legtool_main_window.ui

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>LegToolMainWindow</class>
 <widget class="QMainWindow" name="LegToolMainWindow">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>1014</width>
    <height>929</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>legtool</string>
  </property>
  <widget class="QWidget" name="centralwidget">
   <layout class="QVBoxLayout" name="verticalLayout_12">
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
       <number>0</number>
      </property>
      <widget class="QWidget" name="servoTab">
       <attribute name="title">
        <string>Servo Control</string>
       </attribute>
       <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,6">
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_14" stretch="1,6">
          <item>
           <widget class="QGroupBox" name="configurationGroup">
            <property name="title">
             <string>Configuration</string>
            </property>
            <layout class="QFormLayout" name="formLayout_9">
             <item row="0" column="0">
              <widget class="QLabel" name="typeLabel">
               <property name="text">
                <string>Type:</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QComboBox" name="typeCombo">
               <item>
                <property name="text">
                 <string>HerkuleX</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>Gazebo</string>
                </property>
               </item>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QLabel" name="serialPortLabel">
               <property name="text">
                <string>Serial Port:</string>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QComboBox" name="serialPortCombo">
               <property name="editable">
                <bool>true</bool>
               </property>
               <item>
                <property name="text">
                 <string>/dev/ttyUSB0</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>/dev/ttyUSB1</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>/dev/ttyS0</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>/dev/ttyS1</string>
                </property>
               </item>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QLabel" name="modelLabel">
               <property name="text">
                <string>Gazebo:</string>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QPushButton" name="configureGazeboButton">
               <property name="text">
                <string>Configure Gazebo</string>
               </property>
              </widget>
             </item>
             <item row="3" column="1">
              <widget class="QPushButton" name="connectButton">
               <property name="text">
                <string>Connect</string>
               </property>
              </widget>
             </item>
             <item row="4" column="0" colspan="2">
              <widget class="Line" name="line">
               <property name="orientation">
                <enum>Qt::Horizontal</enum>
               </property>
              </widget>
             </item>
             <item row="5" column="0">
              <widget class="QLabel" name="statusLabel">
               <property name="text">
                <string>Status:</string>
               </property>
              </widget>
             </item>
             <item row="5" column="1">
              <widget class="QLabel" name="statusText">
               <property name="text">
                <string>stuff</string>
               </property>
              </widget>
             </item>
             <item row="6" column="0">
              <widget class="QLabel" name="servoCountLabel">
               <property name="text">
                <string>Servo Count:</string>
               </property>
              </widget>
             </item>
             <item row="6" column="1">
              <widget class="QSpinBox" name="servoCountSpin">
               <property name="minimum">
                <number>1</number>
               </property>
               <property name="maximum">
                <number>253</number>
               </property>
               <property name="value">
                <number>14</number>
               </property>
              </widget>
             </item>
             <item row="7" column="1">
              <spacer name="verticalSpacer">
               <property name="orientation">
                <enum>Qt::Vertical</enum>
               </property>
               <property name="sizeHint" stdset="0">
                <size>
                 <width>20</width>
                 <height>276</height>
                </size>
               </property>
              </spacer>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="posesGroup">
            <property name="title">
             <string>Poses</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_2">
             <item>
              <widget class="QListWidget" name="poseList"/>
             </item>
             <item>
              <layout class="QGridLayout" name="gridLayout_4">
               <item row="0" column="0">
                <widget class="QPushButton" name="addPoseButton">
                 <property name="text">
                  <string>Add Pose</string>
                 </property>
                </widget>
               </item>
               <item row="0" column="1">
                <widget class="QPushButton" name="removePoseButton">
                 <property name="text">
                  <string>Remove Pose</string>
                 </property>
                </widget>
               </item>
               <item row="1" column="0">
                <widget class="QPushButton" name="moveToPoseButton">
                 <property name="text">
                  <string>Move all Servos</string>
                 </property>
                </widget>
               </item>
               <item row="1" column="1">
                <widget class="QPushButton" name="updatePoseButton">
                 <property name="text">
                  <string>Save all Servos</string>
                 </property>
                </widget>
               </item>
              </layout>
             </item>
            </layout>
           </widget>
          </item>
         </layout>
        </item>
        <item>
         <widget class="QGroupBox" name="controlGroup">
          <property name="title">
           <string>Control</string>
          </property>
          <layout class="QVBoxLayout" name="verticalLayout_3">
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout">
             <item>
              <widget class="QLabel" name="powerLabel">
               <property name="text">
                <string>Power:</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QComboBox" name="powerCombo">
               <item>
                <property name="text">
                 <string>Free</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>Brake</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>Drive</string>
                </property>
               </item>
              </widget>
             </item>
             <item>
              <widget class="QPushButton" name="captureCurrentButton">
               <property name="text">
                <string>Capture Current</string>
               </property>
              </widget>
             </item>
            </layout>
           </item>
           <item>
            <widget class="Line" name="line_2">
             <property name="orientation">
              <enum>Qt::Horizontal</enum>
             </property>
            </widget>
           </item>
           <item>
            <widget class="QScrollArea" name="scrollArea">
             <property name="frameShape">
              <enum>QFrame::NoFrame</enum>
             </property>
             <property name="frameShadow">
              <enum>QFrame::Raised</enum>
             </property>
             <property name="widgetResizable">
              <bool>true</bool>
             </property>
             <widget class="QWidget" name="scrollContents">
              <property name="geometry">
               <rect>
                <x>0</x>
                <y>0</y>
                <width>705</width>
                <height>749</height>
               </rect>
              </property>
             </widget>
            </widget>
           </item>
          </layout>
         </widget>
        </item>
       </layout>
      </widget>
      <widget class="QWidget" name="ikConfigTab">
       <attribute name="title">
        <string>IK Configuration</string>
       </attribute>
       <layout class="QHBoxLayout" name="horizontalLayout_3">
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_5">
          <item>
           <widget class="QGroupBox" name="configurationGroup_2">
            <property name="title">
             <string>Configuration</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_2">
             <item row="4" column="2">
              <widget class="QComboBox" name="femurSignCombo">
               <item>
                <property name="text">
                 <string>+ Up</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>- Up</string>
                </property>
               </item>
              </widget>
             </item>
             <item row="0" column="0">
              <widget class="QLabel" name="legLabel">
               <property name="text">
                <string>Leg:</string>
               </property>
              </widget>
             </item>
             <item row="0" column="2">
              <widget class="QSpinBox" name="legSpin">
               <property name="minimum">
                <number>0</number>
               </property>
               <property name="maximum">
                <number>5</number>
               </property>
               <property name="value">
                <number>0</number>
               </property>
              </widget>
             </item>
             <item row="1" column="0" colspan="3">
              <widget class="Line" name="line_3">
               <property name="orientation">
                <enum>Qt::Horizontal</enum>
               </property>
              </widget>
             </item>
             <item row="2" column="2">
              <widget class="QComboBox" name="legPresentCombo">
               <item>
                <property name="text">
                 <string>Present</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>Not Present</string>
                </property>
               </item>
              </widget>
             </item>
             <item row="3" column="0">
              <widget class="QLabel" name="coxaLabel">
               <property name="text">
                <string>Coxa:</string>
               </property>
              </widget>
             </item>
             <item row="3" column="1">
              <widget class="QSpinBox" name="coxaServoSpin"/>
             </item>
             <item row="3" column="2">
              <widget class="QComboBox" name="coxaSignCombo">
               <item>
                <property name="text">
                 <string>+ Fwd</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>- Fwd</string>
                </property>
               </item>
              </widget>
             </item>
             <item row="4" column="0">
              <widget class="QLabel" name="femurLabel">
               <property name="text">
                <string>Femur:</string>
               </property>
              </widget>
             </item>
             <item row="4" column="1">
              <widget class="QSpinBox" name="femurServoSpin"/>
             </item>
             <item row="5" column="0">
              <widget class="QLabel" name="tibiaLabel">
               <property name="text">
                <string>Tibia:</string>
               </property>
              </widget>
             </item>
             <item row="5" column="1">
              <widget class="QSpinBox" name="tibiaServoSpin"/>
             </item>
             <item row="5" column="2">
              <widget class="QComboBox" name="tibiaSignCombo">
               <item>
                <property name="text">
                 <string>+ Out</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>- Out</string>
                </property>
               </item>
              </widget>
             </item>
             <item row="6" column="2">
              <spacer name="verticalSpacer_2">
               <property name="orientation">
                <enum>Qt::Vertical</enum>
               </property>
               <property name="sizeHint" stdset="0">
                <size>
                 <width>20</width>
                 <height>47</height>
                </size>
               </property>
              </spacer>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="limitPosesGroup">
            <property name="title">
             <string>Limit Poses</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_3">
             <item row="0" column="0">
              <widget class="QLabel" name="idleLabel">
               <property name="text">
                <string>Idle:</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QComboBox" name="idleCombo"/>
             </item>
             <item row="1" column="0">
              <widget class="QLabel" name="minimumLabel">
               <property name="text">
                <string>Minimum:</string>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QComboBox" name="minimumCombo"/>
             </item>
             <item row="2" column="0">
              <widget class="QLabel" name="maximumLabel">
               <property name="text">
                <string>Maximum:</string>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QComboBox" name="maximumCombo"/>
             </item>
             <item row="3" column="0" colspan="2">
              <widget class="QTextBrowser" name="textBrowser">
               <property name="verticalScrollBarPolicy">
                <enum>Qt::ScrollBarAlwaysOff</enum>
               </property>
               <property name="horizontalScrollBarPolicy">
                <enum>Qt::ScrollBarAlwaysOff</enum>
               </property>
               <property name="html">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;NOTE: &amp;quot;Idle&amp;quot; has the following conventions:&lt;/p&gt;
&lt;ol style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Coxa is at right angle to direction of forward motion.&lt;/li&gt;
&lt;li style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Femur is parallel to ground.&lt;/li&gt;
&lt;li style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Tibia is perpendicular to ground.&lt;/li&gt;&lt;/ol&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item row="4" column="1">
              <spacer name="verticalSpacer_3">
               <property name="orientation">
                <enum>Qt::Vertical</enum>
               </property>
               <property name="sizeHint" stdset="0">
                <size>
                 <width>20</width>
                 <height>40</height>
                </size>
               </property>
              </spacer>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <spacer name="verticalSpacer_6">
            <property name="orientation">
             <enum>Qt::Vertical</enum>
            </property>
            <property name="sizeHint" stdset="0">
             <size>
              <width>20</width>
              <height>40</height>
             </size>
            </property>
           </spacer>
          </item>
         </layout>
        </item>
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_6">
          <item>
           <widget class="QGroupBox" name="groupBox_3">
            <property name="title">
             <string>IK Offset</string>
            </property>
            <layout class="QFormLayout" name="formLayout">
             <item row="0" column="0">
              <widget class="QLabel" name="xOffsetLabel">
               <property name="text">
                <string>X (right) (mm):</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QDoubleSpinBox" name="xOffsetSpin">
               <property name="minimum">
                <double>-500.000000000000000</double>
               </property>
               <property name="maximum">
                <double>500.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QLabel" name="yOffsetLabel">
               <property name="text">
                <string>Y (forward) (mm):</string>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QDoubleSpinBox" name="yOffsetSpin">
               <property name="minimum">
                <double>-500.000000000000000</double>
               </property>
               <property name="maximum">
                <double>500.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QLabel" name="zOffsetLabel">
               <property name="text">
                <string>Z (up) (mm):</string>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QDoubleSpinBox" name="zOffsetSpin">
               <property name="minimum">
                <double>-500.000000000000000</double>
               </property>
               <property name="maximum">
                <double>500.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="3" column="1">
              <spacer name="verticalSpacer_4">
               <property name="orientation">
                <enum>Qt::Vertical</enum>
               </property>
               <property name="sizeHint" stdset="0">
                <size>
                 <width>69</width>
                 <height>40</height>
                </size>
               </property>
              </spacer>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_4">
            <property name="title">
             <string>Geometry</string>
            </property>
            <layout class="QFormLayout" name="formLayout_2">
             <item row="0" column="0">
              <widget class="QLabel" name="coxaLengthLabel">
               <property name="text">
                <string>Coxa Length (mm):</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QDoubleSpinBox" name="coxaLengthSpin">
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="minimum">
                <double>1.000000000000000</double>
               </property>
               <property name="maximum">
                <double>200.000000000000000</double>
               </property>
               <property name="value">
                <double>50.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QLabel" name="femurLengthLabel">
               <property name="text">
                <string>Femur Length (mm):</string>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QDoubleSpinBox" name="femurLengthSpin">
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="minimum">
                <double>1.000000000000000</double>
               </property>
               <property name="maximum">
                <double>200.000000000000000</double>
               </property>
               <property name="value">
                <double>50.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="4" column="0">
              <widget class="QLabel" name="tibiaLengthLabel">
               <property name="text">
                <string>Tibia Length (mm):</string>
               </property>
              </widget>
             </item>
             <item row="4" column="1">
              <widget class="QDoubleSpinBox" name="tibiaLengthSpin">
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="minimum">
                <double>1.000000000000000</double>
               </property>
               <property name="maximum">
                <double>200.000000000000000</double>
               </property>
               <property name="value">
                <double>50.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="7" column="1">
              <spacer name="verticalSpacer_5">
               <property name="orientation">
                <enum>Qt::Vertical</enum>
               </property>
               <property name="sizeHint" stdset="0">
                <size>
                 <width>53</width>
                 <height>40</height>
                </size>
               </property>
              </spacer>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <spacer name="verticalSpacer_7">
            <property name="orientation">
             <enum>Qt::Vertical</enum>
            </property>
            <property name="sizeHint" stdset="0">
             <size>
              <width>20</width>
              <height>40</height>
             </size>
            </property>
           </spacer>
          </item>
         </layout>
        </item>
        <item>
         <widget class="QGroupBox" name="groupBox_5">
          <property name="sizePolicy">
           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
            <horstretch>1</horstretch>
            <verstretch>0</verstretch>
           </sizepolicy>
          </property>
          <property name="title">
           <string>IK Test (click/hold to actuate)</string>
          </property>
          <layout class="QVBoxLayout" name="verticalLayout_4">
           <item>
            <layout class="QGridLayout" name="gridLayout_5">
             <item row="0" column="0">
              <widget class="QLabel" name="planeLabel">
               <property name="text">
                <string>Plane:</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1" colspan="2">
              <widget class="QComboBox" name="planeCombo">
               <item>
                <property name="text">
                 <string>X/Y (Clockwise/Out)</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>X/Z (Clockwise/Up)</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>Y/Z (Out/Up)</string>
                </property>
               </item>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QLabel" name="scaleLabel">
               <property name="text">
                <string>Length Scale (mm):</string>
               </property>
              </widget>
             </item>
             <item row="1" column="1" colspan="2">
              <widget class="QDoubleSpinBox" name="lengthScaleSpin">
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="minimum">
                <double>10.000000000000000</double>
               </property>
               <property name="maximum">
                <double>500.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
               <property name="value">
                <double>50.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QLabel" name="speedScaleLabel">
               <property name="text">
                <string>Speed Scale (mm/s):</string>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QSpinBox" name="speedScaleSpin">
               <property name="minimum">
                <number>10</number>
               </property>
               <property name="maximum">
                <number>5000</number>
               </property>
               <property name="singleStep">
                <number>20</number>
               </property>
               <property name="value">
                <number>500</number>
               </property>
              </widget>
             </item>
             <item row="2" column="2">
              <widget class="QComboBox" name="speedAxisCombo">
               <item>
                <property name="text">
                 <string>X</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>Y</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>Z</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>Any</string>
                </property>
               </item>
              </widget>
             </item>
            </layout>
           </item>
           <item>
            <widget class="Line" name="line_4">
             <property name="orientation">
              <enum>Qt::Horizontal</enum>
             </property>
            </widget>
           </item>
           <item>
            <widget class="QGraphicsView" name="ikTestView">
             <property name="verticalScrollBarPolicy">
              <enum>Qt::ScrollBarAlwaysOff</enum>
             </property>
             <property name="horizontalScrollBarPolicy">
              <enum>Qt::ScrollBarAlwaysOff</enum>
             </property>
            </widget>
           </item>
          </layout>
         </widget>
        </item>
       </layout>
      </widget>
      <widget class="QWidget" name="gaitConfigTab">
       <attribute name="title">
        <string>Gait Configuration</string>
       </attribute>
       <layout class="QHBoxLayout" name="horizontalLayout_5" stretch="1,1,6">
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_13">
          <item>
           <widget class="QGroupBox" name="mountingGroup">
            <property name="title">
             <string>Mounting</string>
            </property>
            <layout class="QFormLayout" name="formLayout_3">
             <item row="0" column="0">
              <widget class="QLabel" name="gaitLegLabel">
               <property name="text">
                <string>Leg:</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QListWidget" name="gaitLegList">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Ignored" vsizetype="Expanding">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="maximumSize">
                <size>
                 <width>16777215</width>
                 <height>80</height>
                </size>
               </property>
              </widget>
             </item>
             <item row="1" column="0" colspan="2">
              <widget class="Line" name="line_5">
               <property name="orientation">
                <enum>Qt::Horizontal</enum>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QLabel" name="label_2">
               <property name="text">
                <string>X (right) (mm):</string>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QDoubleSpinBox" name="mountingLegXSpin">
               <property name="minimum">
                <double>-1000.000000000000000</double>
               </property>
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>5.000000000000000</double>
               </property>
               <property name="value">
                <double>0.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="3" column="0">
              <widget class="QLabel" name="label_3">
               <property name="text">
                <string>Y (forward) (mm):</string>
               </property>
              </widget>
             </item>
             <item row="3" column="1">
              <widget class="QDoubleSpinBox" name="mountingLegYSpin">
               <property name="minimum">
                <double>-1000.000000000000000</double>
               </property>
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="4" column="0">
              <widget class="QLabel" name="label_4">
               <property name="text">
                <string>Z (up) (mm):</string>
               </property>
              </widget>
             </item>
             <item row="4" column="1">
              <widget class="QDoubleSpinBox" name="mountingLegZSpin">
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="bodyCogGroup">
            <property name="title">
             <string>Body CoG</string>
            </property>
            <layout class="QFormLayout" name="formLayout_4">
             <item row="0" column="0">
              <widget class="QLabel" name="label_13">
               <property name="text">
                <string>X (mm):</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QDoubleSpinBox" name="bodyCogXSpin">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>-500.000000000000000</double>
               </property>
               <property name="maximum">
                <double>500.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QLabel" name="label_14">
               <property name="text">
                <string>Y (mm):</string>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QDoubleSpinBox" name="bodyCogYSpin">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>-500.000000000000000</double>
               </property>
               <property name="maximum">
                <double>500.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QLabel" name="label_15">
               <property name="text">
                <string>Z (mm):</string>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QDoubleSpinBox" name="bodyCogZSpin">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>-500.000000000000000</double>
               </property>
               <property name="maximum">
                <double>500.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="idlePositionGroup">
            <property name="title">
             <string>Idle Position</string>
            </property>
            <layout class="QFormLayout" name="formLayout_5">
             <item row="0" column="0">
              <widget class="QLabel" name="label_10">
               <property name="text">
                <string>X (mm):</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QDoubleSpinBox" name="idlePositionXSpin">
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QLabel" name="label_11">
               <property name="text">
                <string>Y (mm):</string>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QDoubleSpinBox" name="idlePositionYSpin">
               <property name="minimum">
                <double>-1000.000000000000000</double>
               </property>
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QLabel" name="label_12">
               <property name="text">
                <string>Z (mm):</string>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QDoubleSpinBox" name="idlePositionZSpin">
               <property name="minimum">
                <double>-1000.000000000000000</double>
               </property>
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="gaitGroup">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
              <horstretch>0</horstretch>
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
            <property name="title">
             <string>Gait</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_11">
             <item>
              <widget class="QComboBox" name="comboBox">
               <property name="maximumSize">
                <size>
                 <width>100</width>
                 <height>16777215</height>
                </size>
               </property>
               <item>
                <property name="text">
                 <string>Ripple</string>
                </property>
               </item>
              </widget>
             </item>
             <item>
              <widget class="Line" name="line_6">
               <property name="orientation">
                <enum>Qt::Horizontal</enum>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QToolBox" name="toolBox">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="minimumSize">
                <size>
                 <width>220</width>
                 <height>240</height>
                </size>
               </property>
               <property name="styleSheet">
                <string notr="true">QScrollBar:horizontal {
  height: 0px;
  width: 0px;
}

QScrollBar:vertical {
  height: 0px;
  width: 0px;
}
</string>
               </property>
               <property name="currentIndex">
                <number>0</number>
               </property>
               <widget class="QWidget" name="page">
                <property name="geometry">
                 <rect>
                  <x>0</x>
                  <y>0</y>
                  <width>225</width>
                  <height>182</height>
                 </rect>
                </property>
                <attribute name="label">
                 <string>Basic</string>
                </attribute>
                <layout class="QFormLayout" name="formLayout_6">
                 <item row="0" column="0">
                  <widget class="QLabel" name="label_6">
                   <property name="text">
                    <string>Max cycle Time (s):</string>
                   </property>
                  </widget>
                 </item>
                 <item row="0" column="1">
                  <widget class="QDoubleSpinBox" name="maxCycleTimeSpin">
                   <property name="maximum">
                    <double>20.000000000000000</double>
                   </property>
                   <property name="singleStep">
                    <double>0.100000000000000</double>
                   </property>
                   <property name="value">
                    <double>4.000000000000000</double>
                   </property>
                  </widget>
                 </item>
                 <item row="1" column="0">
                  <widget class="QLabel" name="label_7">
                   <property name="text">
                    <string>Lift height (mm):</string>
                   </property>
                  </widget>
                 </item>
                 <item row="1" column="1">
                  <widget class="QDoubleSpinBox" name="liftHeightSpin">
                   <property name="minimum">
                    <double>1.000000000000000</double>
                   </property>
                   <property name="maximum">
                    <double>100.000000000000000</double>
                   </property>
                   <property name="value">
                    <double>10.000000000000000</double>
                   </property>
                  </widget>
                 </item>
                 <item row="2" column="0">
                  <widget class="QLabel" name="label_8">
                   <property name="text">
                    <string>Swing percent:</string>
                   </property>
                  </widget>
                 </item>
                 <item row="2" column="1">
                  <widget class="QDoubleSpinBox" name="swingPercentSpin">
                   <property name="maximum">
                    <double>200.000000000000000</double>
                   </property>
                   <property name="value">
                    <double>50.000000000000000</double>
                   </property>
                  </widget>
                 </item>
                 <item row="3" column="0">
                  <widget class="QLabel" name="label_9">
                   <property name="text">
                    <string>Position margin:</string>
                   </property>
                  </widget>
                 </item>
                 <item row="3" column="1">
                  <widget class="QDoubleSpinBox" name="positionMarginSpin">
                   <property name="minimum">
                    <double>1.000000000000000</double>
                   </property>
                   <property name="maximum">
                    <double>100.000000000000000</double>
                   </property>
                   <property name="value">
                    <double>80.000000000000000</double>
                   </property>
                  </widget>
                 </item>
                 <item row="4" column="0">
                  <widget class="QLabel" name="label">
                   <property name="text">
                    <string>Body Z offset (mm):</string>
                   </property>
                  </widget>
                 </item>
                 <item row="4" column="1">
                  <widget class="QDoubleSpinBox" name="bodyZOffsetSpin">
                   <property name="minimum">
                    <double>-1000.000000000000000</double>
                   </property>
                   <property name="maximum">
                    <double>1000.000000000000000</double>
                   </property>
                   <property name="singleStep">
                    <double>10.000000000000000</double>
                   </property>
                   <property name="value">
                    <double>60.000000000000000</double>
                   </property>
                  </widget>
                 </item>
                 <item row="5" column="0">
                  <widget class="QLabel" name="label_5">
                   <property name="text">
                    <string>Leg order:</string>
                   </property>
                  </widget>
                 </item>
                 <item row="5" column="1">
                  <widget class="QLineEdit" name="legOrderEdit"/>
                 </item>
                </layout>
               </widget>
               <widget class="QWidget" name="page_2">
                <property name="geometry">
                 <rect>
                  <x>0</x>
                  <y>0</y>
                  <width>209</width>
                  <height>119</height>
                 </rect>
                </property>
                <attribute name="label">
                 <string>Statically Stable</string>
                </attribute>
                <layout class="QFormLayout" name="formLayout_7">
                 <item row="0" column="0" colspan="2">
                  <widget class="QCheckBox" name="staticEnableCheck">
                   <property name="text">
                    <string>Enable statically stable gait</string>
                   </property>
                  </widget>
                 </item>
                 <item row="1" column="0">
                  <widget class="QLabel" name="label_30">
                   <property name="text">
                    <string>Center Factor:</string>
                   </property>
                  </widget>
                 </item>
                 <item row="1" column="1">
                  <widget class="QDoubleSpinBox" name="staticCenterSpin">
                   <property name="decimals">
                    <number>1</number>
                   </property>
                   <property name="maximum">
                    <double>1000.000000000000000</double>
                   </property>
                   <property name="singleStep">
                    <double>1.000000000000000</double>
                   </property>
                   <property name="value">
                    <double>3.000000000000000</double>
                   </property>
                  </widget>
                 </item>
                 <item row="2" column="0">
                  <widget class="QLabel" name="label_31">
                   <property name="text">
                    <string>Stable Factor:</string>
                   </property>
                  </widget>
                 </item>
                 <item row="2" column="1">
                  <widget class="QDoubleSpinBox" name="staticStableSpin">
                   <property name="decimals">
                    <number>1</number>
                   </property>
                   <property name="maximum">
                    <double>500.000000000000000</double>
                   </property>
                   <property name="singleStep">
                    <double>1.000000000000000</double>
                   </property>
                   <property name="value">
                    <double>10.000000000000000</double>
                   </property>
                  </widget>
                 </item>
                 <item row="3" column="0">
                  <widget class="QLabel" name="label_32">
                   <property name="text">
                    <string>Margin (mm):</string>
                   </property>
                  </widget>
                 </item>
                 <item row="3" column="1">
                  <widget class="QDoubleSpinBox" name="staticMarginSpin">
                   <property name="decimals">
                    <number>1</number>
                   </property>
                   <property name="minimum">
                    <double>1.000000000000000</double>
                   </property>
                   <property name="maximum">
                    <double>1000.000000000000000</double>
                   </property>
                   <property name="singleStep">
                    <double>5.000000000000000</double>
                   </property>
                   <property name="value">
                    <double>30.000000000000000</double>
                   </property>
                  </widget>
                 </item>
                </layout>
               </widget>
              </widget>
             </item>
             <item>
              <widget class="Line" name="line_7">
               <property name="orientation">
                <enum>Qt::Horizontal</enum>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QTextBrowser" name="gaitOptionsBrowser">
               <property name="maximumSize">
                <size>
                 <width>16777215</width>
                 <height>60</height>
                </size>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <spacer name="verticalSpacer_9">
            <property name="orientation">
             <enum>Qt::Vertical</enum>
            </property>
            <property name="sizeHint" stdset="0">
             <size>
              <width>20</width>
              <height>17</height>
             </size>
            </property>
           </spacer>
          </item>
         </layout>
        </item>
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_10">
          <item>
           <widget class="QGroupBox" name="gaitGraphGroup">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
              <horstretch>0</horstretch>
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
            <property name="title">
             <string>Gait Graph</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_7">
             <item>
              <widget class="QGraphicsView" name="gaitGraphView">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="maximumSize">
                <size>
                 <width>16777215</width>
                 <height>16777215</height>
                </size>
               </property>
               <property name="verticalScrollBarPolicy">
                <enum>Qt::ScrollBarAlwaysOff</enum>
               </property>
               <property name="horizontalScrollBarPolicy">
                <enum>Qt::ScrollBarAlwaysOff</enum>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="playbackGroup">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
              <horstretch>0</horstretch>
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
            <property name="title">
             <string>Playback</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_7">
             <item row="0" column="0">
              <widget class="QLabel" name="playbackBeginLabel">
               <property name="text">
                <string>Begin:</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QComboBox" name="playbackBeginCombo">
               <property name="maximumSize">
                <size>
                 <width>100</width>
                 <height>16777215</height>
                </size>
               </property>
               <item>
                <property name="text">
                 <string>Idle</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>Steady State</string>
                </property>
               </item>
              </widget>
             </item>
             <item row="1" column="0" colspan="2">
              <widget class="QSlider" name="playbackPhaseSlider">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="maximumSize">
                <size>
                 <width>16777215</width>
                 <height>16777215</height>
                </size>
               </property>
               <property name="maximum">
                <number>200</number>
               </property>
               <property name="orientation">
                <enum>Qt::Horizontal</enum>
               </property>
              </widget>
             </item>
             <item row="2" column="0" colspan="2">
              <layout class="QHBoxLayout" name="horizontalLayout_6">
               <item>
                <widget class="QPushButton" name="playbackSingleButton">
                 <property name="maximumSize">
                  <size>
                   <width>100</width>
                   <height>16777215</height>
                  </size>
                 </property>
                 <property name="text">
                  <string>Single</string>
                 </property>
                 <property name="checkable">
                  <bool>true</bool>
                 </property>
                 <property name="checked">
                  <bool>false</bool>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QPushButton" name="playbackRepeatButton">
                 <property name="maximumSize">
                  <size>
                   <width>100</width>
                   <height>16777215</height>
                  </size>
                 </property>
                 <property name="text">
                  <string>Repeat</string>
                 </property>
                 <property name="checkable">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QPushButton" name="playbackSlowRepeatButton">
                 <property name="maximumSize">
                  <size>
                   <width>100</width>
                   <height>16777215</height>
                  </size>
                 </property>
                 <property name="text">
                  <string>0.1x Repeat</string>
                 </property>
                 <property name="checkable">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
              </layout>
             </item>
             <item row="3" column="0" colspan="2">
              <layout class="QHBoxLayout" name="horizontalLayout_4">
               <item>
                <spacer name="horizontalSpacer">
                 <property name="orientation">
                  <enum>Qt::Horizontal</enum>
                 </property>
                 <property name="sizeHint" stdset="0">
                  <size>
                   <width>40</width>
                   <height>20</height>
                  </size>
                 </property>
                </spacer>
               </item>
               <item>
                <widget class="QPushButton" name="playbackCaptureButton">
                 <property name="text">
                  <string>Capture Pose</string>
                 </property>
                </widget>
               </item>
              </layout>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox">
            <property name="title">
             <string>Command</string>
            </property>
            <layout class="QFormLayout" name="formLayout_8">
             <property name="fieldGrowthPolicy">
              <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
             </property>
             <item row="0" column="0">
              <widget class="QLabel" name="label_16">
               <property name="text">
                <string>X (mm/s):</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QDoubleSpinBox" name="commandXSpin">
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="minimum">
                <double>-1000.000000000000000</double>
               </property>
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QLabel" name="label_17">
               <property name="text">
                <string>Y (mm/s):</string>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QDoubleSpinBox" name="commandYSpin">
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="minimum">
                <double>-1000.000000000000000</double>
               </property>
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QDoubleSpinBox" name="commandRotSpin">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>-50.000000000000000</double>
               </property>
               <property name="maximum">
                <double>50.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="3" column="0">
              <widget class="QLabel" name="label_21">
               <property name="text">
                <string>Body X (mm):</string>
               </property>
              </widget>
             </item>
             <item row="3" column="1">
              <widget class="QDoubleSpinBox" name="commandBodyXSpin">
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="minimum">
                <double>-1000.000000000000000</double>
               </property>
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="4" column="0">
              <widget class="QLabel" name="label_22">
               <property name="text">
                <string>Body Y (mm):</string>
               </property>
              </widget>
             </item>
             <item row="4" column="1">
              <widget class="QDoubleSpinBox" name="commandBodyYSpin">
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="minimum">
                <double>-1000.000000000000000</double>
               </property>
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="5" column="0">
              <widget class="QLabel" name="label_23">
               <property name="text">
                <string>Body Z (mm):</string>
               </property>
              </widget>
             </item>
             <item row="5" column="1">
              <widget class="QDoubleSpinBox" name="commandBodyZSpin">
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="minimum">
                <double>-1000.000000000000000</double>
               </property>
               <property name="maximum">
                <double>1000.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>10.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="6" column="0">
              <widget class="QLabel" name="label_24">
               <property name="text">
                <string>Pitch (deg):</string>
               </property>
              </widget>
             </item>
             <item row="6" column="1">
              <widget class="QDoubleSpinBox" name="commandPitchSpin">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>-90.000000000000000</double>
               </property>
               <property name="maximum">
                <double>90.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="7" column="0">
              <widget class="QLabel" name="label_25">
               <property name="text">
                <string>Roll (deg):</string>
               </property>
              </widget>
             </item>
             <item row="7" column="1">
              <widget class="QDoubleSpinBox" name="commandRollSpin">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>-90.000000000000000</double>
               </property>
               <property name="maximum">
                <double>90.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="8" column="0">
              <widget class="QLabel" name="label_26">
               <property name="text">
                <string>Yaw (deg):</string>
               </property>
              </widget>
             </item>
             <item row="8" column="1">
              <widget class="QDoubleSpinBox" name="commandYawSpin">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>-180.000000000000000</double>
               </property>
               <property name="maximum">
                <double>180.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="9" column="0" colspan="2">
              <widget class="QPushButton" name="commandResetButton">
               <property name="text">
                <string>Reset</string>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QLabel" name="label_20">
               <property name="text">
                <string>Rot (deg/s):</string>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <spacer name="verticalSpacer_8">
            <property name="orientation">
             <enum>Qt::Vertical</enum>
            </property>
            <property name="sizeHint" stdset="0">
             <size>
              <width>17</width>
              <height>13</height>
             </size>
            </property>
           </spacer>
          </item>
         </layout>
        </item>
        <item>
         <layout class="QVBoxLayout" name="verticalLayout_9" stretch="1,1">
          <item>
           <widget class="QGroupBox" name="geometryGroup">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
              <horstretch>0</horstretch>
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
            <property name="title">
             <string>Geometry</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout">
             <item>
              <layout class="QGridLayout" name="gridLayout_6">
               <item row="0" column="0">
                <widget class="QComboBox" name="geometryFrameCombo">
                 <item>
                  <property name="text">
                   <string>Robot</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>World</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body</string>
                  </property>
                 </item>
                </widget>
               </item>
               <item row="0" column="1">
                <widget class="QComboBox" name="geometryProjectionCombo">
                 <item>
                  <property name="text">
                   <string>X/Y</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Y/Z</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>X/Z</string>
                  </property>
                 </item>
                </widget>
               </item>
               <item row="1" column="0">
                <widget class="QLabel" name="label_27">
                 <property name="text">
                  <string>Scale:</string>
                 </property>
                </widget>
               </item>
               <item row="1" column="1">
                <widget class="QDoubleSpinBox" name="geometryScaleSpin">
                 <property name="decimals">
                  <number>1</number>
                 </property>
                 <property name="maximum">
                  <double>1000000.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>50.000000000000000</double>
                 </property>
                 <property name="value">
                  <double>300.000000000000000</double>
                 </property>
                </widget>
               </item>
              </layout>
             </item>
             <item>
              <widget class="QGraphicsView" name="gaitGeometryView">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="verticalScrollBarPolicy">
                <enum>Qt::ScrollBarAlwaysOff</enum>
               </property>
               <property name="horizontalScrollBarPolicy">
                <enum>Qt::ScrollBarAlwaysOff</enum>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="commandGroup">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
              <horstretch>0</horstretch>
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
            <property name="title">
             <string>Command (click to set)</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_8">
             <item>
              <layout class="QGridLayout" name="gridLayout_8">
               <item row="0" column="0">
                <widget class="QLabel" name="label_18">
                 <property name="text">
                  <string>X:</string>
                 </property>
                </widget>
               </item>
               <item row="0" column="1">
                <widget class="QComboBox" name="commandXCombo">
                 <item>
                  <property name="text">
                   <string>Translation X</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Translation Y</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Rotation</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body X</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body Y</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body Z</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body Pitch</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body Roll</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body Yaw</string>
                  </property>
                 </item>
                </widget>
               </item>
               <item row="0" column="2">
                <widget class="QLabel" name="label_28">
                 <property name="text">
                  <string>Scale:</string>
                 </property>
                </widget>
               </item>
               <item row="0" column="3">
                <widget class="QDoubleSpinBox" name="commandXScaleSpin">
                 <property name="decimals">
                  <number>1</number>
                 </property>
                 <property name="minimum">
                  <double>1.000000000000000</double>
                 </property>
                 <property name="maximum">
                  <double>5000.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>10.000000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="1" column="0">
                <widget class="QLabel" name="label_19">
                 <property name="text">
                  <string>Y:</string>
                 </property>
                </widget>
               </item>
               <item row="1" column="1">
                <widget class="QComboBox" name="commandYCombo">
                 <property name="currentIndex">
                  <number>1</number>
                 </property>
                 <item>
                  <property name="text">
                   <string>Translation X</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Translation Y</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Rotation</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body X</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body Y</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body Z</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body Pitch</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body Roll</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Body Yaw</string>
                  </property>
                 </item>
                </widget>
               </item>
               <item row="1" column="2">
                <widget class="QLabel" name="label_29">
                 <property name="text">
                  <string>Scale:</string>
                 </property>
                </widget>
               </item>
               <item row="1" column="3">
                <widget class="QDoubleSpinBox" name="commandYScaleSpin">
                 <property name="decimals">
                  <number>1</number>
                 </property>
                 <property name="minimum">
                  <double>1.000000000000000</double>
                 </property>
                 <property name="maximum">
                  <double>5000.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>10.000000000000000</double>
                 </property>
                </widget>
               </item>
              </layout>
             </item>
             <item>
              <widget class="QGraphicsView" name="gaitCommandView">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
         </layout>
        </item>
       </layout>
      </widget>
     </widget>
    </item>
   </layout>
  </widget>
  <widget class="QMenuBar" name="menubar">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
     <width>1014</width>
     <height>20</height>
    </rect>
   </property>
  </widget>
  <widget class="QStatusBar" name="statusbar"/>
 </widget>
 <resources/>
 <connections/>
</ui>