diff --git a/stretch_ros_tutorials/led_color_change.py b/stretch_ros_tutorials/led_color_change.py
new file mode 100644
index 0000000..d5c7362
--- /dev/null
+++ b/stretch_ros_tutorials/led_color_change.py
@@ -0,0 +1,106 @@
+import usb.core
+import usb.util
+
+class PixelRing:
+    TIMEOUT = 8000
+
+    def __init__(self, dev):
+        self.dev = dev
+
+    def mono(self, color):
+        self.write(1, [(color >> 16) & 0xFF, (color >> 8) & 0xFF, color & 0xFF, 0])
+    
+    def set_color(self, rgb=None, r=0, g=0, b=0):
+        if rgb:
+            self.mono(rgb)
+        else:
+            self.write(1, [r, g, b, 0])
+
+    def off(self):
+        self.mono(0)
+
+    def listen(self, direction=None):
+        self.write(2)
+
+    wakeup = listen
+
+    def speak(self):
+        self.write(3)
+
+    def think(self):
+        self.write(4)
+
+    wait = think
+
+    def spin(self):
+        self.write(5)
+
+    def show(self, data):
+        self.write(6, data)
+
+    customize = show
+        
+    def set_brightness(self, brightness):
+        self.write(0x20, [brightness])
+    
+    def set_color_palette(self, a, b):
+        self.write(0x21, [(a >> 16) & 0xFF, (a >> 8) & 0xFF, a & 0xFF, 0, (b >> 16) & 0xFF, (b >> 8) & 0xFF, b & 0xFF, 0])
+
+    def set_vad_led(self, state):
+        self.write(0x22, [state])
+
+    def set_volume(self, volume):
+        self.write(0x23, [volume])
+
+    def change_pattern(self, pattern=None):
+        print('Not support to change pattern')
+
+    def write(self, cmd, data=[0]):
+        self.dev.ctrl_transfer(
+            usb.util.CTRL_OUT | usb.util.CTRL_TYPE_VENDOR | usb.util.CTRL_RECIPIENT_DEVICE,
+            0, cmd, 0x1C, data, self.TIMEOUT)
+
+    def close(self):
+        """
+        close the interface
+        """
+        usb.util.dispose_resources(self.dev)
+
+
+def find(vid=0x2886, pid=0x0018):
+    dev = usb.core.find(idVendor=vid, idProduct=pid)
+    if not dev:
+        return
+    return PixelRing(dev)
+
+
+
+if __name__ == '__main__':
+    import time
+    pixel_ring = find()
+    r = 0xff0000
+    g = 0x00ff00
+    b = 0x0000ff
+    bl = 0
+    w = 0xffffff
+    while True:
+        try:
+            pixel_ring.set_brightness(0x01) #set brightness to min
+            pixel_ring.mono(r) # set all LED to color red
+            time.sleep(3)
+            pixel_ring.mono(b) # set all LED to color blue
+            time.sleep(3)
+            pixel_ring.mono(g) # set all LED to color green
+            time.sleep(3)
+            pixel_ring.set_color_palette(r, w) #set a color palette and use to colors in this case red and white
+            pixel_ring.think() # think needs to come together with the color palette
+            time.sleep(3)
+            pixel_ring.set_color_palette(b, g) #set a color palette and use to colors in this case blue and green
+            pixel_ring.think() # think needs to come together with the color palette
+            time.sleep(3)
+            pixel_ring.mono(bl) # set all LED to color black/"turn off"
+            time.sleep(3)
+        except KeyboardInterrupt:
+            break
+
+    pixel_ring.off()