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walkwindow.ui
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walkwindow.ui
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>WalkWindow</class>
<widget class="QMainWindow" name="WalkWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>807</width>
<height>567</height>
</rect>
</property>
<property name="windowTitle">
<string>WalkWindow</string>
</property>
<widget class="QWidget" name="centralWidget">
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>14</x>
<y>2</y>
<width>271</width>
<height>41</height>
</rect>
</property>
<property name="font">
<font>
<family>FreeMono</family>
<pointsize>16</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Hubo ZMP Interface</string>
</property>
</widget>
<widget class="Line" name="line">
<property name="geometry">
<rect>
<x>10</x>
<y>31</y>
<width>231</width>
<height>16</height>
</rect>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
<widget class="Line" name="line_2">
<property name="geometry">
<rect>
<x>233</x>
<y>7</y>
<width>16</width>
<height>31</height>
</rect>
</property>
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
</widget>
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>264</x>
<y>19</y>
<width>51</width>
<height>16</height>
</rect>
</property>
<property name="toolTip">
<string>Select a walking profile to load</string>
</property>
<property name="statusTip">
<string>Select a walking profile to load</string>
</property>
<property name="text">
<string>Profile:</string>
</property>
</widget>
<widget class="QComboBox" name="list_profiles">
<property name="geometry">
<rect>
<x>314</x>
<y>13</y>
<width>241</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>Select a walking profile to load</string>
</property>
<property name="statusTip">
<string>Select a walking profile to load</string>
</property>
</widget>
<widget class="QPushButton" name="pb_save">
<property name="geometry">
<rect>
<x>566</x>
<y>15</y>
<width>41</width>
<height>21</height>
</rect>
</property>
<property name="toolTip">
<string>Save these settings under the current profile name</string>
</property>
<property name="statusTip">
<string>Save these settings under the current profile name</string>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
<widget class="QPushButton" name="pb_saveAs">
<property name="geometry">
<rect>
<x>612</x>
<y>11</y>
<width>92</width>
<height>27</height>
</rect>
</property>
<property name="toolTip">
<string>Save these settings under a new profile name</string>
</property>
<property name="statusTip">
<string>Save these settings under a new profile name</string>
</property>
<property name="text">
<string>Save As...</string>
</property>
</widget>
<widget class="QPushButton" name="pb_delete">
<property name="geometry">
<rect>
<x>710</x>
<y>15</y>
<width>51</width>
<height>21</height>
</rect>
</property>
<property name="toolTip">
<string>Delete the currently selected profile</string>
</property>
<property name="statusTip">
<string>Delete the currently selected profile</string>
</property>
<property name="text">
<string>Delete</string>
</property>
</widget>
<widget class="QLabel" name="lab_directory">
<property name="geometry">
<rect>
<x>452</x>
<y>44</y>
<width>311</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>#directory</string>
</property>
</widget>
<widget class="QPushButton" name="pb_directory">
<property name="geometry">
<rect>
<x>338</x>
<y>40</y>
<width>111</width>
<height>21</height>
</rect>
</property>
<property name="toolTip">
<string>Click here to change the directory</string>
</property>
<property name="text">
<string>Profile Directory:</string>
</property>
</widget>
<widget class="QLabel" name="label_3">
<property name="geometry">
<rect>
<x>20</x>
<y>57</y>
<width>91</width>
<height>21</height>
</rect>
</property>
<property name="toolTip">
<string>Canned: Matt Zucker's original footstep generator
Line: Walk along a straight line
Circle: Walk along some circle of constant radius</string>
</property>
<property name="statusTip">
<string>Select a method for footstep planning</string>
</property>
<property name="text">
<string>Walking Type:</string>
</property>
</widget>
<widget class="QComboBox" name="list_walktype">
<property name="geometry">
<rect>
<x>110</x>
<y>55</y>
<width>211</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>Canned: Matt Zucker's original footstep generator
Line: Walk along a straight line
Circle: Walk along some circle of constant radius</string>
</property>
<property name="statusTip">
<string>Select a method for footstep planning</string>
</property>
</widget>
<widget class="QLabel" name="label_4">
<property name="geometry">
<rect>
<x>20</x>
<y>97</y>
<width>91</width>
<height>21</height>
</rect>
</property>
<property name="toolTip">
<string>Strict: Default
Swing Permissive: Allows IK errors on the swing foot
Sloppy: Never run this on the robot!!</string>
</property>
<property name="statusTip">
<string>Select a sensitivity level for the Inverse Kinematics</string>
</property>
<property name="text">
<string>IK Sensitivity:</string>
</property>
</widget>
<widget class="QComboBox" name="list_sensitivity">
<property name="geometry">
<rect>
<x>110</x>
<y>95</y>
<width>211</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>Strict: Default
Swing Permissive: Allows IK errors on the swing foot
Sloppy: Never run this on the robot!!</string>
</property>
<property name="statusTip">
<string>Select a sensitivity level for the Inverse Kinematics</string>
</property>
</widget>
<widget class="QSpinBox" name="spin_steps">
<property name="geometry">
<rect>
<x>491</x>
<y>90</y>
<width>55</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>The number of steps to take</string>
</property>
<property name="statusTip">
<string>The number of steps to take</string>
</property>
</widget>
<widget class="QLabel" name="label_5">
<property name="geometry">
<rect>
<x>406</x>
<y>93</y>
<width>81</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>The number of steps to take</string>
</property>
<property name="statusTip">
<string>The number of steps to take</string>
</property>
<property name="text">
<string>Step Count:</string>
</property>
</widget>
<widget class="QPushButton" name="pb_send">
<property name="geometry">
<rect>
<x>576</x>
<y>66</y>
<width>141</width>
<height>71</height>
</rect>
</property>
<property name="font">
<font>
<family>Serif</family>
<pointsize>12</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>Send out the walking request</string>
</property>
<property name="statusTip">
<string>Send out the walking request</string>
</property>
<property name="text">
<string>Send
Request</string>
</property>
</widget>
<widget class="QGroupBox" name="groupBox">
<property name="geometry">
<rect>
<x>410</x>
<y>140</y>
<width>341</width>
<height>111</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox {
background-color: transparent;
border: 2px solid gray;
border-radius: 8px;
margin-top: 1ex; /*leave space at the top for the title */
font: 14pt "Bitstream Charter";
}
QGroupBox::title{
subcontrol-position: top left;
right: -12px;
top: -12px;
}</string>
</property>
<property name="title">
<string>Path Settings</string>
</property>
<widget class="QLabel" name="label_6">
<property name="geometry">
<rect>
<x>76</x>
<y>25</y>
<width>91</width>
<height>16</height>
</rect>
</property>
<property name="toolTip">
<string>Length of the entire path
(Not used by Canned walking type)</string>
</property>
<property name="statusTip">
<string>Length of the entire path (Not used by Canned walking type)</string>
</property>
<property name="text">
<string>Path Length:</string>
</property>
</widget>
<widget class="QDoubleSpinBox" name="spin_walk_dist">
<property name="geometry">
<rect>
<x>173</x>
<y>20</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>Length of the entire path
(Not used by Canned walking type)</string>
</property>
<property name="statusTip">
<string>Length of the entire path (Not used by Canned walking type)</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QDoubleSpinBox" name="spin_walk_circle_radius">
<property name="geometry">
<rect>
<x>173</x>
<y>47</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>Radius for circular walking</string>
</property>
<property name="statusTip">
<string>Radius for circular walking</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QLabel" name="label_7">
<property name="geometry">
<rect>
<x>70</x>
<y>51</y>
<width>91</width>
<height>16</height>
</rect>
</property>
<property name="toolTip">
<string>Radius for circular walking</string>
</property>
<property name="statusTip">
<string>Radius for circular walking</string>
</property>
<property name="text">
<string>Circle Radius:</string>
</property>
</widget>
<widget class="QRadioButton" name="rad_forward">
<property name="geometry">
<rect>
<x>20</x>
<y>80</y>
<width>91</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>Have the robot walk forward</string>
</property>
<property name="statusTip">
<string>Have the robot walk forward</string>
</property>
<property name="text">
<string>Forward</string>
</property>
<attribute name="buttonGroup">
<string>buttonGroup</string>
</attribute>
</widget>
<widget class="QRadioButton" name="rad_backward">
<property name="geometry">
<rect>
<x>113</x>
<y>80</y>
<width>106</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>Have the robot walk backwards</string>
</property>
<property name="statusTip">
<string>Have the robot walk backwards</string>
</property>
<property name="text">
<string>Backward</string>
</property>
<attribute name="buttonGroup">
<string>buttonGroup</string>
</attribute>
</widget>
<widget class="QRadioButton" name="rad_sideways">
<property name="geometry">
<rect>
<x>220</x>
<y>80</y>
<width>106</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>Have the robot side-step</string>
</property>
<property name="statusTip">
<string>Have the robot side-step</string>
</property>
<property name="text">
<string>Sideways</string>
</property>
<attribute name="buttonGroup">
<string>buttonGroup</string>
</attribute>
</widget>
</widget>
<widget class="QGroupBox" name="groupBox_2">
<property name="geometry">
<rect>
<x>410</x>
<y>270</y>
<width>341</width>
<height>111</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox {
background-color: transparent;
border: 2px solid gray;
border-radius: 8px;
margin-top: 1ex; /*leave space at the top for the title */
font: 14pt "Bitstream Charter";
}
QGroupBox::title{
subcontrol-position: top left;
right: -12px;
top: -12px;
}</string>
</property>
<property name="title">
<string>Swing Foot Settings</string>
</property>
<widget class="QDoubleSpinBox" name="spin_step_distance">
<property name="geometry">
<rect>
<x>174</x>
<y>48</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>How far forward a step should go</string>
</property>
<property name="statusTip">
<string>How far forward a step should go</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QLabel" name="label_9">
<property name="geometry">
<rect>
<x>70</x>
<y>52</y>
<width>101</width>
<height>16</height>
</rect>
</property>
<property name="toolTip">
<string>How far forward a step should go</string>
</property>
<property name="statusTip">
<string>How far forward a step should go</string>
</property>
<property name="text">
<string>Step Distance:</string>
</property>
</widget>
<widget class="QLabel" name="label_8">
<property name="geometry">
<rect>
<x>47</x>
<y>26</y>
<width>121</width>
<height>16</height>
</rect>
</property>
<property name="toolTip">
<string>How high to pick up the swing foot</string>
</property>
<property name="statusTip">
<string>How high to pick up the swing foot</string>
</property>
<property name="text">
<string>Foot Liftoff Height:</string>
</property>
</widget>
<widget class="QDoubleSpinBox" name="spin_foot_liftoff_z">
<property name="geometry">
<rect>
<x>174</x>
<y>21</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>How high to pick up the swing foot</string>
</property>
<property name="statusTip">
<string>How high to pick up the swing foot</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QLabel" name="label_10">
<property name="geometry">
<rect>
<x>56</x>
<y>77</y>
<width>111</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>Width of footstep away from the center</string>
</property>
<property name="statusTip">
<string>Width of footstep away from the center</string>
</property>
<property name="text">
<string>Lateral Distance:</string>
</property>
</widget>
<widget class="QDoubleSpinBox" name="spin_footstep_y">
<property name="geometry">
<rect>
<x>174</x>
<y>75</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>Width of footstep away from the center</string>
</property>
<property name="statusTip">
<string>Width of footstep away from the center</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</widget>
<widget class="QGroupBox" name="groupBox_3">
<property name="geometry">
<rect>
<x>410</x>
<y>390</y>
<width>341</width>
<height>111</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox {
background-color: transparent;
border: 2px solid gray;
border-radius: 8px;
margin-top: 1ex; /*leave space at the top for the title */
font: 14pt "Bitstream Charter";
}
QGroupBox::title{
subcontrol-position: top left;
right: -12px;
top: -12px;
}</string>
</property>
<property name="title">
<string>Center of Mass Settings</string>
</property>
<widget class="QDoubleSpinBox" name="spin_com_height">
<property name="geometry">
<rect>
<x>174</x>
<y>28</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="statusTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QLabel" name="label_11">
<property name="geometry">
<rect>
<x>22</x>
<y>30</y>
<width>151</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="statusTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="text">
<string>Center of Mass Height:</string>
</property>
</widget>
<widget class="QDoubleSpinBox" name="spin_angle_weight">
<property name="geometry">
<rect>
<x>174</x>
<y>64</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>Width of footstep away from the center</string>
</property>
<property name="statusTip">
<string>Width of footstep away from the center</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QLabel" name="label_12">
<property name="geometry">
<rect>
<x>34</x>
<y>66</y>
<width>141</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>How much should the IK be allowed to rotate the CoM</string>
</property>
<property name="statusTip">
<string>How much should the IK be allowed to rotate the CoM</string>
</property>
<property name="text">
<string>CoM IK Angle Weight:</string>
</property>
</widget>
</widget>
<widget class="QGroupBox" name="groupBox_4">
<property name="geometry">
<rect>
<x>40</x>
<y>284</y>
<width>341</width>
<height>151</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox {
background-color: transparent;
border: 2px solid gray;
border-radius: 8px;
margin-top: 1ex; /*leave space at the top for the title */
font: 14pt "Bitstream Charter";
}
QGroupBox::title{
subcontrol-position: top left;
right: -12px;
top: -12px;
}</string>
</property>
<property name="title">
<string>Time Settings</string>
</property>
<widget class="QDoubleSpinBox" name="spin_double_support">
<property name="geometry">
<rect>
<x>165</x>
<y>81</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="statusTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QLabel" name="label_18">
<property name="geometry">
<rect>
<x>13</x>
<y>84</y>
<width>141</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="statusTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="text">
<string>Double Support Time:</string>
</property>
</widget>
<widget class="QLabel" name="label_19">
<property name="geometry">
<rect>
<x>65</x>
<y>27</y>
<width>91</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="statusTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="text">
<string>Startup Time:</string>
</property>
</widget>
<widget class="QDoubleSpinBox" name="spin_startup">
<property name="geometry">
<rect>
<x>165</x>
<y>25</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="statusTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QDoubleSpinBox" name="spin_shutdown">
<property name="geometry">
<rect>
<x>165</x>
<y>53</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="statusTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QLabel" name="label_20">
<property name="geometry">
<rect>
<x>19</x>
<y>112</y>
<width>141</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="statusTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="text">
<string>Single Support Time:</string>
</property>
</widget>
<widget class="QDoubleSpinBox" name="spin_single_support">
<property name="geometry">
<rect>
<x>165</x>
<y>109</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="statusTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="decimals">
<number>20</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
<widget class="QLabel" name="label_17">
<property name="geometry">
<rect>
<x>50</x>
<y>55</y>
<width>111</width>
<height>20</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="statusTip">
<string>What height should be maintained for the CoM</string>
</property>
<property name="text">
<string>Shutdown Time:</string>
</property>
</widget>
</widget>
<widget class="QGroupBox" name="groupBox_5">
<property name="geometry">
<rect>
<x>40</x>
<y>130</y>
<width>341</width>
<height>141</height>
</rect>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox {
background-color: transparent;
border: 2px solid gray;
border-radius: 8px;
margin-top: 1ex; /*leave space at the top for the title */
font: 14pt "Bitstream Charter";
}
QGroupBox::title{
subcontrol-position: top left;
right: -12px;
top: -12px;
}</string>
</property>
<property name="title">
<string>ZMP Settings</string>
</property>
<widget class="QDoubleSpinBox" name="spin_zmp_x">
<property name="geometry">
<rect>
<x>165</x>
<y>22</y>
<width>121</width>
<height>25</height>
</rect>
</property>
<property name="toolTip">
<string>What height should be maintained for the CoM</string>
</property>