diff --git a/parallax/__init__.py b/parallax/__init__.py
index 879ba9f..3f9c774 100644
--- a/parallax/__init__.py
+++ b/parallax/__init__.py
@@ -4,7 +4,7 @@
 
 import os
 
-__version__ = "0.37.26"
+__version__ = "0.37.27"
 
 # allow multiple OpenMP instances
 os.environ["KMP_DUPLICATE_LIB_OK"] = "True"
diff --git a/parallax/calculator.py b/parallax/calculator.py
index f634aed..2b6ae8d 100644
--- a/parallax/calculator.py
+++ b/parallax/calculator.py
@@ -1,7 +1,7 @@
 import os
 import logging
 import numpy as np
-from PyQt5.QtWidgets import QWidget, QGroupBox, QLineEdit, QPushButton, QLabel
+from PyQt5.QtWidgets import QWidget, QGroupBox, QLineEdit, QPushButton, QLabel, QMessageBox
 from PyQt5.uic import loadUi
 from PyQt5.QtCore import Qt
 
@@ -13,13 +13,14 @@
 ui_dir = os.path.join(os.path.dirname(package_dir), "ui")
 
 class Calculator(QWidget):
-    def __init__(self, model, reticle_selector):
+    def __init__(self, model, reticle_selector, stage_controller):
         super().__init__()
         self.model = model
         self.reticle_selector = reticle_selector
         self.reticle = None
+        self.stage_controller = stage_controller
 
-        self.ui = loadUi(os.path.join(ui_dir, "calc.ui"), self)
+        self.ui = loadUi(os.path.join(ui_dir, "calc_move.ui"), self)
         self.setWindowTitle(f"Calculator")
         self.setWindowFlags(Qt.Window | Qt.WindowMinimizeButtonHint | \
             Qt.WindowMaximizeButtonHint | Qt.WindowCloseButtonHint)
@@ -27,6 +28,7 @@ def __init__(self, model, reticle_selector):
         # Create the number of GroupBox for the number of stages
         self._create_stage_groupboxes()
         self._connect_clear_buttons()
+        self._connect_move_stage_buttons()
         self.reticle_selector.currentIndexChanged.connect(self._setCurrentReticle)
 
         self.model.add_calc_instance(self)
@@ -249,7 +251,8 @@ def _create_stage_groupboxes(self):
         for sn in self.model.stages.keys():
             # Load the QGroupBox from the calc_QGroupBox.ui file
             group_box = QGroupBox(self)
-            loadUi(os.path.join(ui_dir, "calc_QGroupBox.ui"), group_box)
+            #loadUi(os.path.join(ui_dir, "calc_QGroupBox.ui"), group_box) # TODO
+            loadUi(os.path.join(ui_dir, "calc_QGroupBox_move.ui"), group_box)
 
             # Set the visible title of the QGroupBox to sn
             group_box.setTitle(f"{sn}")
@@ -258,9 +261,9 @@ def _create_stage_groupboxes(self):
             group_box.setObjectName(f"groupBox_{sn}")
 
             # Find all QLineEdits and QPushButtons in the group_box and rename them
-            # globalX -> globalX_{sn} .. 
-            # localX -> localX_{sn} ..
-            # ClearBtn -> ClearBtn_{sn} ..
+            # globalX -> globalX_{sn} / localX -> localX_{sn} 
+            # ClearBtn -> ClearBtn_{sn} 
+            # moveStageXY -> moveStageXY_{sn}
             for line_edit in group_box.findChildren(QLineEdit):
                 line_edit.setObjectName(f"{line_edit.objectName()}_{sn}")
 
@@ -269,7 +272,80 @@ def _create_stage_groupboxes(self):
                 push_button.setObjectName(f"{push_button.objectName()}_{sn}")
 
             # Add the newly created QGroupBox to the layout
-            self.ui.verticalLayout_QBox.addWidget(group_box)
+            widget_count = self.ui.verticalLayout_QBox.count()
+            self.ui.verticalLayout_QBox.insertWidget(widget_count - 1, group_box)
+            #self.ui.verticalLayout_QBox.addWidget(group_box)
+
+    def _connect_move_stage_buttons(self):
+        stop_button = self.ui.findChild(QPushButton, f"stopAllStages")
+        if stop_button:
+            stop_button.clicked.connect(lambda: self._stop_stage("stopAll"))
+
+        for stage_sn in self.model.stages.keys():
+            moveXY_button = self.findChild(QPushButton, f"moveStageXY_{stage_sn}")
+            if moveXY_button:
+                moveXY_button.clicked.connect(self._create_stage_function(stage_sn, "moveXY"))
+
+    def _stop_stage(self, move_type):
+        print(f"Stopping all stages.")
+        command = {
+            "move_type": move_type
+        }
+        self.stage_controller.stop_request(command)
+    
+    def _create_stage_function(self, stage_sn, move_type):
+        """Create a function that moves the stage to the given global coordinates."""
+        return lambda: self._move_stage(stage_sn, move_type)
+    
+    def _move_stage(self, stage_sn, move_type):
+        try:
+            # Convert the text to float, round it, then cast to int
+            x = float(self.findChild(QLineEdit, f"localX_{stage_sn}").text())/1000
+            y = float(self.findChild(QLineEdit, f"localY_{stage_sn}").text())/1000
+            z = 15.0
+        except ValueError as e:
+            logger.warning(f"Invalid input for stage {stage_sn}: {e}")
+            return  # Optionally handle the error gracefully (e.g., show a message to the user)
+        
+        # Use the confirm_move_stage function to ask for confirmation
+        if self._confirm_move_stage(x, y):
+            # If the user confirms, proceed with moving the stage
+            print(f"Moving stage {stage_sn} to ({np.round(x*1000)}, {np.round(y*1000)}, 0)")
+            command = {
+                "stage_sn": stage_sn,
+                "move_type": move_type,
+                "x": x,
+                "y": y,
+                "z": z
+            }
+            self.stage_controller.move_request(command)
+        else:
+            # If the user cancels, do nothing
+            print("Stage move canceled by user.")
+
+    def _confirm_move_stage(self, x, y):
+        """
+        Displays a confirmation dialog asking the user if they are sure about moving the stage.
+        
+        Args:
+            x (float): The x-coordinate for stage movement.
+            y (float): The y-coordinate for stage movement.
+
+        Returns:
+            bool: True if the user confirms the move, False otherwise.
+        """
+
+        x = round(x*1000)
+        y = round(y*1000)
+        message = f"Are you sure you want to move the stage to the local coords, ({x}, {y}, 0)?"
+        response = QMessageBox.warning(
+            self,
+            "Move Stage Confirmation",
+            message,
+            QMessageBox.Yes | QMessageBox.No,
+            QMessageBox.No,
+        )
+        return response == QMessageBox.Yes
 
     def _connect_clear_buttons(self):
         for stage_sn in self.model.stages.keys():
diff --git a/parallax/probe_calibration.py b/parallax/probe_calibration.py
index fd3be61..cf9f2ea 100644
--- a/parallax/probe_calibration.py
+++ b/parallax/probe_calibration.py
@@ -84,7 +84,7 @@ def __init__(self, model, stage_listener):
                 [0.0, 0.0, 0.0, 0.0],
             ]
         )
-
+        
         self.model_LR, self.transM_LR, self.transM_LR_prev = None, None, None
         self.origin, self.R, self.scale = None, None, np.array([1, 1, 1])
         self.avg_err = None
diff --git a/parallax/stage_controller.py b/parallax/stage_controller.py
new file mode 100644
index 0000000..ad51cd6
--- /dev/null
+++ b/parallax/stage_controller.py
@@ -0,0 +1,184 @@
+import logging
+import requests
+import json
+from PyQt5.QtCore import QObject, QTimer
+
+# Set logger name
+logger = logging.getLogger(__name__)
+logger.setLevel(logging.WARNING)
+
+# Set the logging level for PyQt5.uic.uiparser/properties to WARNING to ignore DEBUG messages
+logging.getLogger("PyQt5.uic.uiparser").setLevel(logging.WARNING)
+logging.getLogger("PyQt5.uic.properties").setLevel(logging.WARNING)
+
+class StageController(QObject):
+    def __init__(self, model):
+        super().__init__()
+        self.model = model
+        self.url = self.model.stage_listener_url
+        self.timer_count = 0
+
+        # These commands will be updated dynamically based on the parsed probe index
+        self.probeStepMode_command = {
+            "PutId": "ProbeStepMode",
+            "Probe": 0,         # Default value, will be updated dynamically
+            "StepMode": 0       # StepMode=0 (for Coarse), =1 (for Fine), =2 (for Insertion)
+        }
+        self.probeMotion_command = {
+            "PutId" : "ProbeMotion",
+            "Probe": 0,          # Probe=0 (for probe A), =1 (for Probe B), etc. Default value, will be updated dynamically
+            "Absolute": 1,       # Absolute=0 (for relative move) =1 (for absolute target)
+            "Stereotactic": 0,   # Stereotactic=0 (for local [stage] coordinates) =1 (for stereotactic)
+            "AxisMask": 7        # AxisMask=1 (for X), =2 (for Y), =4 (for Z) or any combination (e.g. 7 for XYZ)
+        }
+        
+        self.probeStop_command = {
+            "PutId": "ProbeStop",
+            "Probe": 0          # Default value, will be updated dynamically
+        }
+
+    def stop_request(self, command):
+        move_type = command["move_type"]
+        if move_type == "stopAll":
+            # Stop the timer if it's active
+            if hasattr(self, 'timer') and self.timer.isActive():
+                self.timer.stop()
+                logger.info("Timer stopped. Outside SW may be interrupting.")
+
+            # Get the status to retrieve all available probes
+            status = self._get_status()
+            if status is None:
+                logger.warning("Failed to retrieve status while trying to stop all probes.")
+                return
+
+            # Iterate over all probes and send the stop command
+            probe_array = status.get("ProbeArray", [])
+            for i, probe in enumerate(probe_array):
+                self.probeStop_command["Probe"] = i  # Set the correct probe index
+                self._send_command(self.probeStop_command)
+                logger.info(f"Sent stop command to probe {i}")
+            logger.info("Sent stop command to all available probes.")
+
+    def move_request(self, command):
+        """
+        input format:
+        command = {
+            "stage_sn": stage_sn,
+            "move_type": move_type     # "moveXY"
+            "x": x,
+            "y": y,
+            "z": z
+        }
+        """
+        move_type = command["move_type"]
+        stage_sn = command["stage_sn"]
+        # Get index of the probe based on the serial number
+        probe_index = self._get_probe_index(stage_sn)
+        if probe_index is None:
+            logger.warning(f"Failed to get probe index for stage: {stage_sn}")
+            return
+
+        if move_type == "moveXY":
+            # update command to coarse and the command
+            self.probeStepMode_command["Probe"] = probe_index
+            self._send_command(self.probeStepMode_command)
+
+            # update command to move z to 15
+            self._update_move_command(probe_index, x=None, y=None, z=15.0)
+            # move the probe
+            self._send_command(self.probeMotion_command)
+
+            # Reset timer_count for this new move command
+            self.timer_count = 0
+            self.timer = QTimer(self)
+            self.timer.setInterval(500)  # 500 ms
+            self.timer.timeout.connect(lambda: self._check_z_position(probe_index, 15.0, command))
+            self.timer.start()
+    
+    def _check_z_position(self, probe_index, target_z, command):
+        """Check Z position and proceed with X, Y movement once target is reached."""
+        self.timer_count += 1
+        if self.timer_count > 30:  # 30 * 500 ms = 15 seconds
+            if hasattr(self, 'timer') and self.timer.isActive():
+                self.timer.stop()
+                logger.warning("Timer stopped due to timeout.")
+                return
+
+        if self._is_z_at_target(probe_index, target_z):
+            if hasattr(self, 'timer') and self.timer.isActive():
+                self.timer.stop()
+                logger.info("Timer stopped due to z is on the target.")
+
+            # Update command to move (x, y, 0)
+            x = command["x"]
+            y = command["y"]
+            self._update_move_command(probe_index, x=x, y=y, z=None)
+            # Move the probe
+            self._send_command(self.probeMotion_command)
+
+    def _is_z_at_target(self, probe_index, target_z):
+        """Check if the probe's Z coordinate has reached the target value."""
+        status = self._get_status()
+        if status is None:
+            return False
+
+        # Find the correct probe in the status by probe index
+        probe_array = status.get("ProbeArray", [])
+        if probe_index >= len(probe_array):
+            logger.warning(f"Invalid probe index: {probe_index}")
+            return False
+        
+        current_z = probe_array[probe_index].get("Stage_Z", None)
+        if current_z is None:
+            logger.warning(f"Failed to retrieve Z position for probe {probe_index}")
+            return False
+
+        # Return whether the current Z value is close enough to the target
+        return abs(current_z - target_z) < 0.01  # Tolerance of 10 um
+
+    def _update_move_command(self, probe_index, x=None, y=None, z=None):
+        self.probeMotion_command["Probe"] = probe_index
+        if x is not None:
+            self.probeMotion_command["X"] = x
+        if y is not None:
+            self.probeMotion_command["Y"] = y
+        if z is not None:
+            self.probeMotion_command["Z"] = z
+
+        axis_mask = 0
+        if x is not None:
+            axis_mask |= 1  # X-axis
+        if y is not None:
+            axis_mask |= 2  # Y-axis
+        if z is not None:
+            axis_mask |= 4  # Z-axis
+        self.probeMotion_command["AxisMask"] = axis_mask
+
+    def _get_probe_index(self, stage_sn):
+        status = self._get_status()
+        if status is None:
+            return None
+
+        # Find probe index based on serial number
+        probe_array = status.get("ProbeArray", [])
+        for i, probe in enumerate(probe_array):
+            if probe["SerialNumber"] == stage_sn:
+                return i  # Set the corresponding probe index
+
+        return None
+
+    def _get_status(self):
+        response = requests.get(self.url)
+        if response.status_code == 200:
+            try:
+                return response.json()
+            except json.JSONDecodeError:
+                print("Response is not in JSON format:", response.text)
+                return None
+        else:
+            print(f"Failed to get status: {response.status_code}, {response.text}")
+            return None
+
+    def _send_command(self, command):
+        headers = {'Content-Type': 'application/json'}
+        requests.put(self.url, data=json.dumps(command), headers=headers)
diff --git a/parallax/stage_widget.py b/parallax/stage_widget.py
index 977ac43..4920d60 100644
--- a/parallax/stage_widget.py
+++ b/parallax/stage_widget.py
@@ -22,6 +22,7 @@
 from .calculator import Calculator
 from .reticle_metadata import ReticleMetadata
 from .screen_coords_mapper import ScreenCoordsMapper
+from .stage_controller import StageController
 
 logger = logging.getLogger(__name__)
 logger.setLevel(logging.WARNING)
@@ -170,9 +171,12 @@ def __init__(self, model, ui_dir, screen_widgets):
         self.filter = "no_filter"
         logger.debug(f"filter: {self.filter}")
 
+        # Stage controller
+        self.stage_controller = StageController(self.model)
+
         # Calculator Button
         self.calculation_btn.hide()
-        self.calculator = Calculator(self.model, self.reticle_selector)
+        self.calculator = Calculator(self.model, self.reticle_selector, self.stage_controller)
 
         # Reticle Button
         self.reticle_metadata_btn.hide()
diff --git a/ui/calc_QGroupBox_move.ui b/ui/calc_QGroupBox_move.ui
new file mode 100644
index 0000000..0e27780
--- /dev/null
+++ b/ui/calc_QGroupBox_move.ui
@@ -0,0 +1,311 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SN</class>
+ <widget class="QGroupBox" name="SN">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>914</width>
+    <height>123</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>750</width>
+    <height>100</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>GroupBox</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QWidget{
+background-color: rgb(00,00,00);
+color: #FFFFFF;
+}
+QPushButton{
+	background-color: black;
+}
+ QPushButton:pressed {
+     background-color: rgb(224, 0, 0);     
+}
+QPushButton:hover {
+     background-color: rgb(100, 30, 30);
+}
+QPushButton#startButton:disabled:checked {
+	color: gray;
+}
+QPushButton#startButton:disabled:checked {
+	background-color: #ffaaaa;
+}
+QPushButton#startButton:disabled:!checked {
+	background-color: lightGreen;
+}
+
+QMessageBox {
+    background-color: rgb(00,00,00);
+    color: #FFFFFF;
+}
+QMessageBox QLabel {
+    color: #FFFFFF;
+}
+QMessageBox QPushButton {
+    background-color: rgb(50,50,50);
+    color: #FFFFFF;
+}
+QMessageBox QPushButton:hover {
+    background-color: rgb(100, 30, 30);
+}
+QMessageBox QPushButton:pressed {
+    background-color: rgb(224, 0, 0);
+}</string>
+  </property>
+  <widget class="QLineEdit" name="globalY">
+   <property name="geometry">
+    <rect>
+     <x>140</x>
+     <y>40</y>
+     <width>100</width>
+     <height>40</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>100</width>
+     <height>40</height>
+    </size>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>8</pointsize>
+    </font>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QLineEdit {
+    color: yellow;
+}</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="globalZ">
+   <property name="geometry">
+    <rect>
+     <x>250</x>
+     <y>40</y>
+     <width>100</width>
+     <height>40</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>100</width>
+     <height>40</height>
+    </size>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>8</pointsize>
+    </font>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QLineEdit {
+    color: yellow;
+}</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="globalX">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>40</y>
+     <width>100</width>
+     <height>40</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>100</width>
+     <height>40</height>
+    </size>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>8</pointsize>
+    </font>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QLineEdit {
+    color: yellow;
+}</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="localX">
+   <property name="geometry">
+    <rect>
+     <x>410</x>
+     <y>40</y>
+     <width>100</width>
+     <height>40</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>100</width>
+     <height>40</height>
+    </size>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>8</pointsize>
+    </font>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="convert">
+   <property name="geometry">
+    <rect>
+     <x>360</x>
+     <y>50</y>
+     <width>40</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>40</width>
+     <height>0</height>
+    </size>
+   </property>
+   <property name="maximumSize">
+    <size>
+     <width>40</width>
+     <height>16777215</height>
+    </size>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>12</pointsize>
+    </font>
+   </property>
+   <property name="text">
+    <string>↔</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="localZ">
+   <property name="geometry">
+    <rect>
+     <x>630</x>
+     <y>40</y>
+     <width>100</width>
+     <height>40</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>100</width>
+     <height>40</height>
+    </size>
+   </property>
+   <property name="maximumSize">
+    <size>
+     <width>200</width>
+     <height>16777215</height>
+    </size>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>8</pointsize>
+    </font>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="localY">
+   <property name="geometry">
+    <rect>
+     <x>520</x>
+     <y>40</y>
+     <width>100</width>
+     <height>40</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>100</width>
+     <height>40</height>
+    </size>
+   </property>
+   <property name="maximumSize">
+    <size>
+     <width>200</width>
+     <height>16777215</height>
+    </size>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>8</pointsize>
+    </font>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="ClearBtn">
+   <property name="geometry">
+    <rect>
+     <x>750</x>
+     <y>50</y>
+     <width>51</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>40</width>
+     <height>0</height>
+    </size>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>7</pointsize>
+    </font>
+   </property>
+   <property name="text">
+    <string>Clear</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="moveStageXY">
+   <property name="geometry">
+    <rect>
+     <x>820</x>
+     <y>40</y>
+     <width>61</width>
+     <height>41</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>7</pointsize>
+    </font>
+   </property>
+   <property name="text">
+    <string/>
+   </property>
+   <property name="icon">
+    <iconset>
+     <normaloff>resources/move_xy0.png</normaloff>resources/move_xy0.png</iconset>
+   </property>
+   <property name="iconSize">
+    <size>
+     <width>64</width>
+     <height>64</height>
+    </size>
+   </property>
+  </widget>
+ </widget>
+ <tabstops>
+  <tabstop>globalX</tabstop>
+  <tabstop>globalY</tabstop>
+  <tabstop>globalZ</tabstop>
+  <tabstop>convert</tabstop>
+  <tabstop>localX</tabstop>
+  <tabstop>localY</tabstop>
+  <tabstop>localZ</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ui/calc_move.ui b/ui/calc_move.ui
new file mode 100644
index 0000000..02feeb3
--- /dev/null
+++ b/ui/calc_move.ui
@@ -0,0 +1,206 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>953</width>
+    <height>638</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="windowIcon">
+   <iconset>
+    <normaloff>resources/calc.png</normaloff>resources/calc.png</iconset>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QWidget{
+background-color: rgb(00,00,00);
+color: #FFFFFF;
+}
+QPushButton{
+	background-color: black;
+}
+ QPushButton:pressed {
+     background-color: rgb(224, 0, 0);     
+}
+QPushButton:hover {
+     background-color: rgb(100, 30, 30);
+}
+QPushButton#startButton:disabled:checked {
+	color: gray;
+}
+QPushButton#startButton:disabled:checked {
+	background-color: #ffaaaa;
+}
+QPushButton#startButton:disabled:!checked {
+	background-color: lightGreen;
+}
+QMessageBox {
+    background-color: rgb(00,00,00);
+    color: #FFFFFF;
+}
+QMessageBox QLabel {
+    color: #FFFFFF;
+}
+QMessageBox QPushButton {
+    background-color: rgb(50,50,50);
+    color: #FFFFFF;
+}
+QMessageBox QPushButton:hover {
+    background-color: rgb(100, 30, 30);
+}
+QMessageBox QPushButton:pressed {
+    background-color: rgb(224, 0, 0);
+}</string>
+  </property>
+  <widget class="QWidget" name="verticalLayoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>10</y>
+     <width>921</width>
+     <height>601</height>
+    </rect>
+   </property>
+   <layout class="QVBoxLayout" name="verticalLayout_T">
+    <property name="topMargin">
+     <number>10</number>
+    </property>
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout_3">
+      <item>
+       <widget class="QLabel" name="labelGlobal">
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>50</height>
+         </size>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">QLabel {
+    color: yellow;
+}</string>
+        </property>
+        <property name="text">
+         <string> Global</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="labelLocal">
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>50</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>Local    </string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout_4">
+      <item>
+       <widget class="QLabel" name="labelLocalXYZ_2">
+        <property name="styleSheet">
+         <string notr="true">QLabel {
+    color: yellow;
+}</string>
+        </property>
+        <property name="text">
+         <string>  (x, y, z)</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="labelGlobalXYZ_2">
+        <property name="text">
+         <string>(x, y, z)   </string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QVBoxLayout" name="verticalLayout_QBox">
+      <property name="leftMargin">
+       <number>20</number>
+      </property>
+      <property name="bottomMargin">
+       <number>10</number>
+      </property>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <item>
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item>
+         <widget class="QPushButton" name="stopAllStages">
+          <property name="text">
+           <string/>
+          </property>
+          <property name="icon">
+           <iconset>
+            <normaloff>resources/stop-sign.png</normaloff>resources/stop-sign.png</iconset>
+          </property>
+          <property name="iconSize">
+           <size>
+            <width>64</width>
+            <height>64</height>
+           </size>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <spacer name="verticalSpacer_2">
+      <property name="orientation">
+       <enum>Qt::Vertical</enum>
+      </property>
+      <property name="sizeHint" stdset="0">
+       <size>
+        <width>20</width>
+        <height>40</height>
+       </size>
+      </property>
+     </spacer>
+    </item>
+   </layout>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/ui/resources/move_xy0.png b/ui/resources/move_xy0.png
new file mode 100644
index 0000000..38898c6
Binary files /dev/null and b/ui/resources/move_xy0.png differ
diff --git a/ui/resources/move_xy0_gray.png b/ui/resources/move_xy0_gray.png
new file mode 100644
index 0000000..76eaac2
Binary files /dev/null and b/ui/resources/move_xy0_gray.png differ