from google.protobuf.internal import containers as _containers
from google.protobuf import descriptor as _descriptor
from google.protobuf import message as _message
from collections.abc import Iterable as _Iterable
from typing import ClassVar as _ClassVar, Optional as _Optional

DESCRIPTOR: _descriptor.FileDescriptor

class SrsIKConfig(_message.Message):
    __slots__ = ("initial_psi", "shoulder_config", "elbow_config", "wrist_config", "link_lengths", "joint_lower_limits", "joint_upper_limits")
    INITIAL_PSI_FIELD_NUMBER: _ClassVar[int]
    SHOULDER_CONFIG_FIELD_NUMBER: _ClassVar[int]
    ELBOW_CONFIG_FIELD_NUMBER: _ClassVar[int]
    WRIST_CONFIG_FIELD_NUMBER: _ClassVar[int]
    LINK_LENGTHS_FIELD_NUMBER: _ClassVar[int]
    JOINT_LOWER_LIMITS_FIELD_NUMBER: _ClassVar[int]
    JOINT_UPPER_LIMITS_FIELD_NUMBER: _ClassVar[int]
    initial_psi: float
    shoulder_config: int
    elbow_config: int
    wrist_config: int
    link_lengths: _containers.RepeatedScalarFieldContainer[float]
    joint_lower_limits: _containers.RepeatedScalarFieldContainer[float]
    joint_upper_limits: _containers.RepeatedScalarFieldContainer[float]
    def __init__(self, initial_psi: _Optional[float] = ..., shoulder_config: _Optional[int] = ..., elbow_config: _Optional[int] = ..., wrist_config: _Optional[int] = ..., link_lengths: _Optional[_Iterable[float]] = ..., joint_lower_limits: _Optional[_Iterable[float]] = ..., joint_upper_limits: _Optional[_Iterable[float]] = ...) -> None: ...
