diff --git a/consai_ros2/consai_visualizer/resource/visualizer.ui b/consai_ros2/consai_visualizer/resource/visualizer.ui
index 41cc13aa5..a02a3d780 100644
--- a/consai_ros2/consai_visualizer/resource/visualizer.ui
+++ b/consai_ros2/consai_visualizer/resource/visualizer.ui
@@ -639,2084 +639,2102 @@
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-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Mid">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>35</red>
-               <green>88</green>
-               <blue>152</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Text">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>26</red>
-               <green>66</green>
-               <blue>114</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="BrightText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ButtonText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>26</red>
-               <green>66</green>
-               <blue>114</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>53</red>
-               <green>132</green>
-               <blue>228</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>53</red>
-               <green>132</green>
-               <blue>228</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Shadow">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="AlternateBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>53</red>
-               <green>132</green>
-               <blue>228</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>220</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="PlaceholderText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="128">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </disabled>
-          </palette>
-         </property>
-         <property name="text">
-          <string>All OFF</string>
-         </property>
-        </widget>
-       </item>
-       <item row="1" column="1">
-        <widget class="QPushButton" name="btn_all_off_yellow">
-         <property name="palette">
-          <palette>
-           <active>
-            <colorrole role="WindowText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Button">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Light">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>239</green>
-               <blue>161</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Midlight">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>250</red>
-               <green>225</green>
-               <blue>103</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Dark">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Mid">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>164</red>
-               <green>141</green>
-               <blue>30</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Text">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="BrightText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ButtonText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Shadow">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="AlternateBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>250</red>
-               <green>233</green>
-               <blue>150</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>220</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="PlaceholderText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="128">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </active>
-           <inactive>
-            <colorrole role="WindowText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Button">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Light">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>239</green>
-               <blue>161</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Midlight">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>250</red>
-               <green>225</green>
-               <blue>103</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Dark">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Mid">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>164</red>
-               <green>141</green>
-               <blue>30</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Text">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="BrightText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ButtonText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Shadow">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="AlternateBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>250</red>
-               <green>233</green>
-               <blue>150</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>220</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="PlaceholderText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="128">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </inactive>
-           <disabled>
-            <colorrole role="WindowText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Button">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Light">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>239</green>
-               <blue>161</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Midlight">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>250</red>
-               <green>225</green>
-               <blue>103</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Dark">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Mid">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>164</red>
-               <green>141</green>
-               <blue>30</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Text">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="BrightText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ButtonText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Shadow">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="AlternateBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>220</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="PlaceholderText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="128">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </disabled>
-          </palette>
-         </property>
-         <property name="text">
-          <string>All OFF</string>
-         </property>
-        </widget>
-       </item>
-       <item row="1" column="6">
-        <widget class="QRadioButton" name="radio_btn_y3">
-         <property name="text">
-          <string>Y3</string>
-         </property>
-         <property name="autoRepeat">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="0" column="6">
-        <widget class="QRadioButton" name="radio_btn_b3">
-         <property name="text">
-          <string>B3</string>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="0" column="11">
-        <widget class="QRadioButton" name="radio_btn_b8">
-         <property name="text">
-          <string>B8</string>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="1" column="13">
-        <widget class="QRadioButton" name="radio_btn_y10">
-         <property name="text">
-          <string>Y10</string>
-         </property>
-         <property name="autoRepeat">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="1" column="11">
-        <widget class="QRadioButton" name="radio_btn_y8">
-         <property name="text">
-          <string>Y8</string>
-         </property>
-         <property name="autoRepeat">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="1" column="8">
-        <widget class="QRadioButton" name="radio_btn_y5">
-         <property name="text">
-          <string>Y5</string>
-         </property>
-         <property name="autoRepeat">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="0" column="12">
-        <widget class="QRadioButton" name="radio_btn_b9">
-         <property name="text">
-          <string>B9</string>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="1" column="12">
-        <widget class="QRadioButton" name="radio_btn_y9">
-         <property name="text">
-          <string>Y9</string>
-         </property>
-         <property name="autoRepeat">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="1" column="0">
-        <widget class="QPushButton" name="btn_all_on_yellow">
-         <property name="palette">
-          <palette>
-           <active>
-            <colorrole role="WindowText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Button">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Light">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>239</green>
-               <blue>161</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Midlight">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>250</red>
-               <green>225</green>
-               <blue>103</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Dark">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Mid">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>164</red>
-               <green>141</green>
-               <blue>30</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Text">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="BrightText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ButtonText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Shadow">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="AlternateBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>250</red>
-               <green>233</green>
-               <blue>150</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>220</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="PlaceholderText">
-             <brush brushstyle="SolidPattern">
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-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </active>
-           <inactive>
-            <colorrole role="WindowText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Button">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Light">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>239</green>
-               <blue>161</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Midlight">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>250</red>
-               <green>225</green>
-               <blue>103</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Dark">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Mid">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>164</red>
-               <green>141</green>
-               <blue>30</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Text">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="BrightText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ButtonText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Shadow">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="AlternateBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>250</red>
-               <green>233</green>
-               <blue>150</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>220</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="PlaceholderText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="128">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </inactive>
-           <disabled>
-            <colorrole role="WindowText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Button">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Light">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>239</green>
-               <blue>161</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Midlight">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>250</red>
-               <green>225</green>
-               <blue>103</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Dark">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Mid">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>164</red>
-               <green>141</green>
-               <blue>30</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Text">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="BrightText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>255</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ButtonText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>123</red>
-               <green>105</green>
-               <blue>22</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Base">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Window">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="Shadow">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="AlternateBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>246</red>
-               <green>211</green>
-               <blue>45</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipBase">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>255</red>
-               <green>255</green>
-               <blue>220</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="ToolTipText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="255">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-            <colorrole role="PlaceholderText">
-             <brush brushstyle="SolidPattern">
-              <color alpha="128">
-               <red>0</red>
-               <green>0</green>
-               <blue>0</blue>
-              </color>
-             </brush>
-            </colorrole>
-           </disabled>
-          </palette>
-         </property>
-         <property name="text">
-          <string>All ON</string>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="9">
-        <widget class="QRadioButton" name="radio_btn_b6">
-         <property name="text">
-          <string>B6</string>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="1" column="4">
-        <widget class="QRadioButton" name="radio_btn_y1">
-         <property name="text">
-          <string>Y1</string>
-         </property>
-         <property name="autoRepeat">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="0" column="3">
-        <widget class="QRadioButton" name="radio_btn_b0">
-         <property name="text">
-          <string>B0</string>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="0" column="10">
-        <widget class="QRadioButton" name="radio_btn_b7">
-         <property name="text">
-          <string>B7</string>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="1" column="10">
-        <widget class="QRadioButton" name="radio_btn_y7">
-         <property name="text">
-          <string>Y7</string>
-         </property>
-         <property name="autoRepeat">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="0" column="7">
-        <widget class="QRadioButton" name="radio_btn_b4">
-         <property name="text">
-          <string>B4</string>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="1" column="7">
-        <widget class="QRadioButton" name="radio_btn_y4">
-         <property name="text">
-          <string>Y4</string>
-         </property>
-         <property name="autoRepeat">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="1" column="9">
-        <widget class="QRadioButton" name="radio_btn_y6">
-         <property name="text">
-          <string>Y6</string>
-         </property>
-         <property name="autoRepeat">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="0" column="5">
-        <widget class="QRadioButton" name="radio_btn_b2">
-         <property name="text">
-          <string>B2</string>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="1" column="3">
-        <widget class="QRadioButton" name="radio_btn_y0">
-         <property name="text">
-          <string>Y0</string>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="0" column="4">
-        <widget class="QRadioButton" name="radio_btn_b1">
-         <property name="text">
-          <string>B1</string>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="0" column="8">
-        <widget class="QRadioButton" name="radio_btn_b5">
-         <property name="text">
-          <string>B5</string>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
-       </item>
-       <item row="0" column="2">
-        <widget class="QRadioButton" name="radio_btn_ball">
-         <property name="text">
-          <string>Ball</string>
-         </property>
-         <property name="checked">
-          <bool>true</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
+      <layout class="QHBoxLayout" name="horizontalLayout">
+       <item>
+        <layout class="QGridLayout" name="gridLayout_2">
+         <item row="1" column="1">
+          <widget class="QPushButton" name="btn_all_off_blue">
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>146</red>
+                 <green>195</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>99</red>
+                 <green>163</green>
+                 <blue>241</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>35</red>
+                 <green>88</green>
+                 <blue>152</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>154</red>
+                 <green>193</green>
+                 <blue>241</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>146</red>
+                 <green>195</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>99</red>
+                 <green>163</green>
+                 <blue>241</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>35</red>
+                 <green>88</green>
+                 <blue>152</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>154</red>
+                 <green>193</green>
+                 <blue>241</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>146</red>
+                 <green>195</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>99</red>
+                 <green>163</green>
+                 <blue>241</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>35</red>
+                 <green>88</green>
+                 <blue>152</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>All OFF</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="2">
+          <widget class="QRadioButton" name="radio_btn_ball">
+           <property name="text">
+            <string>Ball</string>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="13">
+          <widget class="QRadioButton" name="radio_btn_y10">
+           <property name="text">
+            <string>Y10</string>
+           </property>
+           <property name="autoRepeat">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QPushButton" name="btn_all_on_blue">
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>146</red>
+                 <green>195</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>99</red>
+                 <green>163</green>
+                 <blue>241</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>35</red>
+                 <green>88</green>
+                 <blue>152</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>154</red>
+                 <green>193</green>
+                 <blue>241</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>146</red>
+                 <green>195</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>99</red>
+                 <green>163</green>
+                 <blue>241</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>35</red>
+                 <green>88</green>
+                 <blue>152</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>154</red>
+                 <green>193</green>
+                 <blue>241</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>146</red>
+                 <green>195</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>99</red>
+                 <green>163</green>
+                 <blue>241</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>35</red>
+                 <green>88</green>
+                 <blue>152</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>26</red>
+                 <green>66</green>
+                 <blue>114</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>53</red>
+                 <green>132</green>
+                 <blue>228</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>All ON</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="5">
+          <widget class="QRadioButton" name="radio_btn_y2">
+           <property name="text">
+            <string>Y2</string>
+           </property>
+           <property name="autoRepeat">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="9">
+          <widget class="QRadioButton" name="radio_btn_y6">
+           <property name="text">
+            <string>Y6</string>
+           </property>
+           <property name="autoRepeat">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="9">
+          <widget class="QRadioButton" name="radio_btn_b6">
+           <property name="text">
+            <string>B6</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="7">
+          <widget class="QRadioButton" name="radio_btn_b4">
+           <property name="text">
+            <string>B4</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="10">
+          <widget class="QRadioButton" name="radio_btn_b7">
+           <property name="text">
+            <string>B7</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="6">
+          <widget class="QRadioButton" name="radio_btn_b3">
+           <property name="text">
+            <string>B3</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="11">
+          <widget class="QRadioButton" name="radio_btn_y8">
+           <property name="text">
+            <string>Y8</string>
+           </property>
+           <property name="autoRepeat">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="12">
+          <widget class="QRadioButton" name="radio_btn_b9">
+           <property name="text">
+            <string>B9</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="11">
+          <widget class="QRadioButton" name="radio_btn_b8">
+           <property name="text">
+            <string>B8</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QPushButton" name="btn_all_on_yellow">
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>239</green>
+                 <blue>161</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>250</red>
+                 <green>225</green>
+                 <blue>103</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>164</red>
+                 <green>141</green>
+                 <blue>30</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>250</red>
+                 <green>233</green>
+                 <blue>150</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>239</green>
+                 <blue>161</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>250</red>
+                 <green>225</green>
+                 <blue>103</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>164</red>
+                 <green>141</green>
+                 <blue>30</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>250</red>
+                 <green>233</green>
+                 <blue>150</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>239</green>
+                 <blue>161</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>250</red>
+                 <green>225</green>
+                 <blue>103</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>164</red>
+                 <green>141</green>
+                 <blue>30</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>All ON</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="13">
+          <widget class="QRadioButton" name="radio_btn_b10">
+           <property name="text">
+            <string>B10</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="4">
+          <widget class="QRadioButton" name="radio_btn_b1">
+           <property name="text">
+            <string>B1</string>
+           </property>
+           <property name="checked">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="3">
+          <widget class="QRadioButton" name="radio_btn_y0">
+           <property name="text">
+            <string>Y0</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="8">
+          <widget class="QRadioButton" name="radio_btn_y5">
+           <property name="text">
+            <string>Y5</string>
+           </property>
+           <property name="autoRepeat">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="10">
+          <widget class="QRadioButton" name="radio_btn_y7">
+           <property name="text">
+            <string>Y7</string>
+           </property>
+           <property name="autoRepeat">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="2">
+          <widget class="QRadioButton" name="radio_btn_none">
+           <property name="text">
+            <string>NONE</string>
+           </property>
+           <property name="checked">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="6">
+          <widget class="QRadioButton" name="radio_btn_y3">
+           <property name="text">
+            <string>Y3</string>
+           </property>
+           <property name="autoRepeat">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QPushButton" name="btn_all_off_yellow">
+           <property name="palette">
+            <palette>
+             <active>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>239</green>
+                 <blue>161</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>250</red>
+                 <green>225</green>
+                 <blue>103</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>164</red>
+                 <green>141</green>
+                 <blue>30</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>250</red>
+                 <green>233</green>
+                 <blue>150</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </active>
+             <inactive>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>239</green>
+                 <blue>161</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>250</red>
+                 <green>225</green>
+                 <blue>103</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>164</red>
+                 <green>141</green>
+                 <blue>30</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>250</red>
+                 <green>233</green>
+                 <blue>150</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </inactive>
+             <disabled>
+              <colorrole role="WindowText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Button">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Light">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>239</green>
+                 <blue>161</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Midlight">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>250</red>
+                 <green>225</green>
+                 <blue>103</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Dark">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Mid">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>164</red>
+                 <green>141</green>
+                 <blue>30</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Text">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="BrightText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>255</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ButtonText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>123</red>
+                 <green>105</green>
+                 <blue>22</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Base">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Window">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="Shadow">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="AlternateBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>246</red>
+                 <green>211</green>
+                 <blue>45</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipBase">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>255</red>
+                 <green>255</green>
+                 <blue>220</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="ToolTipText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="255">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+              <colorrole role="PlaceholderText">
+               <brush brushstyle="SolidPattern">
+                <color alpha="128">
+                 <red>0</red>
+                 <green>0</green>
+                 <blue>0</blue>
+                </color>
+               </brush>
+              </colorrole>
+             </disabled>
+            </palette>
+           </property>
+           <property name="text">
+            <string>All OFF</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="7">
+          <widget class="QRadioButton" name="radio_btn_y4">
+           <property name="text">
+            <string>Y4</string>
+           </property>
+           <property name="autoRepeat">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="3">
+          <widget class="QRadioButton" name="radio_btn_b0">
+           <property name="text">
+            <string>B0</string>
+           </property>
+           <property name="checked">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="4">
+          <widget class="QRadioButton" name="radio_btn_y1">
+           <property name="text">
+            <string>Y1</string>
+           </property>
+           <property name="autoRepeat">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="8">
+          <widget class="QRadioButton" name="radio_btn_b5">
+           <property name="text">
+            <string>B5</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="1" column="5">
+          <widget class="QRadioButton" name="radio_btn_b2">
+           <property name="text">
+            <string>B2</string>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+         <item row="2" column="12">
+          <widget class="QRadioButton" name="radio_btn_y9">
+           <property name="text">
+            <string>Y9</string>
+           </property>
+           <property name="autoRepeat">
+            <bool>false</bool>
+           </property>
+           <attribute name="buttonGroup">
+            <string notr="true">radio_buttons</string>
+           </attribute>
+          </widget>
+         </item>
+        </layout>
        </item>
-       <item row="1" column="2">
-        <widget class="QRadioButton" name="radio_btn_none">
-         <property name="text">
-          <string>NONE</string>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-         <attribute name="buttonGroup">
-          <string notr="true">radio_buttons</string>
-         </attribute>
-        </widget>
+       <item>
+        <layout class="QVBoxLayout" name="verticalLayout_2">
+         <item>
+          <widget class="QComboBox" name="session_injection_comboBox"/>
+         </item>
+         <item>
+          <widget class="QPushButton" name="session_injection_pushButton">
+           <property name="text">
+            <string>セッション挿入</string>
+           </property>
+          </widget>
+         </item>
+        </layout>
        </item>
       </layout>
      </item>
diff --git a/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py b/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py
index 54647caf1..1e19e8aa3 100644
--- a/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py
+++ b/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py
@@ -33,6 +33,7 @@
 import rclpy
 from robocup_ssl_msgs.msg import BallReplacement, Replacement, RobotReplacement
 from rqt_py_common.ini_helper import pack, unpack
+from std_msgs.msg import String
 
 
 class Visualizer(Plugin):
@@ -126,6 +127,54 @@ def __init__(self, context):
 
         self.latest_battery_voltage = [0] * 16
 
+        # self._widget.pushButton.clicked.connect(self.publish)
+        self._widget.session_injection_comboBox.addItem("HALT")
+        self._widget.session_injection_comboBox.addItem("STOP")
+        self._widget.session_injection_comboBox.addItem("OUR_KICKOFF_PREPARATION")
+        self._widget.session_injection_comboBox.addItem("OUR_KICKOFF_START")
+        self._widget.session_injection_comboBox.addItem("OUR_PENALTY_PREPARATION")
+        self._widget.session_injection_comboBox.addItem("OUR_PENALTY_START")
+        self._widget.session_injection_comboBox.addItem("OUR_DIRECT_FREE")
+        self._widget.session_injection_comboBox.addItem("OUR_BALL_PLACEMENT")
+        self._widget.session_injection_comboBox.addItem("THEIR_KICKOFF_PREPARATION")
+        self._widget.session_injection_comboBox.addItem("THEIR_KICKOFF_START")
+        self._widget.session_injection_comboBox.addItem("THEIR_PENALTY_PREPARATION")
+        self._widget.session_injection_comboBox.addItem("THEIR_PENALTY_START")
+        self._widget.session_injection_comboBox.addItem("THEIR_DIRECT_FREE")
+        self._widget.session_injection_comboBox.addItem("THEIR_BALL_PLACEMENT")
+        self._widget.session_injection_comboBox.addItem("INJECTION")
+        self._widget.session_injection_comboBox.addItem("INPLAY")
+        self._widget.session_injection_comboBox.addItem("OUR_INPLAY")
+        self._widget.session_injection_comboBox.addItem("THEIR_INPLAY")
+        self._widget.session_injection_comboBox.addItem("AMBIGUOUS_INPLAY")
+        self._widget.session_injection_comboBox.addItem(
+            "STOP_PRE_OUR_PENALTY_PREPARATION"
+        )
+        self._widget.session_injection_comboBox.addItem(
+            "STOP_PRE_THEIR_PENALTY_PREPARATION"
+        )
+        self._widget.session_injection_comboBox.addItem(
+            "STOP_PRE_OUR_KICKOFF_PREPARATION"
+        )
+        self._widget.session_injection_comboBox.addItem(
+            "STOP_PRE_THEIR_KICKOFF_PREPARATION"
+        )
+        self._widget.session_injection_comboBox.addItem("STOP_PRE_OUR_DIRECT_FREE")
+        self._widget.session_injection_comboBox.addItem("STOP_PRE_THEIR_DIRECT_FREE")
+        self._widget.session_injection_comboBox.addItem("STOP_PRE_FORCE_START")
+        self._widget.session_injection_pushButton.clicked.connect(
+            self._session_injection
+        )
+
+        self._pub_session_injection = self._node.create_publisher(
+            String, "/session_injection", 10
+        )
+
+    def _session_injection(self):
+        msg = String()
+        msg.data = self._widget.session_injection_comboBox.currentText()
+        self._pub_session_injection.publish(msg)
+
     def _callback_feedback(self, msg):
         for feedback in msg.feedback:
             try: