from google.protobuf.internal import containers as _containers
from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
from google.protobuf import descriptor as _descriptor
from google.protobuf import message as _message
from collections.abc import Iterable as _Iterable, Mapping as _Mapping
from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union

DESCRIPTOR: _descriptor.FileDescriptor

class JointLimitSource(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
    __slots__ = ()
    JOINT_LIMIT_SOURCE_UNKNOWN: _ClassVar[JointLimitSource]
    JOINT_LIMIT_SOURCE_URDF: _ClassVar[JointLimitSource]
    JOINT_LIMIT_SOURCE_CUSTOM: _ClassVar[JointLimitSource]
JOINT_LIMIT_SOURCE_UNKNOWN: JointLimitSource
JOINT_LIMIT_SOURCE_URDF: JointLimitSource
JOINT_LIMIT_SOURCE_CUSTOM: JointLimitSource

class JointLimitConfig(_message.Message):
    __slots__ = ("joint_name", "lower", "upper", "velocity")
    JOINT_NAME_FIELD_NUMBER: _ClassVar[int]
    LOWER_FIELD_NUMBER: _ClassVar[int]
    UPPER_FIELD_NUMBER: _ClassVar[int]
    VELOCITY_FIELD_NUMBER: _ClassVar[int]
    joint_name: str
    lower: float
    upper: float
    velocity: float
    def __init__(self, joint_name: _Optional[str] = ..., lower: _Optional[float] = ..., upper: _Optional[float] = ..., velocity: _Optional[float] = ...) -> None: ...

class JointLimitsConfig(_message.Message):
    __slots__ = ("source", "joints")
    SOURCE_FIELD_NUMBER: _ClassVar[int]
    JOINTS_FIELD_NUMBER: _ClassVar[int]
    source: JointLimitSource
    joints: _containers.RepeatedCompositeFieldContainer[JointLimitConfig]
    def __init__(self, source: _Optional[_Union[JointLimitSource, str]] = ..., joints: _Optional[_Iterable[_Union[JointLimitConfig, _Mapping]]] = ...) -> None: ...
