from typing import Optional, Protocol

class SimIK(Protocol):

    def addElement(self,environmentHandle:int, ikGroupHandle:int, tipDummyHandle:int)->int:
        ...
    
    def addElementFromScene(self,environmentHandle:int, ikGroup:int, baseHandle:int, tipHandle:int, targetHandle:int, constraints:int)->tuple[int, dict, dict]:
        ...
    
    def computeGroupJacobian(self,environmentHandle:int, ikGroupHandle:int)->tuple[list[float], list[float]]:
        ...
    
    def computeJacobian(self,environmentHandle:int, baseObject:int, lastJoint:int, constraints:int, tipMatrix:list[float], targetMatrix:Optional[list[float]] = None, constrBaseMatrix:Optional[list[float]] = None)->tuple[list[float], list[float]]:
        ...
    
    def createDebugOverlay(self,environmentHandle:int, tipHandle:int, baseHandle:Optional[int] = None)->int:
        ...
    
    def createDummy(self,environmentHandle:int, dummyName:Optional[str] = None)->int:
        ...
    
    def createEnvironment(self,flags:Optional[int] = None)->int:
        ...
    
    def createGroup(self,environmentHandle:int, ikGroupName:Optional[str] = None)->int:
        ...
    
    def createJoint(self,environmentHandle:int, jointType:int, jointName:Optional[str] = None)->int:
        ...
    
    def doesGroupExist(self,environmentHandle:int, ikGroupName:str)->bool:
        ...
    
    def doesObjectExist(self,environmentHandle:int, objectName:str)->bool:
        ...
    
    def duplicateEnvironment(self,environmentHandle:int)->int:
        ...
    
    def eraseDebugOverlay(self,debugObject:int)->None:
        ...
    
    def eraseEnvironment(self,environmentHandle:int)->None:
        ...
    
    def eraseObject(self,environmentHandle:int, objectHandle:int)->None:
        ...
    
    def findConfig(self,environmentHandle:int, ikGroupHandle:int, jointHandles:list[int], thresholdDist:Optional[float] = None, maxTime:Optional[float] = None, metric:Optional[list[float]] = None, validationCallback:Optional[str] = None, auxData:Optional[dict] = None)->list[float]:
        ...
    
    def generatePath(self,environmentHandle:int, ikGroupHandle:int, jointHandles:list[int], tipHandle:int, pathPointCount:int, validationCallback:Optional[str] = None, auxData:Optional[dict] = None)->list[float]:
        ...
    
    def getAlternateConfigs(self,environmentHandle:int, jointHandles:list[int], lowLimits:Optional[list[float]] = None, ranges:Optional[list[float]] = None)->list[float]:
        ...
    
    def getElementBase(self,environmentHandle:int, ikGroupHandle:int, elementHandle:int)->tuple[int, int]:
        ...
    
    def getElementConstraints(self,environmentHandle:int, ikGroupHandle:int, elementHandle:int)->int:
        ...
    
    def getElementFlags(self,environmentHandle:int, ikGroupHandle:int, elementHandle:int)->int:
        ...
    
    def getElementPrecision(self,environmentHandle:int, ikGroupHandle:int, elementHandle:int)->list[float]:
        ...
    
    def getElementWeights(self,environmentHandle:int, ikGroupHandle:int, elementHandle:int)->list[float]:
        ...
    
    def getFailureDescription(self,reason:int)->str:
        ...
    
    def getGroupCalculation(self,environmentHandle:int, ikGroupHandle:int)->tuple[int, float, int]:
        ...
    
    def getGroupFlags(self,environmentHandle:int, ikGroupHandle:int)->int:
        ...
    
    def getGroupHandle(self,environmentHandle:int, ikGroupName:str)->int:
        ...
    
    def getGroupJointLimitHits(self,environmentHandle:int, ikGroupHandle:int)->tuple[list[int], list[float]]:
        ...
    
    def getGroupJoints(self,environmentHandle:int, ikGroupHandle:int)->list[int]:
        ...
    
    def getJointDependency(self,environmentHandle:int, jointHandle:int)->tuple[int, float, float]:
        ...
    
    def getJointInterval(self,environmentHandle:int, jointHandle:int)->tuple[bool, list[float]]:
        ...
    
    def getJointLimitMargin(self,environmentHandle:int, jointHandle:int)->float:
        ...
    
    def getJointMatrix(self,environmentHandle:int, jointHandle:int)->list[float]:
        ...
    
    def getJointMaxStepSize(self,environmentHandle:int, jointHandle:int)->float:
        ...
    
    def getJointMode(self,environmentHandle:int, jointHandle:int)->int:
        ...
    
    def getJointPosition(self,environmentHandle:int, jointHandle:int)->float:
        ...
    
    def getJointScrewLead(self,environmentHandle:int, jointHandle:int)->float:
        ...
    
    def getJointTransformation(self,environmentHandle:int, jointHandle:int)->tuple[list[float], list[float], list[float]]:
        ...
    
    def getJointType(self,environmentHandle:int, jointHandle:int)->int:
        ...
    
    def getJointWeight(self,environmentHandle:int, jointHandle:int)->float:
        ...
    
    def getObjectHandle(self,environmentHandle:int, objectName:str)->int:
        ...
    
    def getObjectMatrix(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:Optional[int] = None)->list[float]:
        ...
    
    def getObjectParent(self,environmentHandle:int, objectHandle:int)->int:
        ...
    
    def getObjectPose(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:Optional[int] = None)->list[float]:
        ...
    
    def getObjectTransformation(self,environmentHandle:int, objectHandle:int, relativeToObjectHandle:Optional[int] = None)->tuple[list[float], list[float], list[float]]:
        ...
    
    def getObjectType(self,environmentHandle:int, objectHandle:int)->int:
        ...
    
    def getObjects(self,environmentHandle:int, index:int)->tuple[int, str, bool, int]:
        ...
    
    def getTargetDummy(self,environmentHandle:int, dummyHandle:int)->int:
        ...
    
    def handleGroup(self,environmentHandle:int, ikGroup:int, options:Optional[dict] = None)->tuple[int, int, list[float]]:
        ...
    
    def handleGroups(self,environmentHandle:int, ikGroups:list[int], options:Optional[dict] = None)->tuple[int, int, list[float]]:
        ...
    
    def load(self,environmentHandle:int, data:str)->None:
        ...
    
    def save(self,environmentHandle:int)->str:
        ...
    
    def setElementBase(self,environmentHandle:int, ikGroupHandle:int, elementHandle:int, baseHandle:int, constraintsBaseHandle:Optional[int] = None)->None:
        ...
    
    def setElementConstraints(self,environmentHandle:int, ikGroupHandle:int, elementHandle:int, constraints:int)->None:
        ...
    
    def setElementFlags(self,environmentHandle:int, ikGroupHandle:int, elementHandle:int, flags:int)->None:
        ...
    
    def setElementPrecision(self,environmentHandle:int, ikGroupHandle:int, elementHandle:int, precision:list[float])->None:
        ...
    
    def setElementWeights(self,environmentHandle:int, ikGroupHandle:int, elementHandle:int, weights:list[float])->None:
        ...
    
    def setGroupCalculation(self,environmentHandle:int, ikGroupHandle:int, method:int, damping:float, maxIterations:int)->None:
        ...
    
    def setGroupFlags(self,environmentHandle:int, ikGroupHandle:int, flags:int)->None:
        ...
    
    def setJointDependency(self,environmentHandle:int, jointHandle:int, masterJointHandle:int, offset:Optional[float] = None, mult:Optional[float] = None, callback:Optional[str] = None)->None:
        ...
    
    def setJointInterval(self,environmentHandle:int, jointHandle:int, cyclic:bool, interval:Optional[list[float]] = None)->None:
        ...
    
    def setJointLimitMargin(self,environmentHandle:int, jointHandle:int, margin:float)->None:
        ...
    
    def setJointMaxStepSize(self,environmentHandle:int, jointHandle:int, stepSize:float)->None:
        ...
    
    def setJointMode(self,environmentHandle:int, jointHandle:int, jointMode:int)->None:
        ...
    
    def setJointPosition(self,environmentHandle:int, jointHandle:int, position:float)->None:
        ...
    
    def setJointScrewLead(self,environmentHandle:int, jointHandle:int, lead:float)->None:
        ...
    
    def setJointWeight(self,environmentHandle:int, jointHandle:int, weight:float)->None:
        ...
    
    def setObjectMatrix(self,environmentHandle:int, objectHandle:int, matrix:list[float], relativeToObjectHandle:Optional[int] = None)->None:
        ...
    
    def setObjectParent(self,environmentHandle:int, objectHandle:int, parentObjectHandle:int, keepInPlace:Optional[bool] = None)->None:
        ...
    
    def setObjectPose(self,environmentHandle:int, objectHandle:int, pose:list[float], relativeToObjectHandle:Optional[int] = None)->None:
        ...
    
    def setObjectTransformation(self,environmentHandle:int, objectHandle:int, position:list[float], eulerOrQuaternion:list[float], relativeToObjectHandle:Optional[int] = None)->None:
        ...
    
    def setSphericalJointMatrix(self,environmentHandle:int, jointHandle:int, matrix:list[float])->None:
        ...
    
    def setSphericalJointRotation(self,environmentHandle:int, jointHandle:int, eulerOrQuaternion:list[float])->None:
        ...
    
    def setTargetDummy(self,environmentHandle:int, dummyHandle:int, targetDummyHandle:int)->None:
        ...
    
    def syncFromSim(self,environmentHandle:int, ikGroups:list[int])->None:
        ...
    
    def syncToSim(self,environmentHandle:int, ikGroups:list[int])->None:
        ...