diff --git a/qt/configuration_window/main.cpp b/qt/configuration_window/main.cpp
new file mode 100644
index 0000000..d49f7d9
--- /dev/null
+++ b/qt/configuration_window/main.cpp
@@ -0,0 +1,12 @@
+#include "mainwindow.h"
+
+#include <QApplication>
+
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    MainWindow w;
+    //w.resize(1200,1200);
+    w.show();
+    return a.exec();
+}
diff --git a/qt/configuration_window/mainwindow.cpp b/qt/configuration_window/mainwindow.cpp
new file mode 100644
index 0000000..d126298
--- /dev/null
+++ b/qt/configuration_window/mainwindow.cpp
@@ -0,0 +1,590 @@
+#include "mainwindow.h"
+#include "./ui_mainwindow.h"
+#include <QMessageBox>
+#include <QDebug>
+
+MainWindow::MainWindow(QWidget *parent)
+    : QMainWindow(parent)
+    , ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+    timerId = startTimer(50);
+
+    ui->statusbar->addPermanentWidget(ui->label_author);
+    ui->label_author->setText("Juan Jose Quiroz Omana");
+    ui->statusbar->showMessage("Welcome to JuankaEmika", 5000);
+    ui->lineEdit_robotIp->setText("172.16.0.2");
+
+    reference_joint_x_
+        = {ui->reference_joint_1, ui->reference_joint_2, ui->reference_joint_3,
+           ui->reference_joint_4, ui->reference_joint_5, ui->reference_joint_6,
+           ui->reference_joint_7};
+
+    label_ref_joint_x_
+        ={ui->label_ref_joint_1, ui->label_ref_joint_2, ui->label_ref_joint_3,
+           ui->label_ref_joint_4, ui->label_ref_joint_5, ui->label_ref_joint_6,
+           ui->label_ref_joint_7};
+
+    spin_box_read_joint_x_
+        = {ui->doubleSpinBox_q_1, ui->doubleSpinBox_q_2, ui->doubleSpinBox_q_3,
+           ui->doubleSpinBox_q_4, ui->doubleSpinBox_q_5, ui->doubleSpinBox_q_6,
+           ui->doubleSpinBox_q_7};
+
+    spin_box_read_deg_joint_x_
+        = {ui->doubleSpinBox_deg_q_1, ui->doubleSpinBox_deg_q_2, ui->doubleSpinBox_deg_q_3,
+           ui->doubleSpinBox_deg_q_4, ui->doubleSpinBox_deg_q_5, ui->doubleSpinBox_deg_q_6,
+           ui->doubleSpinBox_deg_q_7};
+
+    spin_box_read_deg_joint_vel_x_
+        ={ui->doubleSpinBox_q_dot_1, ui->doubleSpinBox_q_dot_2, ui->doubleSpinBox_q_dot_3,
+          ui->doubleSpinBox_q_dot_4, ui->doubleSpinBox_q_dot_5, ui->doubleSpinBox_q_dot_6,
+          ui->doubleSpinBox_q_dot_7,};
+
+    enable_reference_sliders(false);
+    ui->pushButton_robotHoming->setEnabled(false);
+    ui->pushButton_handHoming->setEnabled(false);
+    ui->pushButton_default_ref->setEnabled(false);
+    ui->pushButton_joint_commands->setEnabled(false);
+    ui->pushButton_move_hand->setEnabled(false);
+
+    ui->horizontalSlider_gripper->setEnabled(false);
+    ui->horizontalSlider_gripper->setRange(0, 800);
+    ui->horizontalSlider_gripper->setSliderPosition(500);
+
+    ui->checkBox_handGripper->setCheckState(Qt::Checked);
+    ui->checkBox_handGripper->setEnabled(false);
+    //ui->checkBox_robotHoming->setEnabled(false);
+    //ui->checkBox_homingGripper->setEnabled(false);
+    //ui->checkBox_joint_commands->setEnabled(false);
+    //ui->checkBox_move_hand->setEnabled(false);
+    enable_check_boxes(false);
+
+    ui->pushButton_led->setEnabled(false);
+
+    ui->pushButton_initialize->setEnabled(false);
+    ui->pushButton_deinitialize->setEnabled(false);
+    ui->pushButton_disconnect->setEnabled(false);
+
+    set_push_button_color(ui->pushButton_connect, green_color_);
+    set_push_button_color(ui->pushButton_initialize, gray_color_);
+    set_push_button_color(ui->pushButton_deinitialize, gray_color_);
+    set_push_button_color(ui->pushButton_disconnect, gray_color_);
+
+    set_reference_sliders(q_rest_configuration_);
+    set_push_button_color(ui->pushButton_joint_commands, gray_color_);
+    set_push_button_color(ui->pushButton_default_ref, gray_color_);
+    set_push_button_color(ui->pushButton_handHoming, gray_color_);
+    set_push_button_color(ui->pushButton_move_hand, gray_color_);
+    set_push_button_color(ui->pushButton_robotHoming, gray_color_);
+    std::cout<<"---------------------------------------------------------------"<<std::endl;
+    std::cout<<"---------------------------------------------------------------"<<std::endl;
+    std::cout << R"(
+               _                   _           ______           _ _
+              | |                 | |         |  ____|         (_) |
+              | |_   _  __ _ _ __ | | ____ _  | |__   _ __ ___  _| | ____ _
+          _   | | | | |/ _` | '_ \| |/ / _` | |  __| | '_ ` _ \| | |/ / _` |
+         | |__| | |_| | (_| | | | |   < (_| | | |____| | | | | | |   < (_| |
+          \____/ \__,_|\__,_|_| |_|_|\_\__,_| |______|_| |_| |_|_|_|\_\__,_|
+
+     )" << '\n';
+    std::cout<<"-----------------------------------------------------------------"<<std::endl;
+    std::cout<<"-----------------------------------------------------------------"<<std::endl;
+}
+
+//const VectorXd q_rest_configuration_ =(VectorXd(7)<<0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4).finished();
+
+MainWindow::~MainWindow()
+{
+    delete ui;
+    killTimer(timerId);
+}
+
+void MainWindow::enable_check_boxes(const bool& state)
+{
+    ui->checkBox_robotHoming->setEnabled(state);
+    ui->checkBox_homingGripper->setEnabled(state);
+    ui->checkBox_joint_commands->setEnabled(state);
+    ui->checkBox_move_hand->setEnabled(state);
+}
+
+void MainWindow::update_status_bar(const std::string &message)
+{
+    ui->statusbar->showMessage(QString::fromStdString(message), 5000);
+}
+
+void MainWindow::set_reference_sliders(const VectorXd& q_initial)
+{
+
+
+    /*
+    connect(ui->reference_joint_1, SIGNAL(valueChanged(int)),
+            ui->label_ref_joint_1, SLOT(setValue(int)));
+
+         */
+    Eigen::VectorXd q_max_ =
+        (Eigen::VectorXd(7)<< 130, 85, 140, -25, 140,  240, 150).finished();
+    Eigen::VectorXd q_min_ =
+        (Eigen::VectorXd(7)<<-130,-85, -140, -150, -140, 48, -150).finished();
+
+
+    int i=0;
+    for (auto& elem : reference_joint_x_)
+    {
+        elem->setRange(q_min_[i], q_max_[i]);
+        elem->setSliderPosition((180/M_PI)*q_initial[i]);
+        label_ref_joint_x_[i]->setText(QString::number((180/M_PI)*q_initial[i]));
+        i++;
+    }
+
+}
+
+void MainWindow::enable_reference_sliders(const bool& status)
+{
+    ui->pushButton_joint_commands->setDisabled(status);
+    for (auto& elem : reference_joint_x_)
+    {
+        elem->setEnabled(status);
+    }
+}
+
+void MainWindow::set_push_button_color(QPushButton *push_button, const QColor &color)
+{
+    push_button->setStyleSheet(QString("background-color: %1").arg(color.name()));
+}
+
+
+
+
+
+void MainWindow::on_pushButton_connect_clicked()
+{
+    QString robotIp = ui->lineEdit_robotIp->text();
+    std::string robotIp_std = robotIp.toStdString();
+
+    //QMessageBox::about(this,"title", "This will move the robot!");
+    //QMessageBox::critical(this, "Title", "Hey hey");
+    auto mode_txt = ui->comboBox->currentText().toStdString();
+    RobotInterfaceFranka::MODE MODE;
+    if (mode_txt== std::string("None"))
+    {
+        MODE = RobotInterfaceFranka::MODE::None;
+    }else if (mode_txt== std::string("PositionControl"))
+    {
+        MODE = RobotInterfaceFranka::MODE::PositionControl;
+    }else if (mode_txt== std::string("VelocityControl"))
+    {
+        MODE = RobotInterfaceFranka::MODE::VelocityControl;
+    }
+    else
+    {
+        std::runtime_error(std::string("Wrong mode. "));
+    }
+
+
+    //qDebug()<<"Robot pointer: "<< !!robot_driver_franka_sptr_;
+    if (!robot_driver_franka_sptr_)
+    {
+        //qDebug()<<"Create Pointer ";
+        robot_driver_franka_sptr_ = std::make_shared<RobotInterfaceFranka>(robotIp_std,
+                                                                          MODE,
+                                                                          RobotInterfaceFranka::HAND::ON);
+
+    }
+
+    robot_driver_franka_sptr_->connect();
+    q_rest_configuration_ = robot_driver_franka_sptr_->get_home_robot_configuration();
+    set_reference_sliders(robot_driver_franka_sptr_->get_joint_positions());
+    connect_flag_      = true;
+    initialize_flag_   = false;
+    deinitialize_flag_ = false;
+    disconnect_flag_   = false;
+
+    enable_push_button(ui->pushButton_connect, false);
+    enable_push_button(ui->pushButton_initialize, true);
+    enable_push_button(ui->pushButton_disconnect, true);
+
+    auto max_width = robot_driver_franka_sptr_->read_gripper(RobotInterfaceFranka::MAX_WIDTH);
+    ui->horizontalSlider_gripper->setRange(100, int(max_width*10000)-100);
+    auto width = robot_driver_franka_sptr_->read_gripper(RobotInterfaceFranka::WIDTH);
+    ui->doubleSpinBox_hand->setValue(width);
+
+    //qDebug()<<"Hola: "<< mode_txt ;
+}
+
+void MainWindow::on_pushButton_initialize_clicked()
+{
+    QMessageBox::warning(this, "Warning", "Initialize can move the robot. "
+                                          "Please make sure to have the user stop button at hand! "
+                                          "Use at your own risk");
+
+    enable_push_button(ui->pushButton_initialize, false);
+    enable_push_button(ui->pushButton_deinitialize, true);
+    enable_push_button(ui->pushButton_disconnect, false);
+    initialize_flag_ = true;
+    robot_driver_franka_sptr_->initialize();
+    enable_check_boxes(true);
+
+}
+
+void MainWindow::on_pushButton_deinitialize_clicked()
+{
+    enable_push_button(ui->pushButton_deinitialize, false);
+    enable_push_button(ui->pushButton_disconnect, true);
+
+    initialize_flag_ = false;
+    deinitialize_flag_ = true;
+    enable_check_boxes(false);
+    robot_driver_franka_sptr_->deinitialize();
+
+    ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
+    ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
+    ui->checkBox_handGripper->setCheckState(Qt::Unchecked);
+    ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
+    ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
+}
+
+
+void MainWindow::on_pushButton_disconnect_clicked()
+{
+    enable_push_button(ui->pushButton_disconnect, false);
+    enable_push_button(ui->pushButton_initialize, false);
+    enable_push_button(ui->pushButton_deinitialize, false);
+    enable_push_button(ui->pushButton_connect, true);
+    update_status_bar(robot_driver_franka_sptr_->get_status_message());
+    ui->comboBox->setEnabled(false);
+    connect_flag_      = false;
+    initialize_flag_   = false;
+    deinitialize_flag_ = false;
+    disconnect_flag_   = false;
+    robot_driver_franka_sptr_->disconnect();
+
+    ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
+    ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
+    ui->checkBox_handGripper->setCheckState(Qt::Checked);
+    ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
+    ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
+
+
+}
+
+
+
+void MainWindow::timerEvent(QTimerEvent *event)
+{
+    //qDebug() << "Update...  "<<connect_flag_;
+    if (connect_flag_)
+    {
+        auto q = robot_driver_franka_sptr_->get_joint_positions();
+        auto q_dot = robot_driver_franka_sptr_->get_joint_velocities();
+        time_from_robot_ = robot_driver_franka_sptr_->get_time();
+        //std::cout<<"q: "<<q.transpose()<<" time: "<< time_from_robot_<<std::endl;
+
+        update_led_timer_status();
+        update_read_joints(q, q_dot);
+        ui->doubleSpinBox_time->setValue(time_from_robot_);
+        robot_driver_franka_sptr_->set_target_joint_positions(q_target_);
+        ui->label_robot_mode->setText(QString::fromStdString(robot_driver_franka_sptr_->get_robot_mode()));
+
+    }else
+    {
+        enable_push_button(ui->pushButton_led, false);
+    }
+    if (robot_driver_franka_sptr_)
+    {
+        update_status_bar(robot_driver_franka_sptr_->get_status_message());
+    }
+
+}
+
+
+void MainWindow::update_led_timer_status()
+{
+    int number = int(time_from_robot_)%2;
+    blink_button(ui->pushButton_led, number, green_led_color_, gray_color_);
+}
+
+void MainWindow::update_read_joints(const VectorXd& q, const VectorXd& q_dot)
+{
+    int i=0;
+    for (auto& elem : spin_box_read_joint_x_)
+    {
+        elem->setValue(q[i]);
+        spin_box_read_deg_joint_x_[i]->setValue(q[i]*180/M_PI);
+        spin_box_read_deg_joint_vel_x_[i]->setValue(q_dot[i]);
+        i++;
+    }
+
+}
+
+
+
+
+void MainWindow::enable_push_button(QPushButton* push_button, const bool& state)
+{
+    push_button->setEnabled(state);
+    QColor color;
+    if (state == true)
+    {
+        color = green_color_;
+    }else
+    {
+        color = gray_color_;
+    }
+    set_push_button_color(push_button, color);
+}
+
+
+void MainWindow::blink_button(QPushButton* push_button,
+                              const bool& state,
+                              const QColor& color_on,
+                              const QColor& color_off)
+{
+    //push_button->setEnabled(false);
+    QColor color;
+    if (state == true)
+    {
+        color = color_on;
+    }else
+    {
+        color = color_off;
+    }
+    set_push_button_color(push_button, color);
+}
+
+
+void MainWindow::on_reference_joint_1_valueChanged(int value)
+{
+    ui->label_ref_joint_1->setText(QString::number(value));
+    q_target_[0] = value*(M_PI/180.0);
+}
+
+void MainWindow::on_reference_joint_2_valueChanged(int value)
+{
+    ui->label_ref_joint_2->setText(QString::number(value));
+    q_target_[1] = value*(M_PI/180.0);
+}
+void MainWindow::on_reference_joint_3_valueChanged(int value)
+{
+    ui->label_ref_joint_3->setText(QString::number(value));
+    q_target_[2] = value*(M_PI/180.0);
+}
+void MainWindow::on_reference_joint_4_valueChanged(int value)
+{
+    ui->label_ref_joint_4->setText(QString::number(value));
+    q_target_[3] = value*(M_PI/180.0);
+}
+void MainWindow::on_reference_joint_5_valueChanged(int value)
+{
+    ui->label_ref_joint_5->setText(QString::number(value));
+    q_target_[4] = value*(M_PI/180.0);
+}
+void MainWindow::on_reference_joint_6_valueChanged(int value)
+{
+    ui->label_ref_joint_6->setText(QString::number(value));
+    q_target_[5] = value*(M_PI/180.0);
+}
+void MainWindow::on_reference_joint_7_valueChanged(int value)
+{
+    ui->label_ref_joint_7->setText(QString::number(value));
+    q_target_[6] = value*(M_PI/180.0);
+}
+
+void MainWindow::on_pushButton_default_ref_clicked()
+{
+    set_reference_sliders(q_rest_configuration_);
+    ui->horizontalSlider_gripper->setSliderPosition(7);
+}
+
+
+
+
+void MainWindow::on_horizontalSlider_gripper_valueChanged(int value)
+{
+    ui->label_ref_joint_hand->setText(QString::number(value));
+    command_gripper_ = double(value*0.0001);
+    //qDebug()<<"command: "<<command_gripper_;
+}
+
+void MainWindow::on_checkBox_homingGripper_clicked(bool checked)
+{
+    if (checked){
+        // Uncheck other checkboxes
+        //ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
+        ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
+        ui->checkBox_handGripper->setCheckState(Qt::Unchecked);
+        ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
+        ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
+    }
+}
+
+
+void MainWindow::on_checkBox_move_hand_clicked(bool checked)
+{
+    if (checked){
+        // Uncheck other checkboxeshandHoming
+        ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
+        //ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
+        ui->checkBox_handGripper->setCheckState(Qt::Unchecked);
+        ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
+        ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
+
+    }
+}
+
+
+void MainWindow::on_checkBox_robotHoming_clicked(bool checked)
+{
+    if (checked){
+        // Uncheck other checkboxes
+        ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
+        ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
+        ui->checkBox_handGripper->setCheckState(Qt::Unchecked);
+        ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
+        //ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
+    }
+}
+
+
+void MainWindow::on_checkBox_joint_commands_clicked(bool checked)
+{
+    if (checked){
+        // Uncheck other checkboxes
+        ui->checkBox_homingGripper->setCheckState(Qt::Unchecked);
+        ui->checkBox_move_hand->setCheckState(Qt::Unchecked);
+        ui->checkBox_handGripper->setCheckState(Qt::Unchecked);
+        //ui->checkBox_joint_commands->setCheckState(Qt::Unchecked);
+        ui->checkBox_robotHoming->setCheckState(Qt::Unchecked);
+
+    }
+}
+
+
+void MainWindow::on_checkBox_joint_commands_stateChanged()
+{
+    Qt::CheckState current_state = ui->checkBox_joint_commands->checkState();
+    if (current_state == Qt::Checked)
+    {
+        enable_reference_sliders(true);
+        ui->pushButton_joint_commands->setEnabled(true);
+        ui->pushButton_default_ref->setEnabled(true);
+        set_push_button_color(ui->pushButton_joint_commands, green_color_);
+        set_push_button_color(ui->pushButton_default_ref, green_color_);
+        //set_push_button_color(ui->pushButton_handHoming, gray_color_);
+        //set_push_button_color(ui->pushButton_move_hand, gray_color_);
+        //set_push_button_color(ui->pushButton_robotHoming, gray_color_);
+
+    }
+    else{
+        enable_reference_sliders(false);
+        ui->pushButton_joint_commands->setEnabled(false);
+        ui->pushButton_default_ref->setEnabled(false);
+        set_push_button_color(ui->pushButton_joint_commands, gray_color_);
+        set_push_button_color(ui->pushButton_default_ref, gray_color_);
+    }
+}
+
+void MainWindow::on_checkBox_robotHoming_stateChanged()
+{
+    Qt::CheckState current_state = ui->checkBox_robotHoming->checkState();
+    if (current_state == Qt::Checked)
+    {
+
+        ui->pushButton_robotHoming->setEnabled(true);
+        set_push_button_color(ui->pushButton_robotHoming, green_color_);
+
+    }
+    else{
+        ui->pushButton_robotHoming->setEnabled(false);
+        set_push_button_color(ui->pushButton_robotHoming, gray_color_);
+    }
+}
+
+
+void MainWindow::on_checkBox_move_hand_stateChanged()
+{
+    Qt::CheckState current_state = ui->checkBox_move_hand->checkState();
+    if (current_state == Qt::Checked)
+    {
+
+        ui->pushButton_move_hand->setEnabled(true);
+        set_push_button_color(ui->pushButton_move_hand, green_color_);
+        ui->horizontalSlider_gripper->setEnabled(true);
+
+    }
+    else{
+        ui->pushButton_move_hand->setEnabled(false);
+        set_push_button_color(ui->pushButton_move_hand, gray_color_);
+        ui->horizontalSlider_gripper->setEnabled(false);
+    }
+}
+
+
+
+void MainWindow::on_checkBox_homingGripper_stateChanged()
+{
+    Qt::CheckState current_state = ui->checkBox_homingGripper->checkState();
+    if (current_state == Qt::Checked)
+    {
+
+        ui->pushButton_handHoming->setEnabled(true);
+        set_push_button_color(ui->pushButton_handHoming, green_color_);
+
+    }
+    else{
+        ui->pushButton_handHoming->setEnabled(false);
+        set_push_button_color(ui->pushButton_handHoming, gray_color_);
+    }
+}
+
+
+
+
+void MainWindow::on_pushButton_robotHoming_clicked()
+{
+    QMessageBox::warning(this, "Warning", "This will move the robot. "
+                                          "Please make sure to have the user stop button at hand! "
+                                          "Use at your own risk");
+    robot_driver_franka_sptr_->move_robot_to_target_joint_positions(
+        robot_driver_franka_sptr_->get_home_robot_configuration());
+}
+
+
+
+
+void MainWindow::on_pushButton_joint_commands_clicked()
+{
+    std::cout<<"q_target_: "<<q_target_.transpose()<<std::endl;
+    std::cout<<"q_target_: "<<(180/M_PI)*q_target_.transpose()<<std::endl;
+    QMessageBox::warning(this, "Warning", "This will move the robot. "
+                                          "Please make sure to have the user stop button at hand! "
+                                          "Use at your own risk");
+    //robot_driver_franka_sptr_->move_robot_to_target_joint_positions(q_target_);
+    robot_driver_franka_sptr_->move_robot_to_target_joint_positions(q_target_);
+}
+
+
+
+
+void MainWindow::on_pushButton_handHoming_clicked()
+{
+    robot_driver_franka_sptr_->gripper_homing();
+    auto width     = robot_driver_franka_sptr_->read_gripper(RobotInterfaceFranka::WIDTH);
+    ui->doubleSpinBox_hand->setValue(width);
+}
+
+
+void MainWindow::on_pushButton_move_hand_clicked()
+{
+    auto max_width = robot_driver_franka_sptr_->read_gripper(RobotInterfaceFranka::MAX_WIDTH);
+    auto width     = robot_driver_franka_sptr_->read_gripper(RobotInterfaceFranka::WIDTH);
+    ui->doubleSpinBox_hand->setValue(width);
+
+    if (command_gripper_ < 0.01 or command_gripper_ > max_width)
+    {
+        qDebug()<<"The desired value is outside the range. ";
+    }else{
+
+        robot_driver_franka_sptr_->set_gripper(command_gripper_);
+    }
+}
+
diff --git a/qt/configuration_window/mainwindow.h b/qt/configuration_window/mainwindow.h
new file mode 100644
index 0000000..09b0ee3
--- /dev/null
+++ b/qt/configuration_window/mainwindow.h
@@ -0,0 +1,124 @@
+#pragma once
+#include "QtWidgets/qlabel.h"
+#include "QtWidgets/qslider.h"
+#include "qpushbutton.h"
+#include <memory>
+#include <eigen3/Eigen/Dense>
+
+#include <QMainWindow>
+#include "qspinbox.h"
+#include "robot_interface_franka.h"
+
+QT_BEGIN_NAMESPACE
+namespace Ui { class MainWindow; }
+QT_END_NAMESPACE
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    MainWindow(QWidget *parent = nullptr);
+    ~MainWindow();
+
+    void set_reference_sliders(const VectorXd& q_initial);
+    void enable_reference_sliders(const bool& status);
+    void set_push_button_color(QPushButton* push_button, const QColor& color);
+    void enable_push_button(QPushButton* push_button, const bool& state);
+    void blink_button(QPushButton* push_button, const bool& state, const QColor& color_on, const QColor& color_off);
+    void update_read_joints(const VectorXd& q, const VectorXd& q_dot);
+    void update_led_timer_status();
+    void enable_check_boxes(const bool& state);
+    void update_status_bar(const std::string& message);
+
+
+private slots:
+
+
+
+    void on_pushButton_connect_clicked();
+
+    void on_reference_joint_1_valueChanged(int value);
+    void on_reference_joint_2_valueChanged(int value);
+    void on_reference_joint_3_valueChanged(int value);
+    void on_reference_joint_4_valueChanged(int value);
+    void on_reference_joint_5_valueChanged(int value);
+    void on_reference_joint_6_valueChanged(int value);
+    void on_reference_joint_7_valueChanged(int value);
+
+    void on_pushButton_default_ref_clicked();
+
+    //void on_checkBox_joint_commands_clicked(bool checked);
+    //void on_checkBox_homingGripper_clicked(bool checked);
+    //void on_checkBox_robotHoming_clicked(bool checked);
+    //void on_checkBox_move_hand_clicked(bool checked);
+
+    void on_horizontalSlider_gripper_valueChanged(int value);
+
+
+    void on_checkBox_homingGripper_clicked(bool checked);
+
+    void on_checkBox_move_hand_clicked(bool checked);
+
+    void on_checkBox_robotHoming_clicked(bool checked);
+
+    void on_checkBox_joint_commands_clicked(bool checked);
+
+    void on_checkBox_joint_commands_stateChanged();
+
+    void on_checkBox_move_hand_stateChanged();
+
+    void on_checkBox_robotHoming_stateChanged();
+
+    void on_checkBox_homingGripper_stateChanged();
+
+    void on_pushButton_disconnect_clicked();
+
+    void on_pushButton_initialize_clicked();
+
+    void on_pushButton_deinitialize_clicked();
+
+    void on_pushButton_robotHoming_clicked();
+
+
+
+    void on_pushButton_joint_commands_clicked();
+
+
+
+    void on_pushButton_handHoming_clicked();
+
+    void on_pushButton_move_hand_clicked();
+
+private:
+    Ui::MainWindow *ui;
+    //std::shared_ptr<Ui::MainWindow> ui;
+    std::vector<QSlider*> reference_joint_x_;
+    std::vector<QLabel*> label_ref_joint_x_;
+    std::vector<QDoubleSpinBox*> spin_box_read_joint_x_;
+    std::vector<QDoubleSpinBox*> spin_box_read_deg_joint_x_;
+    std::vector<QDoubleSpinBox*> spin_box_read_deg_joint_vel_x_;
+
+    QColor green_color_ = QColor::fromRgb(144,238,144);
+
+    QColor green_led_color_ = QColor::fromRgb(0,255,0);
+    QColor gray_color_ = QColor::fromRgb(180,180,180);
+
+    std::shared_ptr<RobotInterfaceFranka> robot_driver_franka_sptr_ = nullptr;
+    int timerId;
+
+    VectorXd q_target_ =(VectorXd(7)<<0, -0.3, 0, -1.92, 0, M_PI_2, M_PI_4).finished();
+    VectorXd q_rest_configuration_= (VectorXd(7)<<0, -0.3, 0, -1.92, 0, M_PI_2, M_PI_4).finished();
+
+    double command_gripper_ = 0.05;
+
+    double time_from_robot_;
+
+    bool connect_flag_      = false;
+    bool initialize_flag_   = false;
+    bool deinitialize_flag_ = false;
+    bool disconnect_flag_   = false;
+
+protected:
+    void timerEvent(QTimerEvent *event);
+};
diff --git a/qt/configuration_window/mainwindow.ui b/qt/configuration_window/mainwindow.ui
new file mode 100644
index 0000000..ad850e5
--- /dev/null
+++ b/qt/configuration_window/mainwindow.ui
@@ -0,0 +1,1043 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>776</width>
+    <height>640</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>JuankaEmika</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <layout class="QGridLayout" name="gridLayout">
+    <item row="0" column="0" rowspan="2">
+     <layout class="QVBoxLayout" name="verticalLayout_11">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_10">
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_9">
+          <item>
+           <layout class="QVBoxLayout" name="verticalLayout_8">
+            <item>
+             <layout class="QVBoxLayout" name="verticalLayout">
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout">
+                <item>
+                 <widget class="QLabel" name="label_robotIp">
+                  <property name="text">
+                   <string>Robot IP:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QLineEdit" name="lineEdit_robotIp"/>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_11">
+                <item>
+                 <widget class="QCheckBox" name="checkBox_handGripper">
+                  <property name="text">
+                   <string>Include Franka Hand </string>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+              <item>
+               <layout class="QHBoxLayout" name="horizontalLayout_12">
+                <item>
+                 <widget class="QLabel" name="label_5">
+                  <property name="text">
+                   <string>Mode:</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <widget class="QComboBox" name="comboBox">
+                  <item>
+                   <property name="text">
+                    <string>None</string>
+                   </property>
+                  </item>
+                  <item>
+                   <property name="text">
+                    <string>PositionControl</string>
+                   </property>
+                  </item>
+                  <item>
+                   <property name="text">
+                    <string>VelocityControl</string>
+                   </property>
+                  </item>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="Line" name="line_6">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_connect">
+        <property name="text">
+         <string>Connect</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_initialize">
+        <property name="text">
+         <string>Initialize</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_deinitialize">
+        <property name="text">
+         <string>Deinitialize</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_disconnect">
+        <property name="text">
+         <string>Disconnect</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item row="0" column="1">
+     <widget class="QLabel" name="label_2">
+      <property name="text">
+       <string>Hand Zone</string>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="1" colspan="2">
+     <layout class="QVBoxLayout" name="verticalLayout_6">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <widget class="Line" name="line_5">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_2">
+          <item>
+           <widget class="QCheckBox" name="checkBox_homingGripper">
+            <property name="text">
+             <string/>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="pushButton_handHoming">
+            <property name="mouseTracking">
+             <bool>false</bool>
+            </property>
+            <property name="text">
+             <string>           Hand Homing         </string>
+            </property>
+            <property name="flat">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="Line" name="line_4">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_6">
+        <item>
+         <widget class="QCheckBox" name="checkBox_move_hand">
+          <property name="text">
+           <string/>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_9">
+          <item>
+           <widget class="QLabel" name="label_text_j1_8">
+            <property name="text">
+             <string>Hand</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QSlider" name="horizontalSlider_gripper">
+            <property name="maximum">
+             <number>8</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_ref_joint_hand">
+            <property name="text">
+             <string>0</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="doubleSpinBox_hand">
+        <property name="mouseTracking">
+         <bool>true</bool>
+        </property>
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+        <property name="minimum">
+         <double>0.010000000000000</double>
+        </property>
+        <property name="maximum">
+         <double>0.080000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_move_hand">
+        <property name="mouseTracking">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>Move hand     </string>
+        </property>
+        <property name="flat">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="Line" name="line_3">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item row="2" column="0" rowspan="2">
+     <widget class="QLabel" name="label_3">
+      <property name="text">
+       <string>Robot Zone</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="1">
+     <widget class="QLabel" name="label_6">
+      <property name="text">
+       <string>Robot State Zone</string>
+      </property>
+     </widget>
+    </item>
+    <item row="3" column="1" rowspan="2" colspan="3">
+     <layout class="QHBoxLayout" name="horizontalLayout_10">
+      <item>
+       <widget class="QPushButton" name="pushButton_led">
+        <property name="text">
+         <string>Status</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="Line" name="line">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_text_j1_16">
+        <property name="text">
+         <string>Time (s):</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="doubleSpinBox_time">
+        <property name="maximum">
+         <double>99990000.000000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_robot_mode">
+        <property name="text">
+         <string>RobotMode</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item row="4" column="0" rowspan="3">
+     <layout class="QVBoxLayout" name="verticalLayout_5">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_12">
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_3">
+          <item>
+           <widget class="QCheckBox" name="checkBox_robotHoming">
+            <property name="text">
+             <string/>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="pushButton_robotHoming">
+            <property name="text">
+             <string>         Homing           </string>
+            </property>
+            <property name="autoDefault">
+             <bool>false</bool>
+            </property>
+            <property name="default">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <widget class="Line" name="line_7">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_4">
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_8">
+          <item>
+           <layout class="QVBoxLayout" name="verticalLayout_7">
+            <item>
+             <widget class="QLabel" name="label_text_j1">
+              <property name="text">
+               <string>q1</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_text_j1_2">
+              <property name="text">
+               <string>q2</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_text_j1_3">
+              <property name="text">
+               <string>q3</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_text_j1_4">
+              <property name="text">
+               <string>q4</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_text_j1_5">
+              <property name="text">
+               <string>q5</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_text_j1_6">
+              <property name="text">
+               <string>q6</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_text_j1_7">
+              <property name="text">
+               <string>q7</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <layout class="QVBoxLayout" name="verticalLayout_3">
+            <item>
+             <widget class="QSlider" name="reference_joint_1">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QSlider" name="reference_joint_2">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QSlider" name="reference_joint_3">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QSlider" name="reference_joint_4">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QSlider" name="reference_joint_5">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QSlider" name="reference_joint_6">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QSlider" name="reference_joint_7">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+          <item>
+           <layout class="QVBoxLayout" name="verticalLayout_4">
+            <item>
+             <widget class="QLabel" name="label_ref_joint_1">
+              <property name="text">
+               <string>0</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_ref_joint_2">
+              <property name="text">
+               <string>0</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_ref_joint_3">
+              <property name="text">
+               <string>0</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_ref_joint_4">
+              <property name="text">
+               <string>0</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_ref_joint_5">
+              <property name="text">
+               <string>0</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_ref_joint_6">
+              <property name="text">
+               <string>0</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLabel" name="label_ref_joint_7">
+              <property name="text">
+               <string>0</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_default_ref">
+        <property name="text">
+         <string>Default</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="Line" name="line_8">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_5">
+        <item>
+         <widget class="QCheckBox" name="checkBox_joint_commands">
+          <property name="text">
+           <string/>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="pushButton_joint_commands">
+          <property name="text">
+           <string>           Move the Robot        </string>
+          </property>
+          <property name="flat">
+           <bool>false</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+    <item row="5" column="1" colspan="2">
+     <layout class="QHBoxLayout" name="horizontalLayout_14">
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_13">
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_15">
+          <item>
+           <widget class="QLabel" name="label_text_j1_17">
+            <property name="text">
+             <string>q1</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_text_j1_18">
+            <property name="text">
+             <string>q2</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_text_j1_19">
+            <property name="text">
+             <string>q3</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_text_j1_20">
+            <property name="text">
+             <string>q4</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_text_j1_21">
+            <property name="text">
+             <string>q5</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_text_j1_22">
+            <property name="text">
+             <string>q6</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_text_j1_23">
+            <property name="text">
+             <string>q7</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_16">
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_deg_q_1">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-360.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>360.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_deg_q_2">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-360.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>360.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_deg_q_3">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-360.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>360.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_deg_q_4">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-360.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>360.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_deg_q_5">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-360.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>360.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_deg_q_6">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-360.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>360.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_deg_q_7">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-360.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>360.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_7">
+        <item>
+         <layout class="QVBoxLayout" name="verticalLayout_13">
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_q_1">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-3.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>3.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_q_2">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-3.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>3.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_q_3">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-3.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>3.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_q_4">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-3.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>3.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_q_5">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-3.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>3.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_q_6">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-3.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>3.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_q_7">
+            <property name="mouseTracking">
+             <bool>true</bool>
+            </property>
+            <property name="readOnly">
+             <bool>true</bool>
+            </property>
+            <property name="minimum">
+             <double>-3.000000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>3.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+    <item row="5" column="3">
+     <layout class="QHBoxLayout" name="horizontalLayout_15">
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_14">
+        <item>
+         <widget class="QLabel" name="label_text_j_dot_1">
+          <property name="text">
+           <string>q_dot_1</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_text_j_dot_2">
+          <property name="text">
+           <string>q_dot_2</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_text_j_dot_3">
+          <property name="text">
+           <string>q_dot_3</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_text_j_dot_4">
+          <property name="text">
+           <string>q_dot_4</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_text_j_dot_5">
+          <property name="text">
+           <string>q_dot_5</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_text_j_dot_6">
+          <property name="text">
+           <string>q_dot_6</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_text_j_dot_7">
+          <property name="text">
+           <string>q_dot_7</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QVBoxLayout" name="verticalLayout_17">
+        <item>
+         <widget class="QDoubleSpinBox" name="doubleSpinBox_q_dot_1">
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+          <property name="minimum">
+           <double>-3.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>3.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QDoubleSpinBox" name="doubleSpinBox_q_dot_2">
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+          <property name="minimum">
+           <double>-3.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>3.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QDoubleSpinBox" name="doubleSpinBox_q_dot_3">
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+          <property name="minimum">
+           <double>-3.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>3.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QDoubleSpinBox" name="doubleSpinBox_q_dot_4">
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+          <property name="minimum">
+           <double>-3.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>3.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QDoubleSpinBox" name="doubleSpinBox_q_dot_5">
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+          <property name="minimum">
+           <double>-3.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>3.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QDoubleSpinBox" name="doubleSpinBox_q_dot_6">
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+          <property name="minimum">
+           <double>-3.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>3.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QDoubleSpinBox" name="doubleSpinBox_q_dot_7">
+          <property name="mouseTracking">
+           <bool>true</bool>
+          </property>
+          <property name="readOnly">
+           <bool>true</bool>
+          </property>
+          <property name="minimum">
+           <double>-3.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>3.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+    <item row="6" column="2">
+     <widget class="QLabel" name="label_author">
+      <property name="text">
+       <string>TextLabel</string>
+      </property>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>776</width>
+     <height>22</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>