diff --git a/moveit_py/docs/source/index.rst b/moveit_py/docs/source/index.rst
index 104580cc28..9d598f9ae2 100644
--- a/moveit_py/docs/source/index.rst
+++ b/moveit_py/docs/source/index.rst
@@ -9,4 +9,5 @@ MoveItPy API Documentation
 
    moveit_py.core
    moveit_py.planning
+   moveit_py.policies
    moveit_py.servo_client
diff --git a/moveit_py/moveit/policies/__init__.py b/moveit_py/moveit/policies/__init__.py
index 53e7dff01b..d6e57cf6f9 100644
--- a/moveit_py/moveit/policies/__init__.py
+++ b/moveit_py/moveit/policies/__init__.py
@@ -1 +1,6 @@
+"""Utilities for learned policy deployment.
+
+This module can be used to configure moveit_servo for learning based applications.
+"""
+
 from .policy import Policy
diff --git a/moveit_py/moveit/policies/__init__.pyi b/moveit_py/moveit/policies/__init__.pyi
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/moveit_py/moveit/policies/policy.py b/moveit_py/moveit/policies/policy.py
index 24e1f70a5a..907308ce0a 100644
--- a/moveit_py/moveit/policies/policy.py
+++ b/moveit_py/moveit/policies/policy.py
@@ -39,7 +39,6 @@
 
 from abc import ABC, abstractmethod
 
-import rclpy
 from rclpy.node import Node
 from rclpy.qos import QoSProfile
 
@@ -66,7 +65,7 @@ def __init__(self, params, node_name="policy_node"):
 
         # set policy to inactive by default
         self._is_active = False
-        self.activate_policy = self.create_service(
+        self.activate_policy_service = self.create_service(
             SetBool,
             "activate_policy",
             self.activate_policy,
@@ -98,7 +97,7 @@ def get_sensor_msg_type(self, msg_type):
         if msg_type == "sensor_msgs/Image":
             return Image
         else:
-            raise ValueError(f"Sensor type {sensor_type} not supported.")
+            raise ValueError(f"Sensor type {msg_type} not supported.")
 
     def get_command_msg_type(self, msg_type):
         """Returns the ROS 2 message type for a given command type."""
diff --git a/moveit_py/moveit/policies/policy.pyi b/moveit_py/moveit/policies/policy.pyi
new file mode 100644
index 0000000000..c26c12fc38
--- /dev/null
+++ b/moveit_py/moveit/policies/policy.pyi
@@ -0,0 +1,21 @@
+import abc
+from abc import ABC, abstractmethod
+from rclpy.node import Node
+from typing import Any
+
+class Policy(ABC, Node, metaclass=abc.ABCMeta):
+    logger: Any
+    param_listener: Any
+    params: Any
+    activate_policy_service: Any
+    _is_active: bool
+    def __init__(self, params, node_name) -> None: ...
+    @property
+    def is_active(self) -> Any: ...
+    def activate_policy(self, request: Any, response: Any) -> Any: ...
+    def get_sensor_msg_type(self, msg_type: str) -> Any: ...
+    def get_command_msg_type(self, msg_type: str) -> Any: ...
+    def register_sensors(self): ...
+    def register_command(self): ...
+    @abstractmethod
+    def forward(self): ...