from google.protobuf import descriptor as _descriptor
from google.protobuf import message as _message
from typing import ClassVar as _ClassVar, Optional as _Optional

DESCRIPTOR: _descriptor.FileDescriptor

class PinocchioQpIKConfig(_message.Message):
    __slots__ = ("urdf_path", "base_frame_name", "flange_frame_name", "tcp_frame_name", "w_posrot", "max_iters", "tol", "qp_time_limit")
    URDF_PATH_FIELD_NUMBER: _ClassVar[int]
    BASE_FRAME_NAME_FIELD_NUMBER: _ClassVar[int]
    FLANGE_FRAME_NAME_FIELD_NUMBER: _ClassVar[int]
    TCP_FRAME_NAME_FIELD_NUMBER: _ClassVar[int]
    LAMBDA_FIELD_NUMBER: _ClassVar[int]
    W_POSROT_FIELD_NUMBER: _ClassVar[int]
    MAX_ITERS_FIELD_NUMBER: _ClassVar[int]
    TOL_FIELD_NUMBER: _ClassVar[int]
    QP_TIME_LIMIT_FIELD_NUMBER: _ClassVar[int]
    urdf_path: str
    base_frame_name: str
    flange_frame_name: str
    tcp_frame_name: str
    w_posrot: float
    max_iters: int
    tol: float
    qp_time_limit: float
    def __init__(self, urdf_path: _Optional[str] = ..., base_frame_name: _Optional[str] = ..., flange_frame_name: _Optional[str] = ..., tcp_frame_name: _Optional[str] = ..., w_posrot: _Optional[float] = ..., max_iters: _Optional[int] = ..., tol: _Optional[float] = ..., qp_time_limit: _Optional[float] = ..., **kwargs) -> None: ...
