mainwindow.ui

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>HandGuidingForm</class>
 <widget class="QWidget" name="HandGuidingForm">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>848</width>
    <height>622</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Form</string>
  </property>
  <widget class="QTabWidget" name="tWHandGuiding">
   <property name="geometry">
    <rect>
     <x>3</x>
     <y>10</y>
     <width>841</width>
     <height>601</height>
    </rect>
   </property>
   <property name="styleSheet">
    <string notr="true">frame{border:1px solid rgb(0,255,0)} </string>
   </property>
   <property name="currentIndex">
    <number>5</number>
   </property>
   <widget class="QWidget" name="ROBOT">
    <property name="accessibleName">
     <string>ROBOT</string>
    </property>
    <attribute name="title">
     <string>ROBOT</string>
    </attribute>
    <widget class="QComboBox" name="cBRobotType">
     <property name="geometry">
      <rect>
       <x>10</x>
       <y>50</y>
       <width>131</width>
       <height>27</height>
      </rect>
     </property>
     <property name="editable">
      <bool>false</bool>
     </property>
     <item>
      <property name="text">
       <string>G3</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>G6</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>G12</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>G18</string>
      </property>
     </item>
    </widget>
    <widget class="QLabel" name="label_sensor_type_2">
     <property name="geometry">
      <rect>
       <x>15</x>
       <y>15</y>
       <width>121</width>
       <height>31</height>
      </rect>
     </property>
     <property name="font">
      <font>
       <pointsize>16</pointsize>
      </font>
     </property>
     <property name="text">
      <string>RobotType</string>
     </property>
    </widget>
    <widget class="Line" name="line_6">
     <property name="geometry">
      <rect>
       <x>150</x>
       <y>17</y>
       <width>20</width>
       <height>501</height>
      </rect>
     </property>
     <property name="orientation">
      <enum>Qt::Vertical</enum>
     </property>
    </widget>
    <widget class="QLabel" name="label_calibration_2">
     <property name="geometry">
      <rect>
       <x>20</x>
       <y>140</y>
       <width>111</width>
       <height>31</height>
      </rect>
     </property>
     <property name="font">
      <font>
       <pointsize>16</pointsize>
      </font>
     </property>
     <property name="text">
      <string>PayLoad</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lEPayLoad">
     <property name="geometry">
      <rect>
       <x>20</x>
       <y>180</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_realtimeData_4">
     <property name="geometry">
      <rect>
       <x>100</x>
       <y>185</y>
       <width>21</width>
       <height>17</height>
      </rect>
     </property>
     <property name="text">
      <string>Kg</string>
     </property>
    </widget>
   </widget>
   <widget class="QWidget" name="FT_Sensor">
    <attribute name="title">
     <string>FT Sensor</string>
    </attribute>
    <widget class="QComboBox" name="cBSensorName">
     <property name="geometry">
      <rect>
       <x>10</x>
       <y>60</y>
       <width>131</width>
       <height>27</height>
      </rect>
     </property>
     <property name="editable">
      <bool>false</bool>
     </property>
    </widget>
    <widget class="QLabel" name="label_calibration">
     <property name="geometry">
      <rect>
       <x>280</x>
       <y>27</y>
       <width>111</width>
       <height>17</height>
      </rect>
     </property>
     <property name="font">
      <font>
       <pointsize>16</pointsize>
      </font>
     </property>
     <property name="text">
      <string>Calibration</string>
     </property>
    </widget>
    <widget class="QLabel" name="label_sensor_type">
     <property name="geometry">
      <rect>
       <x>20</x>
       <y>20</y>
       <width>121</width>
       <height>31</height>
      </rect>
     </property>
     <property name="font">
      <font>
       <pointsize>16</pointsize>
      </font>
     </property>
     <property name="text">
      <string>SensorType</string>
     </property>
    </widget>
    <widget class="QLabel" name="label_realtimeData_3">
     <property name="geometry">
      <rect>
       <x>150</x>
       <y>540</y>
       <width>91</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>OutPut:</string>
     </property>
    </widget>
    <widget class="QWidget" name="gridLayoutWidget">
     <property name="geometry">
      <rect>
       <x>190</x>
       <y>80</y>
       <width>251</width>
       <height>80</height>
      </rect>
     </property>
     <layout class="QGridLayout" name="gridLayout_12">
      <item row="0" column="0">
       <widget class="QPushButton" name="pBPos1">
        <property name="text">
         <string>Pose1-&gt; X</string>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
       <widget class="QPushButton" name="pBPos2">
        <property name="text">
         <string>Pose2-&gt;Y</string>
        </property>
       </widget>
      </item>
      <item row="1" column="0">
       <widget class="QPushButton" name="pBPos3">
        <property name="text">
         <string>Pose3-&gt;Z</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="lbOutPut">
     <property name="geometry">
      <rect>
       <x>260</x>
       <y>540</y>
       <width>441</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string/>
     </property>
    </widget>
    <widget class="QCheckBox" name="cBFirst">
     <property name="geometry">
      <rect>
       <x>190</x>
       <y>60</y>
       <width>61</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>first</string>
     </property>
     <property name="checked">
      <bool>false</bool>
     </property>
    </widget>
    <widget class="QTextEdit" name="textEdit">
     <property name="enabled">
      <bool>false</bool>
     </property>
     <property name="geometry">
      <rect>
       <x>180</x>
       <y>170</y>
       <width>281</width>
       <height>221</height>
      </rect>
     </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:'Ubuntu'; font-size:11pt; 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;&lt;span style=&quot; font-family:'Ubuntu'; color:#ff1100;&quot;&gt;1. when first calibrate, need to specify 3 pose; And check&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-weight:600; color:#ff1100;&quot;&gt; first&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; color:#ff1100;&quot;&gt;;&lt;/span&gt;&lt;/p&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;&lt;span style=&quot; font-family:'Ubuntu'; color:#ff1100;&quot;&gt;1.1. Pose1: make sensor &lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-weight:600; color:#ff1100;&quot;&gt;X&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; color:#ff1100;&quot;&gt; direction align to vertical;&lt;/span&gt;&lt;/p&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;&lt;span style=&quot; font-family:'Ubuntu'; color:#ff1100;&quot;&gt;1.2. Pose2: make sensor &lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-weight:600; color:#ff1100;&quot;&gt;Y&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; color:#ff1100;&quot;&gt; direction align to vertical;&lt;/span&gt;&lt;/p&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;&lt;span style=&quot; font-family:'Ubuntu'; color:#ff1100;&quot;&gt;1.3. Pose3: make sensor &lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-weight:600; color:#ff1100;&quot;&gt;Z&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; color:#ff1100;&quot;&gt; direction align to vertical;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; color:#ff1100;&quot;&gt;&lt;br /&gt;&lt;/p&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;&lt;span style=&quot; font-family:'Ubuntu'; color:#ff1100;&quot;&gt;2. When reclibrate, you can use the 3 pose in step 1. And uncheck&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-weight:600; color:#ff1100;&quot;&gt; first&lt;/span&gt;&lt;span style=&quot; font-family:'Ubuntu'; color:#ff1100;&quot;&gt;;&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
     </property>
    </widget>
    <widget class="QLabel" name="label_calibration_3">
     <property name="geometry">
      <rect>
       <x>600</x>
       <y>30</y>
       <width>111</width>
       <height>17</height>
      </rect>
     </property>
     <property name="font">
      <font>
       <pointsize>16</pointsize>
      </font>
     </property>
     <property name="text">
      <string>Tool Data:</string>
     </property>
    </widget>
    <widget class="QGroupBox" name="groupBox">
     <property name="geometry">
      <rect>
       <x>481</x>
       <y>70</y>
       <width>331</width>
       <height>201</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>tool related to end</string>
     </property>
     <widget class="QRadioButton" name="rBSpecifyTool">
      <property name="geometry">
       <rect>
        <x>0</x>
        <y>20</y>
        <width>117</width>
        <height>22</height>
       </rect>
      </property>
      <property name="text">
       <string>Specify</string>
      </property>
      <property name="checked">
       <bool>true</bool>
      </property>
     </widget>
     <widget class="QFrame" name="toolFrame">
      <property name="geometry">
       <rect>
        <x>10</x>
        <y>50</y>
        <width>311</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>232</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>86</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_2">
       <property name="geometry">
        <rect>
         <x>2</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_2">
       <property name="geometry">
        <rect>
         <x>2</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>86</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>160</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>160</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>232</x>
         <y>4</y>
         <width>70</width>
         <height>27</height>
        </rect>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </widget>
     <widget class="QRadioButton" name="rBSelectTool">
      <property name="geometry">
       <rect>
        <x>0</x>
        <y>130</y>
        <width>117</width>
        <height>22</height>
       </rect>
      </property>
      <property name="text">
       <string>Select</string>
      </property>
      <property name="checked">
       <bool>false</bool>
      </property>
     </widget>
     <widget class="QComboBox" name="comBToolSet">
      <property name="geometry">
       <rect>
        <x>10</x>
        <y>160</y>
        <width>101</width>
        <height>27</height>
       </rect>
      </property>
     </widget>
    </widget>
    <widget class="QLabel" name="label_Connect">
     <property name="geometry">
      <rect>
       <x>30</x>
       <y>90</y>
       <width>81</width>
       <height>17</height>
      </rect>
     </property>
     <property name="layoutDirection">
      <enum>Qt::LeftToRight</enum>
     </property>
     <property name="text">
      <string>Disconnect</string>
     </property>
     <property name="textFormat">
      <enum>Qt::RichText</enum>
     </property>
     <property name="alignment">
      <set>Qt::AlignCenter</set>
     </property>
    </widget>
    <widget class="QWidget" name="gridLayoutWidget_6">
     <property name="geometry">
      <rect>
       <x>480</x>
       <y>420</y>
       <width>331</width>
       <height>61</height>
      </rect>
     </property>
     <layout class="QGridLayout" name="gridLayout_4">
      <item row="1" column="0">
       <widget class="QLineEdit" name="lE_Weight">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="1" column="1">
       <widget class="QLineEdit" name="lE_Gx">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="1" column="3">
       <widget class="QLineEdit" name="lE_Gz">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
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      </item>
      <item row="1" column="2">
       <widget class="QLineEdit" name="lE_Gy">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="0" column="0">
       <widget class="QLabel" name="label_16">
        <property name="text">
         <string>Weight</string>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
       <widget class="QLabel" name="label_17">
        <property name="text">
         <string>Gx</string>
        </property>
       </widget>
      </item>
      <item row="0" column="2">
       <widget class="QLabel" name="label_18">
        <property name="text">
         <string>Gy</string>
        </property>
       </widget>
      </item>
      <item row="0" column="3">
       <widget class="QLabel" name="label_19">
        <property name="text">
         <string>Gz</string>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
    <widget class="QWidget" name="gridLayoutWidget_7">
     <property name="geometry">
      <rect>
       <x>180</x>
       <y>410</y>
       <width>281</width>
       <height>80</height>
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     </property>
     <layout class="QGridLayout" name="gridLayout_5">
      <item row="0" column="0">
       <widget class="QLabel" name="label_23">
        <property name="text">
         <string>F_Bias</string>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
       <widget class="QLineEdit" name="lE_Fx_Bias">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="1" column="0">
       <widget class="QLabel" name="label_24">
        <property name="text">
         <string>T_Bias</string>
        </property>
       </widget>
      </item>
      <item row="0" column="2">
       <widget class="QLineEdit" name="lE_Fy_Bias">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="0" column="3">
       <widget class="QLineEdit" name="lE_Fz_Bias">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="1" column="1">
       <widget class="QLineEdit" name="lE_Tx_Bias">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="1" column="2">
       <widget class="QLineEdit" name="lE_Ty_Bias">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="1" column="3">
       <widget class="QLineEdit" name="lE_Tz_Bias">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
    <widget class="Line" name="line_2">
     <property name="geometry">
      <rect>
       <x>150</x>
       <y>20</y>
       <width>20</width>
       <height>501</height>
      </rect>
     </property>
     <property name="orientation">
      <enum>Qt::Vertical</enum>
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    <widget class="Line" name="line_3">
     <property name="geometry">
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     </property>
     <property name="orientation">
      <enum>Qt::Vertical</enum>
     </property>
    </widget>
    <widget class="QGroupBox" name="groupBox_2">
     <property name="geometry">
      <rect>
       <x>480</x>
       <y>280</y>
       <width>331</width>
       <height>111</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>sensor related to end</string>
     </property>
     <widget class="QFrame" name="toolFrame_2">
      <property name="geometry">
       <rect>
        <x>10</x>
        <y>25</y>
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      <property name="frameShape">
       <enum>QFrame::StyledPanel</enum>
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      <property name="frameShadow">
       <enum>QFrame::Raised</enum>
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      <widget class="QLineEdit" name="lEPosRZ_2">
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         <y>40</y>
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        </rect>
       </property>
       <property name="inputMethodHints">
        <set>Qt::ImhDigitsOnly</set>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
      <widget class="QLineEdit" name="lEPosX_2">
       <property name="geometry">
        <rect>
         <x>85</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_3">
       <property name="geometry">
        <rect>
         <x>2</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_3">
       <property name="geometry">
        <rect>
         <x>2</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_2">
       <property name="geometry">
        <rect>
         <x>85</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_2">
       <property name="geometry">
        <rect>
         <x>160</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_2">
       <property name="geometry">
        <rect>
         <x>160</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_2">
       <property name="geometry">
        <rect>
         <x>232</x>
         <y>4</y>
         <width>70</width>
         <height>27</height>
        </rect>
       </property>
       <property name="text">
        <string>0</string>
       </property>
      </widget>
     </widget>
    </widget>
   </widget>
   <widget class="QWidget" name="RealTimeData">
    <attribute name="title">
     <string>RealTime Data</string>
    </attribute>
    <widget class="QWidget" name="gridLayoutWidget_2">
     <property name="geometry">
      <rect>
       <x>250</x>
       <y>60</y>
       <width>401</width>
       <height>42</height>
      </rect>
     </property>
     <layout class="QGridLayout" name="gridLayout_13">
      <item row="1" column="1">
       <widget class="QLabel" name="label_Fx_3">
        <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_3">
        <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_3">
        <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_3">
        <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_3">
        <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_3">
        <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="QLabel" name="label_realtimeData">
     <property name="geometry">
      <rect>
       <x>140</x>
       <y>70</y>
       <width>91</width>
       <height>17</height>
      </rect>
     </property>
     <property name="text">
      <string>Sensor Data:</string>
     </property>
    </widget>
    <widget class="QLabel" name="label_filter1">
     <property name="geometry">
      <rect>
       <x>110</x>
       <y>510</y>
       <width>67</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>Filter1</string>
     </property>
    </widget>
    <widget class="QSlider" name="hSFilter1">
     <property name="enabled">
      <bool>false</bool>
     </property>
     <property name="geometry">
      <rect>
       <x>180</x>
       <y>507</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="QLabel" name="label_filter2">
     <property name="geometry">
      <rect>
       <x>460</x>
       <y>510</y>
       <width>51</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>Filter2</string>
     </property>
    </widget>
    <widget class="QSlider" name="hSFilter2">
     <property name="enabled">
      <bool>false</bool>
     </property>
     <property name="geometry">
      <rect>
       <x>530</x>
       <y>507</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="QFrame" name="paintFrame">
     <property name="geometry">
      <rect>
       <x>110</x>
       <y>189</y>
       <width>600</width>
       <height>300</height>
      </rect>
     </property>
     <property name="styleSheet">
      <string notr="true">QFrame{
border-width:2px;
border-style:solid;
border-color:black;
}</string>
     </property>
     <property name="frameShape">
      <enum>QFrame::Panel</enum>
     </property>
     <property name="frameShadow">
      <enum>QFrame::Plain</enum>
     </property>
     <widget class="QLabel" name="label_Fmax">
      <property name="geometry">
       <rect>
        <x>0</x>
        <y>0</y>
        <width>67</width>
        <height>17</height>
       </rect>
      </property>
      <property name="text">
       <string>Fmax:N</string>
      </property>
     </widget>
     <widget class="QLabel" name="label_Fmin">
      <property name="geometry">
       <rect>
        <x>0</x>
        <y>281</y>
        <width>67</width>
        <height>17</height>
       </rect>
      </property>
      <property name="text">
       <string>Fmin:N</string>
      </property>
     </widget>
     <widget class="QLabel" name="label_Tmax">
      <property name="geometry">
       <rect>
        <x>531</x>
        <y>2</y>
        <width>67</width>
        <height>17</height>
       </rect>
      </property>
      <property name="text">
       <string>Tmax:Nm</string>
      </property>
     </widget>
     <widget class="QLabel" name="label_Tmin">
      <property name="geometry">
       <rect>
        <x>531</x>
        <y>281</y>
        <width>67</width>
        <height>17</height>
       </rect>
      </property>
      <property name="text">
       <string>Tmin:Nm</string>
      </property>
     </widget>
    </widget>
    <widget class="QCheckBox" name="cBRealTime">
     <property name="enabled">
      <bool>true</bool>
     </property>
     <property name="geometry">
      <rect>
       <x>27</x>
       <y>190</y>
       <width>81</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>Enable</string>
     </property>
     <property name="checkable">
      <bool>true</bool>
     </property>
    </widget>
    <widget class="QLabel" name="label">
     <property name="geometry">
      <rect>
       <x>360</x>
       <y>160</y>
       <width>141</width>
       <height>17</height>
      </rect>
     </property>
     <property name="styleSheet">
      <string notr="true">QLable{
color:white;
}</string>
     </property>
     <property name="text">
      <string>RealTime Curve</string>
     </property>
    </widget>
    <widget class="QWidget" name="verticalLayoutWidget">
     <property name="geometry">
      <rect>
       <x>50</x>
       <y>210</y>
       <width>51</width>
       <height>170</height>
      </rect>
     </property>
     <layout class="QVBoxLayout" name="verticalLayout">
      <item>
       <widget class="QCheckBox" name="cB_Fx">
        <property name="enabled">
         <bool>true</bool>
        </property>
        <property name="text">
         <string>Fx</string>
        </property>
        <property name="checked">
         <bool>true</bool>
        </property>
       </widget>
      </item>
      <item>
       <widget class="QCheckBox" name="cB_Fy">
        <property name="enabled">
         <bool>true</bool>
        </property>
        <property name="text">
         <string>Fy</string>
        </property>
        <property name="checked">
         <bool>true</bool>
        </property>
       </widget>
      </item>
      <item>
       <widget class="QCheckBox" name="cB_Fz">
        <property name="enabled">
         <bool>true</bool>
        </property>
        <property name="text">
         <string>Fz</string>
        </property>
        <property name="checked">
         <bool>true</bool>
        </property>
       </widget>
      </item>
      <item>
       <widget class="QCheckBox" name="cB_Tx">
        <property name="enabled">
         <bool>true</bool>
        </property>
        <property name="text">
         <string>Tx</string>
        </property>
        <property name="checked">
         <bool>true</bool>
        </property>
       </widget>
      </item>
      <item>
       <widget class="QCheckBox" name="cB_Ty">
        <property name="enabled">
         <bool>true</bool>
        </property>
        <property name="text">
         <string>Ty</string>
        </property>
        <property name="checked">
         <bool>true</bool>
        </property>
       </widget>
      </item>
      <item>
       <widget class="QCheckBox" name="cB_Tz">
        <property name="enabled">
         <bool>true</bool>
        </property>
        <property name="text">
         <string>Tz</string>
        </property>
        <property name="checked">
         <bool>true</bool>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
    <widget class="QLabel" name="label_2">
     <property name="geometry">
      <rect>
       <x>253</x>
       <y>120</y>
       <width>41</width>
       <height>17</height>
      </rect>
     </property>
     <property name="text">
      <string>F3D:</string>
     </property>
    </widget>
    <widget class="QLabel" name="label_3">
     <property name="geometry">
      <rect>
       <x>520</x>
       <y>120</y>
       <width>41</width>
       <height>17</height>
      </rect>
     </property>
     <property name="text">
      <string>T3D:</string>
     </property>
    </widget>
    <widget class="QLabel" name="label_F3D">
     <property name="geometry">
      <rect>
       <x>290</x>
       <y>120</y>
       <width>67</width>
       <height>17</height>
      </rect>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QLabel" name="label_T3D">
     <property name="geometry">
      <rect>
       <x>557</x>
       <y>120</y>
       <width>67</width>
       <height>17</height>
      </rect>
     </property>
     <property name="text">
      <string>0</string>
     </property>
    </widget>
    <widget class="QPushButton" name="pBScreenShot">
     <property name="geometry">
      <rect>
       <x>730</x>
       <y>310</y>
       <width>81</width>
       <height>61</height>
      </rect>
     </property>
     <property name="text">
      <string>ScreenShot</string>
     </property>
    </widget>
   </widget>
   <widget class="QWidget" name="HandGuiding">
    <attribute name="title">
     <string>HandGuiding</string>
    </attribute>
    <widget class="QPushButton" name="pBRobot">
     <property name="geometry">
      <rect>
       <x>530</x>
       <y>260</y>
       <width>100</width>
       <height>70</height>
      </rect>
     </property>
     <property name="text">
      <string>Reset</string>
     </property>
    </widget>
    <widget class="QGroupBox" name="gBConstrains">
     <property name="enabled">
      <bool>true</bool>
     </property>
     <property name="geometry">
      <rect>
       <x>230</x>
       <y>440</y>
       <width>541</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>Singularity Robust</string>
     </property>
     <widget class="QRadioButton" name="rBenable_constraints">
      <property name="geometry">
       <rect>
        <x>0</x>
        <y>40</y>
        <width>81</width>
        <height>22</height>
       </rect>
      </property>
      <property name="text">
       <string>enable</string>
      </property>
     </widget>
     <widget class="QWidget" name="gridLayoutWidget_8">
      <property name="geometry">
       <rect>
        <x>76</x>
        <y>22</y>
        <width>434</width>
        <height>61</height>
       </rect>
      </property>
      <layout class="QGridLayout" name="gridLayout_6">
       <item row="1" column="0">
        <widget class="QLineEdit" name="lE_pos_wcr">
         <property name="text">
          <string>0.005</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="1" column="3">
        <widget class="QLineEdit" name="lE_ori_wcr">
         <property name="text">
          <string>0.005</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="1" column="1">
        <widget class="QLineEdit" name="lE_pos_wth">
         <property name="text">
          <string>0.03</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="1" column="5">
        <widget class="QLineEdit" name="lE_ori_lambda">
         <property name="text">
          <string>10</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="1" column="2">
        <widget class="QLineEdit" name="lE_pos_lambda">
         <property name="text">
          <string>10</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="1" column="4">
        <widget class="QLineEdit" name="lE_ori_wth">
         <property name="text">
          <string>0.03</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="0" column="0">
        <widget class="QLabel" name="label_25">
         <property name="text">
          <string>t_th</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="0" column="1">
        <widget class="QLabel" name="label_26">
         <property name="text">
          <string>t_cr</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="0" column="2">
        <widget class="QLabel" name="label_27">
         <property name="text">
          <string>t_lambda</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="0" column="3">
        <widget class="QLabel" name="label_28">
         <property name="text">
          <string>r_th</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="0" column="4">
        <widget class="QLabel" name="label_29">
         <property name="text">
          <string>r_cr</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
       <item row="0" column="5">
        <widget class="QLabel" name="label_30">
         <property name="text">
          <string>r_lambda</string>
         </property>
         <property name="alignment">
          <set>Qt::AlignCenter</set>
         </property>
        </widget>
       </item>
      </layout>
     </widget>
    </widget>
    <widget class="QPushButton" name="pBStart">
     <property name="enabled">
      <bool>true</bool>
     </property>
     <property name="geometry">
      <rect>
       <x>340</x>
       <y>260</y>
       <width>100</width>
       <height>70</height>
      </rect>
     </property>
     <property name="text">
      <string>Start</string>
     </property>
    </widget>
    <widget class="QWidget" name="gridLayoutWidget_9">
     <property name="geometry">
      <rect>
       <x>260</x>
       <y>100</y>
       <width>461</width>
       <height>61</height>
      </rect>
     </property>
     <layout class="QGridLayout" name="gridLayout_9">
      <item row="1" column="3">
       <widget class="QLineEdit" name="lETorqueX">
        <property name="text">
         <string>0</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="1" column="5">
       <widget class="QLineEdit" name="lETorqueZ">
        <property name="inputMethodHints">
         <set>Qt::ImhDigitsOnly</set>
        </property>
        <property name="text">
         <string>0</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="1" column="2">
       <widget class="QLineEdit" name="lEForceZ">
        <property name="text">
         <string>0</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="1" column="1">
       <widget class="QLineEdit" name="lEForceY">
        <property name="text">
         <string>0</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="1" column="0">
       <widget class="QLineEdit" name="lEForceX">
        <property name="contextMenuPolicy">
         <enum>Qt::NoContextMenu</enum>
        </property>
        <property name="text">
         <string>0</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
        <property name="readOnly">
         <bool>true</bool>
        </property>
       </widget>
      </item>
      <item row="1" column="4">
       <widget class="QLineEdit" name="lETorqueY">
        <property name="text">
         <string>0</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="0" column="0">
       <widget class="QLabel" name="label_37">
        <property name="text">
         <string>Fx(N)</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
       <widget class="QLabel" name="label_38">
        <property name="text">
         <string>Fy(N)</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="0" column="2">
       <widget class="QLabel" name="label_39">
        <property name="text">
         <string>Fz(N)</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="0" column="3">
       <widget class="QLabel" name="label_40">
        <property name="text">
         <string>Tx(Nm)</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="0" column="4">
       <widget class="QLabel" name="label_41">
        <property name="text">
         <string>Ty(Nm)</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
      <item row="0" column="5">
       <widget class="QLabel" name="label_42">
        <property name="text">
         <string>Tz(Nm)</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
    <widget class="QLabel" name="label_realtimeData_2">
     <property name="geometry">
      <rect>
       <x>390</x>
       <y>30</y>
       <width>191</width>
       <height>41</height>
      </rect>
     </property>
     <property name="font">
      <font>
       <pointsize>20</pointsize>
      </font>
     </property>
     <property name="text">
      <string>Acting force</string>
     </property>
     <property name="alignment">
      <set>Qt::AlignCenter</set>
     </property>
    </widget>
    <widget class="QWidget" name="verticalLayoutWidget_2">
     <property name="geometry">
      <rect>
       <x>10</x>
       <y>73</y>
       <width>184</width>
       <height>461</height>
      </rect>
     </property>
     <layout class="QVBoxLayout" name="verticalLayout_2">
      <item>
       <widget class="QGroupBox" name="gBDragMode">
        <property name="font">
         <font>
          <pointsize>14</pointsize>
         </font>
        </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>3</x>
           <y>25</y>
           <width>117</width>
           <height>22</height>
          </rect>
         </property>
         <property name="font">
          <font>
           <pointsize>12</pointsize>
          </font>
         </property>
         <property name="text">
          <string>Position</string>
         </property>
        </widget>
        <widget class="QRadioButton" name="rBOri">
         <property name="geometry">
          <rect>
           <x>2</x>
           <y>48</y>
           <width>117</width>
           <height>22</height>
          </rect>
         </property>
         <property name="font">
          <font>
           <pointsize>12</pointsize>
          </font>
         </property>
         <property name="text">
          <string>Orientation</string>
         </property>
        </widget>
        <widget class="QRadioButton" name="rBPose">
         <property name="geometry">
          <rect>
           <x>2</x>
           <y>71</y>
           <width>117</width>
           <height>22</height>
          </rect>
         </property>
         <property name="font">
          <font>
           <pointsize>12</pointsize>
          </font>
         </property>
         <property name="text">
          <string>Pose</string>
         </property>
        </widget>
       </widget>
      </item>
      <item>
       <widget class="QGroupBox" name="gBCalculateMethod">
        <property name="font">
         <font>
          <pointsize>14</pointsize>
         </font>
        </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>12</x>
           <y>30</y>
           <width>117</width>
           <height>22</height>
          </rect>
         </property>
         <property name="font">
          <font>
           <pointsize>12</pointsize>
          </font>
         </property>
         <property name="text">
          <string>Jacobian</string>
         </property>
        </widget>
        <widget class="QRadioButton" name="rBIK">
         <property name="geometry">
          <rect>
           <x>12</x>
           <y>60</y>
           <width>117</width>
           <height>22</height>
          </rect>
         </property>
         <property name="font">
          <font>
           <pointsize>12</pointsize>
          </font>
         </property>
         <property name="text">
          <string>IK</string>
         </property>
        </widget>
       </widget>
      </item>
      <item>
       <widget class="QGroupBox" name="gBControlSpace">
        <property name="font">
         <font>
          <pointsize>14</pointsize>
         </font>
        </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>12</x>
           <y>30</y>
           <width>117</width>
           <height>22</height>
          </rect>
         </property>
         <property name="font">
          <font>
           <pointsize>12</pointsize>
          </font>
         </property>
         <property name="text">
          <string>Joint</string>
         </property>
        </widget>
        <widget class="QRadioButton" name="rBOperateSpace">
         <property name="geometry">
          <rect>
           <x>12</x>
           <y>60</y>
           <width>117</width>
           <height>22</height>
          </rect>
         </property>
         <property name="font">
          <font>
           <pointsize>12</pointsize>
          </font>
         </property>
         <property name="text">
          <string>Operate</string>
         </property>
        </widget>
       </widget>
      </item>
      <item>
       <widget class="QGroupBox" name="gBModel">
        <property name="font">
         <font>
          <pointsize>14</pointsize>
         </font>
        </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="rBSerial">
         <property name="geometry">
          <rect>
           <x>12</x>
           <y>30</y>
           <width>117</width>
           <height>22</height>
          </rect>
         </property>
         <property name="font">
          <font>
           <pointsize>12</pointsize>
          </font>
         </property>
         <property name="text">
          <string>Serial</string>
         </property>
        </widget>
        <widget class="QRadioButton" name="rBParallel">
         <property name="geometry">
          <rect>
           <x>12</x>
           <y>60</y>
           <width>117</width>
           <height>22</height>
          </rect>
         </property>
         <property name="font">
          <font>
           <pointsize>12</pointsize>
          </font>
         </property>
         <property name="text">
          <string>parallel</string>
         </property>
        </widget>
       </widget>
      </item>
     </layout>
    </widget>
    <widget class="QLabel" name="label_32">
     <property name="geometry">
      <rect>
       <x>11</x>
       <y>30</y>
       <width>161</width>
       <height>31</height>
      </rect>
     </property>
     <property name="font">
      <font>
       <pointsize>14</pointsize>
      </font>
     </property>
     <property name="text">
      <string>Pattern Selection</string>
     </property>
     <property name="alignment">
      <set>Qt::AlignCenter</set>
     </property>
    </widget>
   </widget>
   <widget class="QWidget" name="AdmittanceControl">
    <attribute name="title">
     <string>Admittance Control</string>
    </attribute>
    <widget class="QLabel" name="label_4">
     <property name="geometry">
      <rect>
       <x>50</x>
       <y>20</y>
       <width>151</width>
       <height>31</height>
      </rect>
     </property>
     <property name="minimumSize">
      <size>
       <width>151</width>
       <height>0</height>
      </size>
     </property>
     <property name="font">
      <font>
       <pointsize>20</pointsize>
      </font>
     </property>
     <property name="text">
      <string>F/T Control</string>
     </property>
    </widget>
    <widget class="QWidget" name="gridLayoutWidget_3">
     <property name="geometry">
      <rect>
       <x>80</x>
       <y>130</y>
       <width>151</width>
       <height>212</height>
      </rect>
     </property>
     <layout class="QGridLayout" name="gridLayout">
      <item row="3" column="0">
       <widget class="QCheckBox" name="cB_Tx_control">
        <property name="text">
         <string>Tx</string>
        </property>
       </widget>
      </item>
      <item row="5" column="1">
       <widget class="QLineEdit" name="lE_Tz_control">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="1" column="0">
       <widget class="QCheckBox" name="cB_Fy_control">
        <property name="text">
         <string>Fy</string>
        </property>
       </widget>
      </item>
      <item row="4" column="0">
       <widget class="QCheckBox" name="cB_Ty_control">
        <property name="text">
         <string>Ty</string>
        </property>
       </widget>
      </item>
      <item row="1" column="1">
       <widget class="QLineEdit" name="lE_Fy_control">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
       <widget class="QLineEdit" name="lE_Fx_control">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="5" column="0">
       <widget class="QCheckBox" name="cB_Tz_control">
        <property name="text">
         <string>Tz</string>
        </property>
       </widget>
      </item>
      <item row="2" column="0">
       <widget class="QCheckBox" name="cB_Fz_control">
        <property name="text">
         <string>Fz</string>
        </property>
       </widget>
      </item>
      <item row="2" column="1">
       <widget class="QLineEdit" name="lE_Fz_control">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="3" column="1">
       <widget class="QLineEdit" name="lE_Tx_control">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="0" column="0">
       <widget class="QCheckBox" name="cB_Fx_control">
        <property name="text">
         <string>Fx</string>
        </property>
       </widget>
      </item>
      <item row="4" column="1">
       <widget class="QLineEdit" name="lE_Ty_control">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="0" column="2">
       <widget class="QLabel" name="label_Fx_unit">
        <property name="text">
         <string>N</string>
        </property>
       </widget>
      </item>
      <item row="1" column="2">
       <widget class="QLabel" name="label_Fy_unit">
        <property name="text">
         <string>N</string>
        </property>
       </widget>
      </item>
      <item row="2" column="2">
       <widget class="QLabel" name="label_Fz_unit">
        <property name="text">
         <string>N</string>
        </property>
       </widget>
      </item>
      <item row="3" column="2">
       <widget class="QLabel" name="label_Tx_unit">
        <property name="text">
         <string>Nm</string>
        </property>
       </widget>
      </item>
      <item row="4" column="2">
       <widget class="QLabel" name="label_Ty_unit">
        <property name="text">
         <string>Nm</string>
        </property>
       </widget>
      </item>
      <item row="5" column="2">
       <widget class="QLabel" name="label_Tz_unit">
        <property name="text">
         <string>Nm</string>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
    <widget class="QLabel" name="label_5">
     <property name="geometry">
      <rect>
       <x>90</x>
       <y>110</y>
       <width>151</width>
       <height>17</height>
      </rect>
     </property>
     <property name="text">
      <string>Direction Specified:</string>
     </property>
    </widget>
    <widget class="QWidget" name="gridLayoutWidget_4">
     <property name="geometry">
      <rect>
       <x>460</x>
       <y>130</y>
       <width>287</width>
       <height>217</height>
      </rect>
     </property>
     <layout class="QGridLayout" name="gridLayout_2">
      <item row="1" column="0">
       <widget class="QLabel" name="label_6">
        <property name="text">
         <string>P Gain</string>
        </property>
       </widget>
      </item>
      <item row="3" column="1">
       <widget class="QLineEdit" name="lE_Force_D_Gain">
        <property name="text">
         <string>0.3</string>
        </property>
       </widget>
      </item>
      <item row="2" column="1">
       <widget class="QLineEdit" name="lE_Force_I_Gain">
        <property name="text">
         <string>0.1</string>
        </property>
       </widget>
      </item>
      <item row="5" column="1">
       <widget class="QLineEdit" name="lE_Force_Amax_Gain">
        <property name="text">
         <string>0.5</string>
        </property>
       </widget>
      </item>
      <item row="4" column="0">
       <widget class="QLabel" name="label_11">
        <property name="text">
         <string>Vmax</string>
        </property>
       </widget>
      </item>
      <item row="4" column="1">
       <widget class="QLineEdit" name="lE_Force_Vmax_Gain">
        <property name="text">
         <string>0.3</string>
        </property>
       </widget>
      </item>
      <item row="0" column="2">
       <widget class="QLabel" name="label_9">
        <property name="text">
         <string>Torque</string>
        </property>
       </widget>
      </item>
      <item row="1" column="2">
       <widget class="QLineEdit" name="lE_Torque_P_Gain">
        <property name="text">
         <string>0.2</string>
        </property>
       </widget>
      </item>
      <item row="2" column="2">
       <widget class="QLineEdit" name="lE_Torque_I_Gain">
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
       <widget class="QLabel" name="label_10">
        <property name="text">
         <string>Force</string>
        </property>
       </widget>
      </item>
      <item row="1" column="1">
       <widget class="QLineEdit" name="lE_Force_P_Gain">
        <property name="text">
         <string>1</string>
        </property>
       </widget>
      </item>
      <item row="2" column="0">
       <widget class="QLabel" name="label_7">
        <property name="text">
         <string>I Gaun</string>
        </property>
       </widget>
      </item>
      <item row="3" column="0">
       <widget class="QLabel" name="label_8">
        <property name="text">
         <string>D Gain</string>
        </property>
       </widget>
      </item>
      <item row="5" column="0">
       <widget class="QLabel" name="label_12">
        <property name="text">
         <string>Amax</string>
        </property>
       </widget>
      </item>
      <item row="3" column="2">
       <widget class="QLineEdit" name="lE_Torque_D_Gain">
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="4" column="2">
       <widget class="QLineEdit" name="lE_Torque_Vmax_Gain">
        <property name="text">
         <string>0.03</string>
        </property>
       </widget>
      </item>
      <item row="5" column="2">
       <widget class="QLineEdit" name="lE_Torque_Amax_Gain">
        <property name="text">
         <string>0.05</string>
        </property>
       </widget>
      </item>
      <item row="1" column="3">
       <widget class="QLabel" name="label_Fx_Sigma">
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="2" column="3">
       <widget class="QLabel" name="label_Fy_Sigma">
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="3" column="3">
       <widget class="QLabel" name="label_Fz_Sigma">
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="4" column="3">
       <widget class="QLabel" name="label_20">
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="5" column="3">
       <widget class="QLabel" name="label_21">
        <property name="text">
         <string>0</string>
        </property>
       </widget>
      </item>
      <item row="0" column="3">
       <widget class="QLabel" name="label_22">
        <property name="text">
         <string>Sigma</string>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
    <widget class="QLabel" name="label_13">
     <property name="geometry">
      <rect>
       <x>540</x>
       <y>106</y>
       <width>171</width>
       <height>17</height>
      </rect>
     </property>
     <property name="text">
      <string>Parameter Adjustment</string>
     </property>
    </widget>
    <widget class="QCheckBox" name="cB_Enable_FT_Control">
     <property name="geometry">
      <rect>
       <x>190</x>
       <y>60</y>
       <width>81</width>
       <height>22</height>
      </rect>
     </property>
     <property name="text">
      <string>Enable</string>
     </property>
    </widget>
    <widget class="QComboBox" name="comB_Ref_CS">
     <property name="geometry">
      <rect>
       <x>620</x>
       <y>30</y>
       <width>85</width>
       <height>27</height>
      </rect>
     </property>
    </widget>
    <widget class="QLabel" name="label_14">
     <property name="geometry">
      <rect>
       <x>556</x>
       <y>35</y>
       <width>61</width>
       <height>17</height>
      </rect>
     </property>
     <property name="text">
      <string>Ref. C.S.</string>
     </property>
    </widget>
    <widget class="Line" name="line_5">
     <property name="geometry">
      <rect>
       <x>376</x>
       <y>10</y>
       <width>20</width>
       <height>551</height>
      </rect>
     </property>
     <property name="orientation">
      <enum>Qt::Vertical</enum>
     </property>
    </widget>
    <widget class="QPushButton" name="pushButton">
     <property name="geometry">
      <rect>
       <x>70</x>
       <y>390</y>
       <width>91</width>
       <height>61</height>
      </rect>
     </property>
     <property name="text">
      <string>Start</string>
     </property>
    </widget>
   </widget>
   <widget class="QWidget" name="Setup">
    <attribute name="title">
     <string>Setup</string>
    </attribute>
    <widget class="QWidget" name="gridLayoutWidget_5">
     <property name="geometry">
      <rect>
       <x>460</x>
       <y>310</y>
       <width>336</width>
       <height>242</height>
      </rect>
     </property>
     <layout class="QGridLayout" name="gridLayout_3">
      <item row="1" column="3">
       <layout class="QGridLayout" name="gridLayout_16">
        <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>
      </item>
      <item row="1" column="1">
       <layout class="QGridLayout" name="gridLayout_11">
        <item row="4" 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="2" 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="6" 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="1" column="0">
         <widget class="QLineEdit" name="lEDampVx">
          <property name="contextMenuPolicy">
           <enum>Qt::NoContextMenu</enum>
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          <property name="text">
           <string>0</string>
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         </widget>
        </item>
        <item row="5" column="0">
         <widget class="QLineEdit" name="lEDampWy">
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           <enum>Qt::NoContextMenu</enum>
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          <property name="text">
           <string>0</string>
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        </item>
        <item row="3" column="0">
         <widget class="QLineEdit" name="lEDampVz">
          <property name="contextMenuPolicy">
           <enum>Qt::NoContextMenu</enum>
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          <property name="text">
           <string>0</string>
          </property>
         </widget>
        </item>
       </layout>
      </item>
      <item row="1" column="0">
       <layout class="QGridLayout" name="gridLayout_8">
        <item row="3" 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="2" column="0">
         <widget class="QLineEdit" name="lESensitivityFy">
          <property name="contextMenuPolicy">
           <enum>Qt::NoContextMenu</enum>
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          <property name="text">
           <string>0</string>
          </property>
         </widget>
        </item>
        <item row="4" column="0">
         <widget class="QLineEdit" name="lESensitivityTx">
          <property name="contextMenuPolicy">
           <enum>Qt::NoContextMenu</enum>
          </property>
          <property name="text">
           <string>0</string>
          </property>
         </widget>
        </item>
        <item row="6" 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="1" column="0">
         <widget class="QLineEdit" name="lESensitivityFx">
          <property name="contextMenuPolicy">
           <enum>Qt::NoContextMenu</enum>
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          <property name="text">
           <string>0</string>
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         </widget>
        </item>
        <item row="5" column="0">
         <widget class="QLineEdit" name="lESensitivityTy">
          <property name="contextMenuPolicy">
           <enum>Qt::NoContextMenu</enum>
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          <property name="text">
           <string>0</string>
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         </widget>
        </item>
       </layout>
      </item>
      <item row="1" column="4">
       <layout class="QGridLayout" name="gridLayout_10">
        <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>
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         </widget>
        </item>
        <item row="1" column="0">
         <widget class="QLineEdit" name="lEForceYLimit">
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           <enum>Qt::NoContextMenu</enum>
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          <property name="text">
           <string>0</string>
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        </item>
        <item row="0" column="0">
         <widget class="QLineEdit" name="lEForceXLimit">
          <property name="contextMenuPolicy">
           <enum>Qt::NoContextMenu</enum>
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          <property name="text">
           <string>0</string>
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        </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>
      </item>
      <item row="1" column="2">
       <layout class="QGridLayout" name="gridLayout_14">
        <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="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="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>
        <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="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="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>
       </layout>
      </item>
      <item row="0" column="2">
       <widget class="QLabel" name="label_stiffness">
        <property name="text">
         <string>stiffness</string>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
       <widget class="QLabel" name="label_damp">
        <property name="text">
         <string>damp</string>
        </property>
       </widget>
      </item>
      <item row="0" column="0">
       <widget class="QLabel" name="label_sensitivity">
        <property name="text">
         <string>mass</string>
        </property>
       </widget>
      </item>
      <item row="0" column="3">
       <widget class="QLabel" name="label_threshold">
        <property name="text">
         <string>threshold</string>
        </property>
       </widget>
      </item>
      <item row="0" column="4">
       <widget class="QLabel" name="label_limit">
        <property name="text">
         <string>limit</string>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
    <widget class="QComboBox" name="comBControlType">
     <property name="geometry">
      <rect>
       <x>613</x>
       <y>269</y>
       <width>121</width>
       <height>27</height>
      </rect>
     </property>
     <item>
      <property name="text">
       <string>HandGuiding</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>Admittance Control</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>Impedance Control</string>
      </property>
     </item>
    </widget>
    <widget class="QLabel" name="label_15">
     <property name="geometry">
      <rect>
       <x>500</x>
       <y>274</y>
       <width>91</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>Control Type</string>
     </property>
    </widget>
    <widget class="Line" name="line_4">
     <property name="geometry">
      <rect>
       <x>10</x>
       <y>250</y>
       <width>801</width>
       <height>20</height>
      </rect>
     </property>
     <property name="orientation">
      <enum>Qt::Horizontal</enum>
     </property>
    </widget>
    <widget class="Line" name="line">
     <property name="geometry">
      <rect>
       <x>400</x>
       <y>0</y>
       <width>20</width>
       <height>561</height>
      </rect>
     </property>
     <property name="orientation">
      <enum>Qt::Vertical</enum>
     </property>
    </widget>
    <widget class="QLabel" name="label_43">
     <property name="geometry">
      <rect>
       <x>160</x>
       <y>10</y>
       <width>71</width>
       <height>21</height>
      </rect>
     </property>
     <property name="font">
      <font>
       <pointsize>18</pointsize>
      </font>
     </property>
     <property name="text">
      <string>IO</string>
     </property>
     <property name="alignment">
      <set>Qt::AlignCenter</set>
     </property>
    </widget>
    <widget class="QComboBox" name="comBHandGuidingSwitchIO">
     <property name="geometry">
      <rect>
       <x>150</x>
       <y>50</y>
       <width>85</width>
       <height>27</height>
      </rect>
     </property>
     <item>
      <property name="text">
       <string>0</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_00</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_01</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_02</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_03</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_04</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_05</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_06</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_07</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_08</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_09</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_10</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_11</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_12</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_13</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_14</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_15</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_16</string>
      </property>
     </item>
     <item>
      <property name="text">
       <string>U_DI_17</string>
      </property>
     </item>
    </widget>
    <widget class="QLabel" name="label_31">
     <property name="geometry">
      <rect>
       <x>46</x>
       <y>54</y>
       <width>101</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>Hand Guiding:</string>
     </property>
    </widget>
    <widget class="QWidget" name="gridLayoutWidget_10">
     <property name="geometry">
      <rect>
       <x>40</x>
       <y>390</y>
       <width>358</width>
       <height>80</height>
      </rect>
     </property>
     <layout class="QGridLayout" name="gridLayout_7">
      <item row="1" column="0">
       <widget class="QLineEdit" name="lineEdit">
        <property name="text">
         <string>100</string>
        </property>
       </widget>
      </item>
      <item row="1" column="1">
       <widget class="QLineEdit" name="lEControlPeriod">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="layoutDirection">
         <enum>Qt::LeftToRight</enum>
        </property>
        <property name="text">
         <string>5</string>
        </property>
       </widget>
      </item>
      <item row="1" column="2">
       <widget class="QLineEdit" name="lEOverEstimateDis">
        <property name="enabled">
         <bool>false</bool>
        </property>
        <property name="text">
         <string>0.003</string>
        </property>
       </widget>
      </item>
      <item row="0" column="2">
       <widget class="QLabel" name="label_bufferLimit">
        <property name="text">
         <string>Over estimate Dis</string>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
       <widget class="QLabel" name="label_control_period">
        <property name="text">
         <string>Control Period</string>
        </property>
       </widget>
      </item>
      <item row="0" column="0">
       <widget class="QLabel" name="label_control_period_2">
        <property name="text">
         <string>Max Speed(deg/s)</string>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
    <widget class="QLabel" name="label_44">
     <property name="geometry">
      <rect>
       <x>130</x>
       <y>270</y>
       <width>151</width>
       <height>31</height>
      </rect>
     </property>
     <property name="font">
      <font>
       <pointsize>18</pointsize>
      </font>
     </property>
     <property name="text">
      <string>Motion Para</string>
     </property>
     <property name="alignment">
      <set>Qt::AlignCenter</set>
     </property>
    </widget>
    <widget class="QLabel" name="label_45">
     <property name="geometry">
      <rect>
       <x>531</x>
       <y>8</y>
       <width>151</width>
       <height>31</height>
      </rect>
     </property>
     <property name="font">
      <font>
       <pointsize>18</pointsize>
      </font>
     </property>
     <property name="text">
      <string>Device Config</string>
     </property>
     <property name="alignment">
      <set>Qt::AlignCenter</set>
     </property>
    </widget>
    <widget class="QLineEdit" name="lE_Port">
     <property name="geometry">
      <rect>
       <x>540</x>
       <y>50</y>
       <width>131</width>
       <height>27</height>
      </rect>
     </property>
     <property name="text">
      <string>192.168.1.1</string>
     </property>
     <property name="alignment">
      <set>Qt::AlignCenter</set>
     </property>
    </widget>
    <widget class="QLabel" name="label_33">
     <property name="geometry">
      <rect>
       <x>430</x>
       <y>50</y>
       <width>101</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>Sensor port:</string>
     </property>
    </widget>
    <widget class="QLineEdit" name="lE_Robot_IP">
     <property name="geometry">
      <rect>
       <x>540</x>
       <y>90</y>
       <width>131</width>
       <height>27</height>
      </rect>
     </property>
     <property name="text">
      <string>127.0.0.1</string>
     </property>
     <property name="alignment">
      <set>Qt::AlignCenter</set>
     </property>
    </widget>
    <widget class="QLabel" name="label_34">
     <property name="geometry">
      <rect>
       <x>430</x>
       <y>90</y>
       <width>101</width>
       <height>20</height>
      </rect>
     </property>
     <property name="text">
      <string>robot IP:</string>
     </property>
    </widget>
   </widget>
  </widget>
 </widget>
 <resources/>
 <connections/>
</ui>