runner,
+        stub_paths = [stub_path for stub_path, _ in output_files],
+        target_compatible_with = robotpy_host_compatibility(),
+        tags = ["robotpy"],
+    )
+
 def _location_helper(filename):
     return " $(locations " + filename + ")"
 
diff --git a/simulation/halsim_gui/BUILD.bazel b/simulation/halsim_gui/BUILD.bazel
index fbc3e8cc9f7..814599a298e 100644
--- a/simulation/halsim_gui/BUILD.bazel
+++ b/simulation/halsim_gui/BUILD.bazel
@@ -3,7 +3,7 @@ load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:packaging.bzl", "package_default_cc_project")
 load("//shared/bazel/rules:publishing.bzl", "host_architectures")
-load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info")
+load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
 load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
 load("//simulation/halsim_gui:robotpy_native_build_info.bzl", "define_native_wrapper")
 load("//simulation/halsim_gui:robotpy_pybind_build_info.bzl", "define_pybind_library", "halsim_gui_ext_extension")
@@ -149,6 +149,13 @@ PKG_CONFIG_DEPS = [
     "//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
 ]
 
+generate_robotpy_pybind_build_info(
+    name = "robotpy-halsim-gui-generator",
+    package_root_file = "src/main/python/halsim_gui/_ext/__init__.py",
+    pkgcfgs = PKG_CONFIG_DEPS,
+    pyproject_toml = "src/main/python/pyproject.toml",
+)
+
 halsim_gui_ext_extension(
     srcs = glob(["src/main/python/halsim_gui/_ext/**/*.cpp"]),
 )
diff --git a/simulation/halsim_gui/robotpy_pybind_build_info.bzl b/simulation/halsim_gui/robotpy_pybind_build_info.bzl
index 205790e71a9..5af66031b0a 100644
--- a/simulation/halsim_gui/robotpy_pybind_build_info.bzl
+++ b/simulation/halsim_gui/robotpy_pybind_build_info.bzl
@@ -2,7 +2,8 @@
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def halsim_gui_ext_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     NAME_TRANSFORMS = [
@@ -79,8 +80,8 @@ def halsim_gui_ext_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = []
         ],
         dynamic_deps = [
             "//hal:shared/wpiHal",
-            "//simulation/halsim_gui:shared/halsim_gui",
             "//ntcore:shared/ntcore",
+            "//simulation/halsim_gui:shared/halsim_gui",
             "//wpimath:shared/wpimath",
         ],
         extra_hdrs = extra_hdrs,
@@ -99,7 +100,7 @@ def halsim_gui_ext_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = []
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -133,6 +134,14 @@ def define_pybind_library(name, pkgcfgs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "halsim_gui._ext._halsim_gui_ext.make_pyi",
+        package_name = "halsim_gui._ext._halsim_gui_ext",
+        output_files = [["halsim_gui/_ext/_halsim_gui_ext.pyi", "src/main/python/halsim_gui/_ext/_halsim_gui_ext.pyi"]],
+        module_files = [["halsim_gui._ext", "src/main/python/halsim_gui/_ext/__init__.py"], ["halsim_gui._ext._init__halsim_gui_ext", "src/main/python/halsim_gui/_ext/_init__halsim_gui_ext.py"], ["halsim_gui._ext._halsim_gui_ext", "src/main/python/halsim_gui/_ext/_halsim_gui_ext"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "robotpy-halsim-gui",
@@ -146,11 +155,15 @@ def define_pybind_library(name, pkgcfgs = []):
             ":src/main/python/halsim_gui/_ext/_halsim_gui_ext",
             ":halsim_gui_ext.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":halsim_gui._ext._halsim_gui_ext.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//hal:robotpy-hal",
-            "//simulation/halsim_gui:robotpy-native-halsim-gui",
             "//ntcore:pyntcore",
+            "//simulation/halsim_gui:robotpy-native-halsim-gui",
             "//wpimath:robotpy-wpimath",
             "//wpiutil:robotpy-wpiutil",
         ],
@@ -165,3 +178,31 @@ def define_pybind_library(name, pkgcfgs = []):
         },
         visibility = ["//visibility:public"],
     )
+
+    update_yaml_files(
+        name = "{}-update-yaml".format(name),
+        yaml_output_directory = "src/main/python/semiwrap",
+        extra_hdrs = extra_pybind_hdrs + [
+            "//datalog:robotpy-native-datalog.copy_headers",
+            "//hal:robotpy-native-wpihal.copy_headers",
+            "//ntcore:robotpy-native-ntcore.copy_headers",
+            "//simulation/halsim_gui:robotpy-native-halsim-gui.copy_headers",
+            "//wpimath:robotpy-native-wpimath.copy_headers",
+            "//wpinet:robotpy-native-wpinet.copy_headers",
+            "//wpiutil:robotpy-native-wpiutil.copy_headers",
+        ],
+        package_root_file = "src/main/python/halsim_gui/_ext/__init__.py",
+        pkgcfgs = pkgcfgs,
+        pyproject_toml = "src/main/python/pyproject.toml",
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
+    )
+
+    scan_headers(
+        name = "{}-scan-headers".format(name),
+        extra_hdrs = extra_pybind_hdrs + [
+            "//simulation/halsim_gui:robotpy-native-halsim-gui.copy_headers",
+        ],
+        package_root_file = "src/main/python/halsim_gui/_ext/__init__.py",
+        pkgcfgs = pkgcfgs,
+        pyproject_toml = "src/main/python/pyproject.toml",
+    )
diff --git a/wpilibc/robotpy_pybind_build_info.bzl b/wpilibc/robotpy_pybind_build_info.bzl
index c72660f067a..25b92bc9405 100644
--- a/wpilibc/robotpy_pybind_build_info.bzl
+++ b/wpilibc/robotpy_pybind_build_info.bzl
@@ -3,7 +3,7 @@
 load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -1958,7 +1958,7 @@ def wpilib_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs =
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -1994,6 +1994,22 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "wpilib._wpilib.make_pyi",
+        package_name = "wpilib._wpilib",
+        output_files = [["wpilib/_wpilib/__init__.pyi", "src/main/python/wpilib/_wpilib/__init__.pyi"], ["wpilib/_wpilib/sysid.pyi", "src/main/python/wpilib/_wpilib/sysid.pyi"]],
+        module_files = [["wpilib", "src/main/python/wpilib/__init__.py"], ["wpilib._init__wpilib", "src/main/python/wpilib/_init__wpilib.py"], ["wpilib._wpilib", "src/main/python/wpilib/_wpilib"], ["wpilib.simulation", "src/main/python/wpilib/simulation/__init__.py"], ["wpilib.simulation._init__simulation", "src/main/python/wpilib/simulation/_init__simulation.py"], ["wpilib.simulation._simulation", "src/main/python/wpilib/simulation/_simulation"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
+    make_pyi(
+        name = "wpilib.simulation._simulation.make_pyi",
+        package_name = "wpilib.simulation._simulation",
+        output_files = [["wpilib/simulation/_simulation.pyi", "src/main/python/wpilib/simulation/_simulation.pyi"]],
+        module_files = [["wpilib", "src/main/python/wpilib/__init__.py"], ["wpilib._init__wpilib", "src/main/python/wpilib/_init__wpilib.py"], ["wpilib._wpilib", "src/main/python/wpilib/_wpilib"], ["wpilib.simulation", "src/main/python/wpilib/simulation/__init__.py"], ["wpilib.simulation._init__simulation", "src/main/python/wpilib/simulation/_init__simulation.py"], ["wpilib.simulation._simulation", "src/main/python/wpilib/simulation/_simulation"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "wpilib",
@@ -2010,6 +2026,11 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":wpilib.trampoline_hdr_files",
             ":wpilib_simulation.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":wpilib._wpilib.make_pyi",
+            ":wpilib.simulation._simulation.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//hal:robotpy-hal",
@@ -2049,7 +2070,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/wpilib/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/wpimath/BUILD.bazel b/wpimath/BUILD.bazel
index be711714ca8..61c49452549 100644
--- a/wpimath/BUILD.bazel
+++ b/wpimath/BUILD.bazel
@@ -414,6 +414,7 @@ wpimath_test_extension(
 define_test_pybind_library(
     name = "robotpy-wpimath-test",
     extra_pybind_hdrs = glob(["src/test/python/cpp/**/*.h"]),
+    extra_pyi_deps = [":robotpy-wpimath-lib"],
     pkgcfgs = [
         "//wpimath:native/wpimath/robotpy-native-wpimath.pc",
         "//wpimath:robotpy-wpimath.generated_pkgcfg_files",
diff --git a/wpimath/robotpy_pybind_build_info.bzl b/wpimath/robotpy_pybind_build_info.bzl
index b3c0866235c..2d12e86890a 100644
--- a/wpimath/robotpy_pybind_build_info.bzl
+++ b/wpimath/robotpy_pybind_build_info.bzl
@@ -3,7 +3,7 @@
 load("@rules_cc//cc:cc_library.bzl", "cc_library")
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "publish_casters", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "publish_casters", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def wpimath_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -1402,7 +1402,7 @@ def publish_library_casters():
         tags = ["robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -1438,6 +1438,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "wpimath._wpimath.make_pyi",
+        package_name = "wpimath._wpimath",
+        output_files = [["wpimath/_wpimath.pyi", "src/main/python/wpimath/_wpimath.pyi"]],
+        module_files = [["wpimath", "src/main/python/wpimath/__init__.py"], ["wpimath._init__wpimath", "src/main/python/wpimath/_init__wpimath.py"], ["wpimath._wpimath", "src/main/python/wpimath/_wpimath"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "robotpy-wpimath",
@@ -1451,6 +1459,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/main/python/wpimath/_wpimath",
             ":wpimath.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":wpimath._wpimath.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//wpimath:robotpy-native-wpimath",
@@ -1478,7 +1490,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/wpimath/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/wpimath/robotpy_pybind_test_info.bzl b/wpimath/robotpy_pybind_test_info.bzl
index 9e3a0eb01ba..58116531c6d 100644
--- a/wpimath/robotpy_pybind_test_info.bzl
+++ b/wpimath/robotpy_pybind_test_info.bzl
@@ -1,7 +1,7 @@
 # THIS FILE IS AUTO GENERATED
 
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def wpimath_test_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -99,7 +99,7 @@ def wpimath_test_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [],
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -127,6 +127,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         tags = ["manual", "robotpy"],
     )
 
+    make_pyi(
+        name = "wpimath_test._wpimath_test.make_pyi",
+        package_name = "wpimath_test._wpimath_test",
+        output_files = [["wpimath_test/_wpimath_test.pyi", "src/test/python/cpp/wpimath_test/_wpimath_test.pyi"]],
+        module_files = [["wpimath_test", "src/test/python/cpp/wpimath_test/__init__.py"], ["wpimath_test._init__wpimath_test", "src/test/python/cpp/wpimath_test/_init__wpimath_test.py"], ["wpimath_test._wpimath_test", "src/test/python/cpp/wpimath_test/_wpimath_test"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "wpimath_test",
@@ -139,6 +147,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/test/python/cpp/wpimath_test/_wpimath_test",
             ":wpimath_test.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":wpimath_test._wpimath_test.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/test/python/cpp"],
         deps = [
         ],
@@ -162,7 +174,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/test/python/cpp/wpimath_test/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/test/python/cpp/pyproject.toml",
-        yaml_files = native.glob(["src/test/python/cpp/semiwrap/**"]),
+        yaml_files = native.glob(["src/test/python/cpp/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/wpinet/robotpy_pybind_build_info.bzl b/wpinet/robotpy_pybind_build_info.bzl
index 2199fc24895..8fc9f451971 100644
--- a/wpinet/robotpy_pybind_build_info.bzl
+++ b/wpinet/robotpy_pybind_build_info.bzl
@@ -2,7 +2,7 @@
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def wpinet_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -169,7 +169,7 @@ def wpinet_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -203,6 +203,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "wpinet._wpinet.make_pyi",
+        package_name = "wpinet._wpinet",
+        output_files = [["wpinet/_wpinet.pyi", "src/main/python/wpinet/_wpinet.pyi"]],
+        module_files = [["wpinet", "src/main/python/wpinet/__init__.py"], ["wpinet._init__wpinet", "src/main/python/wpinet/_init__wpinet.py"], ["wpinet._wpinet", "src/main/python/wpinet/_wpinet"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "robotpy-wpinet",
@@ -216,6 +224,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/main/python/wpinet/_wpinet",
             ":wpinet.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":wpinet._wpinet.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//wpinet:robotpy-native-wpinet",
@@ -243,7 +255,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/wpinet/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/wpiutil/robotpy_pybind_build_info.bzl b/wpiutil/robotpy_pybind_build_info.bzl
index bc95892dcea..11629fbe86d 100644
--- a/wpiutil/robotpy_pybind_build_info.bzl
+++ b/wpiutil/robotpy_pybind_build_info.bzl
@@ -3,7 +3,7 @@
 load("@rules_cc//cc:cc_library.bzl", "cc_library")
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "publish_casters", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "publish_casters", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def wpiutil_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -282,7 +282,7 @@ def publish_library_casters():
         tags = ["robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -318,6 +318,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "wpiutil._wpiutil.make_pyi",
+        package_name = "wpiutil._wpiutil",
+        output_files = [["wpiutil/_wpiutil/__init__.pyi", "src/main/python/wpiutil/_wpiutil/__init__.pyi"], ["wpiutil/_wpiutil/sync.pyi", "src/main/python/wpiutil/_wpiutil/sync.pyi"], ["wpiutil/_wpiutil/wpistruct.pyi", "src/main/python/wpiutil/_wpiutil/wpistruct.pyi"]],
+        module_files = [["wpiutil", "src/main/python/wpiutil/__init__.py"], ["wpiutil._init__wpiutil", "src/main/python/wpiutil/_init__wpiutil.py"], ["wpiutil._wpiutil", "src/main/python/wpiutil/_wpiutil"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "robotpy-wpiutil",
@@ -331,6 +339,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/main/python/wpiutil/_wpiutil",
             ":wpiutil.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":wpiutil._wpiutil.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//wpiutil:robotpy-native-wpiutil",
@@ -356,7 +368,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/wpiutil/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(
diff --git a/wpiutil/src/test/python/test_pyi.py b/wpiutil/src/test/python/test_pyi.py
new file mode 100644
index 00000000000..70c022d6d5e
--- /dev/null
+++ b/wpiutil/src/test/python/test_pyi.py
@@ -0,0 +1,13 @@
+import pathlib
+
+import wpiutil._wpiutil
+
+
+def test_compiled_extension_has_type_stubs():
+    extension_path = pathlib.Path(wpiutil._wpiutil.__file__)
+    stub_dir = extension_path.with_name("_wpiutil")
+
+    for stub_name in ("__init__.pyi", "sync.pyi", "wpistruct.pyi"):
+        stub_path = stub_dir / stub_name
+        assert stub_path.is_file()
+        assert stub_path.stat().st_size > 0
diff --git a/xrpVendordep/robotpy_pybind_build_info.bzl b/xrpVendordep/robotpy_pybind_build_info.bzl
index 306de7d3685..84b927b1300 100644
--- a/xrpVendordep/robotpy_pybind_build_info.bzl
+++ b/xrpVendordep/robotpy_pybind_build_info.bzl
@@ -2,7 +2,7 @@
 
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "make_pyi", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
 def xrp_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
@@ -218,7 +218,7 @@ def xrp_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes
         tags = ["manual", "robotpy"],
     )
 
-def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
+def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = [], extra_pyi_deps = []):
     # Helper used to generate all files with one target.
     native.filegroup(
         name = "{}.generated_files".format(name),
@@ -252,6 +252,14 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         template = "//shared/bazel/rules/robotpy:version_template.in",
     )
 
+    make_pyi(
+        name = "xrp._xrp.make_pyi",
+        package_name = "xrp._xrp",
+        output_files = [["xrp/_xrp.pyi", "src/main/python/xrp/_xrp.pyi"]],
+        module_files = [["xrp", "src/main/python/xrp/__init__.py"], ["xrp._init__xrp", "src/main/python/xrp/_init__xrp.py"], ["xrp._xrp", "src/main/python/xrp/_xrp"]],
+        runner = ":{}.make_pyi_runner".format(name),
+    )
+
     robotpy_library(
         name = name,
         distribution = "robotpy-xrp",
@@ -265,6 +273,10 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
             ":src/main/python/xrp/_xrp",
             ":xrp.trampoline_hdr_files",
         ],
+        pyi_srcs = [
+            ":xrp._xrp.make_pyi",
+        ],
+        pyi_deps = extra_pyi_deps,
         imports = ["src/main/python"],
         deps = [
             "//wpilibc:robotpy-wpilib",
@@ -300,7 +312,7 @@ def define_pybind_library(name, pkgcfgs = [], extra_pybind_hdrs = []):
         package_root_file = "src/main/python/xrp/__init__.py",
         pkgcfgs = pkgcfgs,
         pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+        yaml_files = native.glob(["src/main/python/semiwrap/**"], allow_empty = True),
     )
 
     scan_headers(