That's not done through a launcher, and will likely require root. Changing the button images is definitely a possibility though, a lot of ROM's do it on other devices.
You will need root/xposed to do this, or a custom rom. Roms like PA, AOKP, CM, or combinations of those have pie controls which is a great way to navigate. I was hoping HTC would switch to on screen buttons so I could make use of pie and get more screen space. No, you cannot do this in stock firmware.
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That's not done through a launcher, and will likely require root. Changing the button images is definitely a possibility though, a lot of ROM's do it on other devices.
