mainwindow.ui

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>MainWindow</class>
 <widget class="QMainWindow" name="MainWindow">
  <property name="enabled">
   <bool>true</bool>
  </property>
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>800</width>
    <height>622</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>HandGuiding</string>
  </property>
  <property name="documentMode">
   <bool>true</bool>
  </property>
  <widget class="QWidget" name="centralWidget">
   <widget class="QComboBox" name="cBSensorName">
    <property name="geometry">
     <rect>
      <x>20</x>
      <y>20</y>
      <width>131</width>
      <height>27</height>
     </rect>
    </property>
    <property name="editable">
     <bool>false</bool>
    </property>
   </widget>
   <widget class="QLabel" name="label_sensor_type">
    <property name="geometry">
     <rect>
      <x>40</x>
      <y>0</y>
      <width>91</width>
      <height>17</height>
     </rect>
    </property>
    <property name="text">
     <string>SensorType</string>
    </property>
   </widget>
   <widget class="QPushButton" name="pBStart">
    <property name="enabled">
     <bool>false</bool>
    </property>
    <property name="geometry">
     <rect>
      <x>670</x>
      <y>450</y>
      <width>100</width>
      <height>71</height>
     </rect>
    </property>
    <property name="text">
     <string>Start</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_sensitivity">
    <property name="geometry">
     <rect>
      <x>230</x>
      <y>290</y>
      <width>71</width>
      <height>20</height>
     </rect>
    </property>
    <property name="text">
     <string>sensitivity</string>
    </property>
   </widget>
   <widget class="QWidget" name="layoutWidget">
    <property name="geometry">
     <rect>
      <x>310</x>
      <y>320</y>
      <width>61</width>
      <height>194</height>
     </rect>
    </property>
    <layout class="QGridLayout" name="gridLayout_2">
     <item row="5" column="0">
      <widget class="QLineEdit" name="lEDampWz">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="0">
      <widget class="QLineEdit" name="lEDampVz">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="0">
      <widget class="QLineEdit" name="lEDampVy">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="0" column="0">
      <widget class="QLineEdit" name="lEDampVx">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="3" column="0">
      <widget class="QLineEdit" name="lEDampWx">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="4" column="0">
      <widget class="QLineEdit" name="lEDampWy">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
    </layout>
   </widget>
   <widget class="QWidget" name="layoutWidget_2">
    <property name="geometry">
     <rect>
      <x>390</x>
      <y>320</y>
      <width>61</width>
      <height>194</height>
     </rect>
    </property>
    <layout class="QGridLayout" name="gridLayout_3">
     <item row="3" column="0">
      <widget class="QLineEdit" name="lEStiffOriX">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="5" column="0">
      <widget class="QLineEdit" name="lEStiffOriZ">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="0">
      <widget class="QLineEdit" name="lEStiffPosY">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="0" column="0">
      <widget class="QLineEdit" name="lEStiffPosX">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="0">
      <widget class="QLineEdit" name="lEStiffPosZ">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="4" column="0">
      <widget class="QLineEdit" name="lEStiffOriY">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
    </layout>
   </widget>
   <widget class="QWidget" name="layoutWidget_3">
    <property name="geometry">
     <rect>
      <x>470</x>
      <y>320</y>
      <width>61</width>
      <height>194</height>
     </rect>
    </property>
    <layout class="QGridLayout" name="gridLayout_4">
     <item row="2" column="0">
      <widget class="QLineEdit" name="lEForceZThreshold">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="5" column="0">
      <widget class="QLineEdit" name="lETorqueZThreshold">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="0">
      <widget class="QLineEdit" name="lEForceYThreshold">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="0" column="0">
      <widget class="QLineEdit" name="lEForceXThreshold">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="4" column="0">
      <widget class="QLineEdit" name="lETorqueYThreshold">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="3" column="0">
      <widget class="QLineEdit" name="lETorqueXThreshold">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
    </layout>
   </widget>
   <widget class="QLabel" name="label_damp">
    <property name="geometry">
     <rect>
      <x>320</x>
      <y>290</y>
      <width>71</width>
      <height>20</height>
     </rect>
    </property>
    <property name="text">
     <string>damp</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_stiffness">
    <property name="geometry">
     <rect>
      <x>390</x>
      <y>290</y>
      <width>71</width>
      <height>20</height>
     </rect>
    </property>
    <property name="text">
     <string>stiffness</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_threshold">
    <property name="geometry">
     <rect>
      <x>470</x>
      <y>290</y>
      <width>71</width>
      <height>20</height>
     </rect>
    </property>
    <property name="text">
     <string>threshold</string>
    </property>
   </widget>
   <widget class="QWidget" name="gridLayoutWidget">
    <property name="geometry">
     <rect>
      <x>220</x>
      <y>20</y>
      <width>251</width>
      <height>80</height>
     </rect>
    </property>
    <layout class="QGridLayout" name="gridLayout_5">
     <item row="0" column="0">
      <widget class="QPushButton" name="pBPos1">
       <property name="text">
        <string>Pose1</string>
       </property>
      </widget>
     </item>
     <item row="0" column="1">
      <widget class="QPushButton" name="pBPos2">
       <property name="text">
        <string>Pose2</string>
       </property>
      </widget>
     </item>
     <item row="1" column="0">
      <widget class="QPushButton" name="pBPos3">
       <property name="text">
        <string>Pose3</string>
       </property>
      </widget>
     </item>
     <item row="1" column="1">
      <widget class="QPushButton" name="pBCalibration">
       <property name="text">
        <string>Calibrate</string>
       </property>
      </widget>
     </item>
    </layout>
   </widget>
   <widget class="QLabel" name="label_calibration">
    <property name="geometry">
     <rect>
      <x>280</x>
      <y>0</y>
      <width>91</width>
      <height>17</height>
     </rect>
    </property>
    <property name="text">
     <string>Calibration</string>
    </property>
   </widget>
   <widget class="QWidget" name="layoutWidget">
    <property name="geometry">
     <rect>
      <x>225</x>
      <y>321</y>
      <width>71</width>
      <height>194</height>
     </rect>
    </property>
    <layout class="QGridLayout" name="gridLayout">
     <item row="0" column="0">
      <widget class="QLineEdit" name="lESensitivityFx">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="5" column="0">
      <widget class="QLineEdit" name="lESensitivityTz">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="0">
      <widget class="QLineEdit" name="lESensitivityFz">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="4" column="0">
      <widget class="QLineEdit" name="lESensitivityTy">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="0">
      <widget class="QLineEdit" name="lESensitivityFy">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="3" column="0">
      <widget class="QLineEdit" name="lESensitivityTx">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
    </layout>
   </widget>
   <widget class="QGroupBox" name="gBModel">
    <property name="geometry">
     <rect>
      <x>10</x>
      <y>270</y>
      <width>141</width>
      <height>91</height>
     </rect>
    </property>
    <property name="styleSheet">
     <string notr="true">QGroupBox{
border-width:2px;
border-style:solid;
border-color:black;
}</string>
    </property>
    <property name="title">
     <string>Control Model</string>
    </property>
    <property name="flat">
     <bool>true</bool>
    </property>
    <property name="checkable">
     <bool>false</bool>
    </property>
    <widget class="QRadioButton" name="rBVelocity">
     <property name="geometry">
      <rect>
       <x>20</x>
       <y>30</y>
       <width>117</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>Velocity</string>
     </property>
    </widget>
    <widget class="QRadioButton" name="rBAcceleration">
     <property name="geometry">
      <rect>
       <x>20</x>
       <y>60</y>
       <width>117</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>Acceleration</string>
     </property>
    </widget>
   </widget>
   <widget class="QGroupBox" name="gBCalculateMethod">
    <property name="geometry">
     <rect>
      <x>10</x>
      <y>180</y>
      <width>141</width>
      <height>91</height>
     </rect>
    </property>
    <property name="styleSheet">
     <string notr="true">QGroupBox{
border-width:3px;
border-style:solid;
border-color:white;
margin-top:0.1ex;
}</string>
    </property>
    <property name="title">
     <string>Calculate Method</string>
    </property>
    <widget class="QRadioButton" name="rBJacobian">
     <property name="geometry">
      <rect>
       <x>20</x>
       <y>30</y>
       <width>117</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>Jacobian</string>
     </property>
    </widget>
    <widget class="QRadioButton" name="rBIK">
     <property name="geometry">
      <rect>
       <x>20</x>
       <y>60</y>
       <width>117</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>IK</string>
     </property>
    </widget>
   </widget>
   <widget class="QGroupBox" name="gBDragMode">
    <property name="geometry">
     <rect>
      <x>20</x>
      <y>70</y>
      <width>131</width>
      <height>101</height>
     </rect>
    </property>
    <property name="styleSheet">
     <string notr="true">QGroupBox{
border-width:2px;
border-style:solid;
border-color:grey;
}</string>
    </property>
    <property name="title">
     <string> Drag Mode</string>
    </property>
    <widget class="QRadioButton" name="rBPos">
     <property name="geometry">
      <rect>
       <x>11</x>
       <y>25</y>
       <width>117</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>Position</string>
     </property>
    </widget>
    <widget class="QRadioButton" name="rBOri">
     <property name="geometry">
      <rect>
       <x>10</x>
       <y>48</y>
       <width>117</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>Orientation</string>
     </property>
    </widget>
    <widget class="QRadioButton" name="rBPose">
     <property name="geometry">
      <rect>
       <x>10</x>
       <y>71</y>
       <width>117</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>Pose</string>
     </property>
    </widget>
   </widget>
   <widget class="QPushButton" name="pushButton">
    <property name="geometry">
     <rect>
      <x>186</x>
      <y>-30</y>
      <width>16</width>
      <height>591</height>
     </rect>
    </property>
    <property name="text">
     <string/>
    </property>
   </widget>
   <widget class="QLabel" name="label_limit">
    <property name="geometry">
     <rect>
      <x>560</x>
      <y>290</y>
      <width>41</width>
      <height>20</height>
     </rect>
    </property>
    <property name="text">
     <string>limit</string>
    </property>
   </widget>
   <widget class="QWidget" name="layoutWidget_4">
    <property name="geometry">
     <rect>
      <x>550</x>
      <y>320</y>
      <width>61</width>
      <height>194</height>
     </rect>
    </property>
    <layout class="QGridLayout" name="gridLayout_6">
     <item row="2" column="0">
      <widget class="QLineEdit" name="lEForceZLimit">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="5" column="0">
      <widget class="QLineEdit" name="lETorqueZLimit">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="1" column="0">
      <widget class="QLineEdit" name="lEForceYLimit">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="0" column="0">
      <widget class="QLineEdit" name="lEForceXLimit">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="4" column="0">
      <widget class="QLineEdit" name="lETorqueYLimit">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="3" column="0">
      <widget class="QLineEdit" name="lETorqueXLimit">
       <property name="contextMenuPolicy">
        <enum>Qt::NoContextMenu</enum>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
    </layout>
   </widget>
   <widget class="QLabel" name="label_bufferLimit">
    <property name="geometry">
     <rect>
      <x>670</x>
      <y>380</y>
      <width>101</width>
      <height>20</height>
     </rect>
    </property>
    <property name="text">
     <string>BuffSize Limit</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_control_period">
    <property name="geometry">
     <rect>
      <x>670</x>
      <y>320</y>
      <width>101</width>
      <height>20</height>
     </rect>
    </property>
    <property name="text">
     <string>Control Period</string>
    </property>
   </widget>
   <widget class="QLineEdit" name="lEControlPeriod">
    <property name="enabled">
     <bool>false</bool>
    </property>
    <property name="geometry">
     <rect>
      <x>670</x>
      <y>340</y>
      <width>100</width>
      <height>27</height>
     </rect>
    </property>
    <property name="layoutDirection">
     <enum>Qt::LeftToRight</enum>
    </property>
    <property name="text">
     <string>5</string>
    </property>
   </widget>
   <widget class="QLineEdit" name="lEBuffSizeLimit">
    <property name="enabled">
     <bool>false</bool>
    </property>
    <property name="geometry">
     <rect>
      <x>670</x>
      <y>410</y>
      <width>100</width>
      <height>27</height>
     </rect>
    </property>
    <property name="text">
     <string>42</string>
    </property>
   </widget>
   <widget class="QPushButton" name="pushButton_2">
    <property name="geometry">
     <rect>
      <x>210</x>
      <y>250</y>
      <width>591</width>
      <height>16</height>
     </rect>
    </property>
    <property name="text">
     <string/>
    </property>
   </widget>
   <widget class="QSlider" name="hSFilter1">
    <property name="enabled">
     <bool>false</bool>
    </property>
    <property name="geometry">
     <rect>
      <x>290</x>
      <y>117</y>
      <width>181</width>
      <height>29</height>
     </rect>
    </property>
    <property name="maximum">
     <number>10</number>
    </property>
    <property name="value">
     <number>0</number>
    </property>
    <property name="orientation">
     <enum>Qt::Horizontal</enum>
    </property>
   </widget>
   <widget class="QSlider" name="hSFilter2">
    <property name="enabled">
     <bool>false</bool>
    </property>
    <property name="geometry">
     <rect>
      <x>290</x>
      <y>153</y>
      <width>181</width>
      <height>29</height>
     </rect>
    </property>
    <property name="maximum">
     <number>10</number>
    </property>
    <property name="orientation">
     <enum>Qt::Horizontal</enum>
    </property>
   </widget>
   <widget class="QLabel" name="label_filter1">
    <property name="geometry">
     <rect>
      <x>220</x>
      <y>120</y>
      <width>67</width>
      <height>20</height>
     </rect>
    </property>
    <property name="text">
     <string>Filter1</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_filter2">
    <property name="geometry">
     <rect>
      <x>220</x>
      <y>156</y>
      <width>51</width>
      <height>20</height>
     </rect>
    </property>
    <property name="text">
     <string>Filter2</string>
    </property>
   </widget>
   <widget class="QFrame" name="frame">
    <property name="geometry">
     <rect>
      <x>483</x>
      <y>23</y>
      <width>315</width>
      <height>75</height>
     </rect>
    </property>
    <property name="frameShape">
     <enum>QFrame::StyledPanel</enum>
    </property>
    <property name="frameShadow">
     <enum>QFrame::Raised</enum>
    </property>
    <widget class="QLineEdit" name="lEPosRZ">
     <property name="geometry">
      <rect>
       <x>240</x>
       <y>40</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="inputMethodHints">
      <set>Qt::ImhDigitsOnly</set>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lEPosX">
     <property name="geometry">
      <rect>
       <x>100</x>
       <y>4</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="contextMenuPolicy">
      <enum>Qt::NoContextMenu</enum>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QLabel" name="label_ori">
     <property name="geometry">
      <rect>
       <x>10</x>
       <y>44</y>
       <width>80</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>Orientation</string>
     </property>
    </widget>
    <widget class="QLabel" name="label_position">
     <property name="geometry">
      <rect>
       <x>10</x>
       <y>8</y>
       <width>67</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>Position</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lEPosRX">
     <property name="geometry">
      <rect>
       <x>100</x>
       <y>40</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lEPosY">
     <property name="geometry">
      <rect>
       <x>170</x>
       <y>4</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lEPosRY">
     <property name="geometry">
      <rect>
       <x>170</x>
       <y>40</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lEPosZ">
     <property name="geometry">
      <rect>
       <x>240</x>
       <y>4</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
   </widget>
   <widget class="QFrame" name="frame_2">
    <property name="geometry">
     <rect>
      <x>483</x>
      <y>110</y>
      <width>315</width>
      <height>71</height>
     </rect>
    </property>
    <property name="frameShape">
     <enum>QFrame::StyledPanel</enum>
    </property>
    <property name="frameShadow">
     <enum>QFrame::Raised</enum>
    </property>
    <widget class="QLabel" name="label_torque">
     <property name="geometry">
      <rect>
       <x>10</x>
       <y>44</y>
       <width>81</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>Torque(Nm)</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lEForceZ">
     <property name="geometry">
      <rect>
       <x>238</x>
       <y>4</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QLabel" name="label_force">
     <property name="geometry">
      <rect>
       <x>9</x>
       <y>8</y>
       <width>81</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>Force(N)</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lETorqueZ">
     <property name="geometry">
      <rect>
       <x>238</x>
       <y>40</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="inputMethodHints">
      <set>Qt::ImhDigitsOnly</set>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lEForceX">
     <property name="geometry">
      <rect>
       <x>98</x>
       <y>4</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="contextMenuPolicy">
      <enum>Qt::NoContextMenu</enum>
     </property>
     <property name="text">
      <string>0</string>
     </property>
     <property name="readOnly">
      <bool>true</bool>
     </property>
    </widget>
    <widget class="QLineEdit" name="lETorqueX">
     <property name="geometry">
      <rect>
       <x>98</x>
       <y>40</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lEForceY">
     <property name="geometry">
      <rect>
       <x>168</x>
       <y>4</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lETorqueY">
     <property name="geometry">
      <rect>
       <x>168</x>
       <y>40</y>
       <width>70</width>
       <height>27</height>
      </rect>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
   </widget>
   <widget class="QPushButton" name="pBRobot">
    <property name="geometry">
     <rect>
      <x>50</x>
      <y>460</y>
      <width>50</width>
      <height>40</height>
     </rect>
    </property>
    <property name="text">
     <string>Reset</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_realtimeData">
    <property name="geometry">
     <rect>
      <x>220</x>
      <y>220</y>
      <width>91</width>
      <height>17</height>
     </rect>
    </property>
    <property name="text">
     <string>Sensor Data:</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_realtimeData_2">
    <property name="geometry">
     <rect>
      <x>610</x>
      <y>0</y>
      <width>71</width>
      <height>17</height>
     </rect>
    </property>
    <property name="text">
     <string>Tool  Data:</string>
    </property>
   </widget>
   <widget class="QWidget" name="gridLayoutWidget_2">
    <property name="geometry">
     <rect>
      <x>320</x>
      <y>200</y>
      <width>401</width>
      <height>42</height>
     </rect>
    </property>
    <layout class="QGridLayout" name="gridLayout_7">
     <item row="1" column="1">
      <widget class="QLabel" name="label_Fx_2">
       <property name="text">
        <string>Fx</string>
       </property>
       <property name="alignment">
        <set>Qt::AlignCenter</set>
       </property>
      </widget>
     </item>
     <item row="1" column="2">
      <widget class="QLabel" name="label_Fy_2">
       <property name="text">
        <string>Fy</string>
       </property>
       <property name="alignment">
        <set>Qt::AlignCenter</set>
       </property>
      </widget>
     </item>
     <item row="1" column="6">
      <widget class="QLabel" name="label_Tz_2">
       <property name="text">
        <string>Tz</string>
       </property>
       <property name="alignment">
        <set>Qt::AlignCenter</set>
       </property>
      </widget>
     </item>
     <item row="1" column="3">
      <widget class="QLabel" name="label_Fz_2">
       <property name="text">
        <string>Fz</string>
       </property>
       <property name="alignment">
        <set>Qt::AlignCenter</set>
       </property>
      </widget>
     </item>
     <item row="1" column="5">
      <widget class="QLabel" name="label_Ty_2">
       <property name="text">
        <string>Ty</string>
       </property>
       <property name="alignment">
        <set>Qt::AlignCenter</set>
       </property>
      </widget>
     </item>
     <item row="1" column="4">
      <widget class="QLabel" name="label_Tx_2">
       <property name="text">
        <string>Tx</string>
       </property>
       <property name="alignment">
        <set>Qt::AlignCenter</set>
       </property>
      </widget>
     </item>
     <item row="2" column="6">
      <widget class="QLabel" name="label_Tz">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="4">
      <widget class="QLabel" name="label_Tx">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="5">
      <widget class="QLabel" name="label_Ty">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="2">
      <widget class="QLabel" name="label_Fy">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="3">
      <widget class="QLabel" name="label_Fz">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
     <item row="2" column="1">
      <widget class="QLabel" name="label_Fx">
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </item>
    </layout>
   </widget>
   <widget class="QLineEdit" name="lE_pos_wcr">
    <property name="geometry">
     <rect>
      <x>230</x>
      <y>530</y>
      <width>71</width>
      <height>27</height>
     </rect>
    </property>
    <property name="text">
     <string>0.005</string>
    </property>
   </widget>
   <widget class="QLineEdit" name="lE_pos_wth">
    <property name="geometry">
     <rect>
      <x>320</x>
      <y>530</y>
      <width>71</width>
      <height>27</height>
     </rect>
    </property>
    <property name="text">
     <string>0.03</string>
    </property>
   </widget>
   <widget class="QLineEdit" name="lE_pos_lambda">
    <property name="geometry">
     <rect>
      <x>420</x>
      <y>530</y>
      <width>71</width>
      <height>27</height>
     </rect>
    </property>
    <property name="text">
     <string>10</string>
    </property>
   </widget>
   <widget class="QLineEdit" name="lE_ori_wcr">
    <property name="geometry">
     <rect>
      <x>510</x>
      <y>530</y>
      <width>71</width>
      <height>27</height>
     </rect>
    </property>
    <property name="text">
     <string>0.005</string>
    </property>
   </widget>
   <widget class="QLineEdit" name="lE_ori_wth">
    <property name="geometry">
     <rect>
      <x>600</x>
      <y>530</y>
      <width>71</width>
      <height>27</height>
     </rect>
    </property>
    <property name="text">
     <string>0.03</string>
    </property>
   </widget>
   <widget class="QLineEdit" name="lE_ori_lambda">
    <property name="geometry">
     <rect>
      <x>700</x>
      <y>530</y>
      <width>71</width>
      <height>27</height>
     </rect>
    </property>
    <property name="text">
     <string>10</string>
    </property>
   </widget>
   <widget class="QRadioButton" name="rBenable_constraints">
    <property name="geometry">
     <rect>
      <x>0</x>
      <y>520</y>
      <width>171</width>
      <height>22</height>
     </rect>
    </property>
    <property name="text">
     <string>enable_constraints</string>
    </property>
   </widget>
   <widget class="QGroupBox" name="gBCalculateMethod_2">
    <property name="geometry">
     <rect>
      <x>10</x>
      <y>370</y>
      <width>141</width>
      <height>91</height>
     </rect>
    </property>
    <property name="styleSheet">
     <string notr="true">QGroupBox{
border-width:3px;
border-style:solid;
border-color:white;
margin-top:0.1ex;
}</string>
    </property>
    <property name="title">
     <string>Control Space</string>
    </property>
    <widget class="QRadioButton" name="rBJointSpace">
     <property name="geometry">
      <rect>
       <x>20</x>
       <y>30</y>
       <width>117</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>Joint</string>
     </property>
    </widget>
    <widget class="QRadioButton" name="rBOperateSpace">
     <property name="geometry">
      <rect>
       <x>20</x>
       <y>60</y>
       <width>117</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>Operate</string>
     </property>
    </widget>
   </widget>
  </widget>
  <widget class="QMenuBar" name="menuBar">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
     <width>800</width>
     <height>25</height>
    </rect>
   </property>
  </widget>
  <widget class="QToolBar" name="mainToolBar">
   <attribute name="toolBarArea">
    <enum>TopToolBarArea</enum>
   </attribute>
   <attribute name="toolBarBreak">
    <bool>false</bool>
   </attribute>
  </widget>
  <widget class="QStatusBar" name="statusBar">
   <property name="enabled">
    <bool>false</bool>
   </property>
  </widget>
 </widget>
 <layoutdefault spacing="6" margin="11"/>
 <resources/>
 <connections/>
</ui>