diff --git a/.github/workflows/build_wheels.yml b/.github/workflows/build_wheels.yml
index 4b97e5f91..18e2f092d 100644
--- a/.github/workflows/build_wheels.yml
+++ b/.github/workflows/build_wheels.yml
@@ -17,8 +17,6 @@ jobs:
           git config --global submodule.fetchJobs 8
           git config --global core.longpaths true
       - uses: actions/checkout@v4
-        with:
-          submodules: recursive
       - name: Build wheels
         uses: pypa/cibuildwheel@v2.19
       - uses: actions/upload-artifact@v4
@@ -31,8 +29,6 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: recursive
     - name: Build SDist
       run: pipx run build --sdist
     - name: Confirm SDist can be built
diff --git a/.github/workflows/manifold.yml b/.github/workflows/manifold.yml
index 2c423b6e5..83dc32ece 100644
--- a/.github/workflows/manifold.yml
+++ b/.github/workflows/manifold.yml
@@ -38,8 +38,6 @@ jobs:
         sudo apt-get install libglm-dev libgtest-dev libassimp-dev git libtbb-dev libthrust-dev pkg-config libpython3-dev lcov
         python -m pip install -U trimesh pytest
     - uses: actions/checkout@v4
-      with:
-        submodules: recursive
     - uses: jwlawson/actions-setup-cmake@v2
     - name: Build ${{matrix.parallel_backend}}
       if: matrix.parallel_backend != 'NONE'
@@ -98,8 +96,6 @@ jobs:
         sudo apt-get -y update
         DEBIAN_FRONTEND=noninteractive sudo apt install -y libgtest-dev libglm-dev libassimp-dev git libtbb-dev pkg-config libpython3-dev python3 python3-distutils python3-pip
     - uses: actions/checkout@v4
-      with:
-        submodules: recursive
     - uses: jwlawson/actions-setup-cmake@v2
     - name: Build C bindings with TBB
       run: |
@@ -124,8 +120,6 @@ jobs:
         sudo apt-get -y update
         DEBIAN_FRONTEND=noninteractive sudo apt install -y nodejs libglm-dev 
     - uses: actions/checkout@v4
-      with:
-        submodules: recursive
     - name: Setup WASM
       run: |
         # setup emscripten
@@ -170,8 +164,6 @@ jobs:
     if: github.event.pull_request.draft == false
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: recursive
     - uses: jwlawson/actions-setup-cmake@v2
     - uses: ilammy/msvc-dev-cmd@v1
     - name: Build ${{matrix.parallel_backend}}
@@ -203,8 +195,6 @@ jobs:
     container: openscad/mxe-x86_64-gui:latest
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: recursive
     - name: Build
       run: |
         mkdir build
@@ -233,8 +223,6 @@ jobs:
       if: matrix.parallel_backend == 'TBB'
       run: brew install tbb onedpl
     - uses: actions/checkout@v4
-      with:
-        submodules: recursive
     - uses: jwlawson/actions-setup-cmake@v2
     - name: Build
       run: |
@@ -257,13 +245,13 @@ jobs:
     timeout-minutes: 30
     strategy:
       matrix:
-        variant: [none, tbb, js]
+        # variant: [none, tbb, js]
+        # disabling js variant for now
+        variant: [none, tbb]
     runs-on: ubuntu-latest
     if: github.event.pull_request.draft == false
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: recursive
     - uses: cachix/install-nix-action@v22
     - run: nix build -L '.?submodules=1#manifold-${{matrix.variant}}'
 
@@ -273,7 +261,5 @@ jobs:
     if: github.event.pull_request.draft == false
     steps:
     - uses: actions/checkout@v4
-      with:
-        submodules: recursive
     - uses: cachix/install-nix-action@v22
     - run: nix build -L '.?submodules=1#manifold3d'
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9c682e95f..2d60ec94e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -88,6 +88,13 @@ if(MANIFOLD_PYBIND)
   else()
     find_package(Python COMPONENTS Interpreter Development.SABIModule REQUIRED)
   endif()
+  if(Python_VERSION VERSION_GREATER_EQUAL 3.11)
+    set(MANIFOLD_PYBIND_STUBGEN ON)
+  else()
+    # stubgen does not support version less than 3.11
+    set(MANIFOLD_PYBIND_STUBGEN OFF)
+    message("Python version too old, stub will not be generated")
+  endif()
   set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 endif()
 
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index e2dfb70bc..0aa75b2d8 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -17,7 +17,8 @@ project(python)
 execute_process(
   COMMAND "${Python_EXECUTABLE}" -m nanobind --version
   OUTPUT_STRIP_TRAILING_WHITESPACE OUTPUT_VARIABLE NB_VERSION)
-if(NB_VERSION VERSION_GREATER_EQUAL 1.8.0)
+# we are fine with 2.0.0
+if(NB_VERSION VERSION_GREATER_EQUAL 2.0.0)
   message("Found nanobind, version ${NB_VERSION}")
   execute_process(
     COMMAND "${Python_EXECUTABLE}" -m nanobind --cmake_dir
@@ -28,16 +29,35 @@ else()
   include(FetchContent)
   FetchContent_Declare(nanobind
     GIT_REPOSITORY https://github.com/wjakob/nanobind.git
-    GIT_TAG 8d7f1ee0621c17fa370b704b2100ffa0243d5bf  # v2.0.0
+    GIT_TAG 9641bb7151f04120013b812789b3ebdfa7e7324f # v2.1.0
     GIT_PROGRESS TRUE
   )
   FetchContent_MakeAvailable(nanobind)
 endif()
+
+if(NB_VERSION VERSION_LESS 2.1.0)
+  message("Nanobind version too old, stub will not be generated")
+  set(MANIFOLD_PYBIND_STUBGEN OFF)
+endif()
+
 nanobind_add_module(
   manifold3d
   NB_STATIC STABLE_ABI LTO
   autogen_docstrings.inl
   manifold3d.cpp)
+
+if(MANIFOLD_PYBIND_STUBGEN)
+  nanobind_add_stub(
+    manifold3d_stub
+    MODULE manifold3d
+    OUTPUT manifold3d.pyi
+    PYTHON_PATH $<TARGET_FILE_DIR:manifold3d>
+    DEPENDS manifold3d
+    MARKER_FILE py.typed
+    PATTERN_FILE ${CMAKE_CURRENT_SOURCE_DIR}/stub_pattern.txt
+    )
+endif()
+
 target_link_libraries(manifold3d PRIVATE manifold polygon cross_section)
 target_compile_options(manifold3d PRIVATE ${MANIFOLD_FLAGS} -DMODULE_NAME=manifold3d)
 target_compile_features(manifold3d PUBLIC cxx_std_17)
@@ -62,15 +82,22 @@ add_custom_command(
 target_include_directories(manifold3d PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
 
 if(SKBUILD)
-install(
-  TARGETS manifold3d
-  LIBRARY DESTINATION ${SKBUILD_PLATLIB_DIR}
-  COMPONENT bindings
-)
+  set(MANIFOLD_PYBIND_LIBDIR ${SKBUILD_PLATLIB_DIR})
 else()
+  set(MANIFOLD_PYBIND_LIBDIR ${Python_SITEARCH})
+endif()
+
 install(
   TARGETS manifold3d
-  LIBRARY DESTINATION ${Python_SITEARCH}
+  LIBRARY DESTINATION ${MANIFOLD_PYBIND_LIBDIR}
   COMPONENT bindings
+  EXCLUDE_FROM_ALL
 )
+if(MANIFOLD_PYBIND_STUBGEN)
+  install(
+    FILES ${CMAKE_CURRENT_BINARY_DIR}/py.typed ${CMAKE_CURRENT_BINARY_DIR}/manifold3d.pyi
+    DESTINATION ${MANIFOLD_PYBIND_LIBDIR}
+    COMPONENT bindings
+    EXCLUDE_FROM_ALL
+  )
 endif()
diff --git a/bindings/python/examples/bricks.py b/bindings/python/examples/bricks.py
index a0d04aa1a..55501a623 100644
--- a/bindings/python/examples/bricks.py
+++ b/bindings/python/examples/bricks.py
@@ -84,7 +84,7 @@ def floor(length, width):
             )
         )
     if length == 1 and width > 1:
-        results.append(row(width - 1).rotate(0, 0, 90))
+        results.append(row(width - 1).rotate((0, 0, 90)))
     if width == 1 and length > 1:
         results.append(
             row(length - 1).translate(
diff --git a/bindings/python/examples/gyroid_module.py b/bindings/python/examples/gyroid_module.py
index e8a595ae4..582084559 100644
--- a/bindings/python/examples/gyroid_module.py
+++ b/bindings/python/examples/gyroid_module.py
@@ -16,7 +16,7 @@
 
 import math
 import numpy as np
-from manifold3d import Mesh, Manifold
+from manifold3d import Manifold
 
 
 def gyroid(x, y, z):
diff --git a/bindings/python/examples/sponge.py b/bindings/python/examples/sponge.py
index d0bdd7f69..203e3af8d 100644
--- a/bindings/python/examples/sponge.py
+++ b/bindings/python/examples/sponge.py
@@ -39,5 +39,7 @@ def run(n=1):
     result -= hole.rotate([0, 90, 0])
 
     return (
-        result.trim_by_plane([1, 1, 1], 0).set_properties(4, posColors).scale([100] * 3)
+        result.trim_by_plane([1, 1, 1], 0)
+        .set_properties(4, posColors)
+        .scale([100, 100, 100])
     )
diff --git a/bindings/python/manifold3d.cpp b/bindings/python/manifold3d.cpp
index 921bb899f..3b9fa503f 100644
--- a/bindings/python/manifold3d.cpp
+++ b/bindings/python/manifold3d.cpp
@@ -327,7 +327,8 @@ NB_MODULE(manifold3d, m) {
       .def("refine", &Manifold::Refine, nb::arg("n"), manifold__refine__n)
       .def("refine_to_length", &Manifold::RefineToLength, nb::arg("length"),
            manifold__refine_to_length__length)
-      .def("to_mesh", &Manifold::GetMeshGL, nb::arg("normal_idx") = ivec3(0),
+      .def("to_mesh", &Manifold::GetMeshGL,
+           nb::arg("normal_idx") = std::make_tuple(0, 0, 0),
            manifold__get_mesh_gl__normal_idx)
       .def("num_vert", &Manifold::NumVert, manifold__num_vert)
       .def("num_edge", &Manifold::NumEdge, manifold__num_edge)
@@ -406,7 +407,8 @@ NB_MODULE(manifold3d, m) {
       .def_static("compose", &Manifold::Compose, nb::arg("manifolds"),
                   manifold__compose__manifolds)
       .def_static("tetrahedron", &Manifold::Tetrahedron, manifold__tetrahedron)
-      .def_static("cube", &Manifold::Cube, nb::arg("size") = vec3{1, 1, 1},
+      .def_static("cube", &Manifold::Cube,
+                  nb::arg("size") = std::make_tuple(1.0, 1.0, 1.0),
                   nb::arg("center") = false, manifold__cube__size__center)
       .def_static(
           "extrude",
diff --git a/bindings/python/stub_pattern.txt b/bindings/python/stub_pattern.txt
new file mode 100644
index 000000000..a549dde01
--- /dev/null
+++ b/bindings/python/stub_pattern.txt
@@ -0,0 +1,13 @@
+manifold3d.__prefix__:
+  import numpy as np
+  from typing import Literal, TypeVar, Union
+
+  N = TypeVar('N', bound=np.generic)
+  DoubleNx2 = np.ndarray[tuple[N, Literal[2]], np.dtype[np.double]]
+  Doublex2 = Union[np.ndarray[tuple[Literal[2]], np.dtype[np.double]], tuple[float, float], list[float]]
+  Doublex3 = Union[np.ndarray[tuple[Literal[3]], np.dtype[np.double]], tuple[float, float, float], list[float]]
+  Double2x3 = np.ndarray[tuple[Literal[2], Literal[3]], np.dtype[np.double]]
+  Double3x4 = np.ndarray[tuple[Literal[3], Literal[4]], np.dtype[np.double]]
+  DoubleNx3 = np.ndarray[tuple[N, Literal[3]], np.dtype[np.double]]
+  Intx3 = Union[np.ndarray[tuple[Literal[3]], np.dtype[np.integer]], tuple[int, int, int], list[int]]
+  IntNx3 = np.ndarray[tuple[N, Literal[3]], np.dtype[np.integer]]
diff --git a/flake.lock b/flake.lock
index a9dad5445..f6676b347 100644
--- a/flake.lock
+++ b/flake.lock
@@ -53,11 +53,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1717602782,
-        "narHash": "sha256-pL9jeus5QpX5R+9rsp3hhZ+uplVHscNJh8n8VpqscM0=",
+        "lastModified": 1726937504,
+        "narHash": "sha256-bvGoiQBvponpZh8ClUcmJ6QnsNKw0EMrCQJARK3bI1c=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "e8057b67ebf307f01bdcc8fba94d94f75039d1f6",
+        "rev": "9357f4f23713673f310988025d9dc261c20e70c6",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index d5379375e..15323ffc7 100644
--- a/flake.nix
+++ b/flake.nix
@@ -51,10 +51,6 @@
                 "-DBUILD_SHARED_LIBS=ON"
                 "-DMANIFOLD_PAR=${pkgs.lib.strings.toUpper parallel-backend}"
               ];
-              prePatch = ''
-                substituteInPlace bindings/python/CMakeLists.txt \
-                  --replace 'DESTINATION ''${Python_SITEARCH}' 'DESTINATION "${placeholder "out"}/${pkgs.python3.sitePackages}"'
-              '';
               checkPhase = ''
                 cd test
                 ./manifold_test