Fixed implicit conversion handling in stubgen

custom_stubgen.py

@@ -1,26 +1,27 @@
 #!/usr/bin/env python3
 import logging
 from pathlib import Path
-from typing import Dict, Optional
+from typing import Dict, Optional, Sequence
+from collections import defaultdict
 
 from pybind11_stubgen import Writer, QualifiedName, Printer, arg_parser, stub_parser_from_args, to_output_and_subdir, \
     run
 from pybind11_stubgen.structs import Function, ResolvedType, Module
 
 
 class CustomWriter(Writer):
-    def __init__(self, implicit_conversions: Dict[str, str], stub_ext: str = "pyi"):
+    def __init__(self, alternative_types: Dict[str, Sequence[str, ...]], stub_ext: str = "pyi"):
         super().__init__(stub_ext=stub_ext)
-        self.implicit_conversions = {
-            QualifiedName.from_str(k): QualifiedName.from_str(v) for k, v in implicit_conversions.items()
+        self.alternative_types = {
+            QualifiedName.from_str(k): tuple(QualifiedName.from_str(e) for e in v) for k, v in alternative_types.items()
         }
 
     def _patch_function(self, function: Function):
         for argument in function.args:
-            if argument.annotation is not None and argument.annotation.name in self.implicit_conversions:
-                converted_type = ResolvedType(self.implicit_conversions[argument.annotation.name])
+            if argument.annotation is not None and argument.annotation.name in self.alternative_types:
+                converted_types = [ResolvedType(e) for e in self.alternative_types[argument.annotation.name]]
                 argument.annotation = ResolvedType(
-                    QualifiedName.from_str("typing.Union"), [argument.annotation, converted_type])
+                    QualifiedName.from_str("typing.Union"), [argument.annotation] + converted_types)
 
     def write_module(self, module: Module, printer: Printer, to: Path, sub_dir: Optional[Path] = None):
         for cls in module.classes:
@@ -32,11 +33,20 @@ def write_module(self, module: Module, printer: Printer, to: Path, sub_dir: Opti
         super().write_module(module, printer, to, sub_dir=sub_dir)
 
 
-IMPLICIT_CONVERSIONS = {
-    "bool": "Condition",
-    "float": "RelativeDynamicsFactor",
-    "Affine": "RobotPose",
-}
+IMPLICIT_CONVERSIONS = [
+    ("bool", "Condition"),
+    ("float", "RelativeDynamicsFactor"),
+    ("Affine", "RobotPose"),
+    ("Twist", "RobotVelocity"),
+    ("RobotPose", "CartesianState"),
+    ("Affine", "CartesianState"),
+    ("list[float]", "JointState"),
+    ("np.ndarray", "JointState")
+]
+
+alternatives = defaultdict(list)
+for from_type, to_type in IMPLICIT_CONVERSIONS:
+    alternatives[to_type].append(from_type)
 
 if __name__ == "__main__":
     logging.basicConfig(