diff --git a/docs/conf-stubs.py b/docs/conf-stubs.py
new file mode 100644
index 0000000000..935992fe7e
--- /dev/null
+++ b/docs/conf-stubs.py
@@ -0,0 +1,14 @@
+# Copyright (c) Meta Platforms, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
+# Inherit everything from the base config
+import os, sys
+
+sys.path.append(os.path.dirname(os.path.realpath(__file__)))
+from conf import *
+
+# TODO: uncomment once m.sphinx can handle that
+# OUTPUT = None
+
+OUTPUT_STUBS = "../habitat_sim"
diff --git a/docs/m.css b/docs/m.css
index 0e5161ff17..699abdd572 160000
--- a/docs/m.css
+++ b/docs/m.css
@@ -1 +1 @@
-Subproject commit 0e5161ff17ebf3550bbc0cc99ef81ad7b7d8f80e
+Subproject commit 699abdd57242d33291a0ea4ee333c7d4de11a30c
diff --git a/requirements.txt b/requirements.txt
index 3985aaf148..212f481d50 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,7 +1,9 @@
 attrs>=19.1.0
+docutils
 gitpython
 imageio
 imageio-ffmpeg
+jinja2
 matplotlib
 numba
 numpy==1.26.4
diff --git a/setup.py b/setup.py
index f1434405ab..9f0eebc625 100644
--- a/setup.py
+++ b/setup.py
@@ -264,6 +264,12 @@ def run(self):
         for ext in self.extensions:
             self.build_extension(ext)
 
+        # Build stubs for all of 'habitat_sim' including bindings to provide
+        # type information.
+        subprocess.run(
+            subprocess.run(["docs/m.css/documentation/python.py", "docs/conf-stubs.py"])
+        )
+
     def build_extension(self, ext):
         extdir = os.path.abspath(os.path.dirname(self.get_ext_fullpath(ext.name)))
 
@@ -450,21 +456,28 @@ def load(filename):
     setup(
         name="habitat_sim",
         version=habitat_sim.__version__,
-        author="FAIR A-STAR",
+        author="Meta",
         description="A high performance simulator for training embodied agents",
         long_description="",
         packages=find_packages(where="src_python"),
         package_dir={"": "src_python"},
         install_requires=requirements,
         tests_require=["hypothesis", "pytest-benchmark", "pytest"],
+        setup_requires=["pybind11-stubgen"],
         python_requires=">=3.9",
         # add extension module
         ext_modules=[CMakeExtension("habitat_sim._ext.habitat_sim_bindings", "src")],
         # add custom build_ext command
-        cmdclass=dict(build_ext=CMakeBuild),
+        cmdclass={
+            "build_ext": CMakeBuild,
+        },
         zip_safe=False,
         include_package_data=True,
+        package_data={
+            "habitat_sim": ["py.typed", "**/*.pyi"],
+        },
     )
+
     pymagnum_build_dir = osp.join(
         _cmake_build_dir, "deps", "magnum-bindings", "src", "python"
     )
diff --git a/src_python/habitat_sim/py.typed b/src_python/habitat_sim/py.typed
new file mode 100644
index 0000000000..e69de29bb2