diff --git a/coordinator/coordinator.html b/coordinator/coordinator.html
index f72df3e..6f90ae4 100644
--- a/coordinator/coordinator.html
+++ b/coordinator/coordinator.html
@@ -4,13 +4,13 @@
             Select Operation Mode
         </div>
         <div class="panel-body text-center">
-            <button id="teachingModeButton" type="button" onclick="triggerService('/activateTeachingController')" class="btn btn-lg">
+            <button id="teachingModeButton" type="button" onclick="triggerService('/aescape/mode/activateTeachingController')" class="btn btn-primary">
                 Teaching Mode
             </button>
-            <button id="executionModeButton" type="button" onclick="triggerService('/activateExecutionController')" class="btn btn-lg">
+            <button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
                 Execution Mode
             </button>
-            <button id="standbyModeButton" type="button" onclick="triggerService('/stopControllers')" class="btn btn-lg">
+            <button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
                 Standby Mode
             </button>
         </div>
@@ -20,10 +20,10 @@
             Hardware Commands
         </div>
         <div class="panel-body text-center">
-            <button id="teachingModeButton" type="button" onclick="triggerService('/resetFrankaError')" class="btn btn-lg">
+            <button id="fixFrankaButton" type="button" onclick="triggerService('/resetFrankaError')" class="btn btn-primary">
                 Fix Franka Errors
             </button>
-            <button id="executionModeButton" type="button" onclick="triggerService('/calibrateRobotiq')" class="btn btn-lg">
+            <button id="calibrateButton" type="button" onclick="triggerService('/calibrateRobotiq')" class="btn btn-primary">
                 Calibrate Robotiq
             </button>
         </div>
@@ -33,10 +33,10 @@
             Teaching Mode Operations
         </div>
         <div class="panel-body text-center">
-            <button id="recordingStartButton" type="button" onclick="triggerService('/startTeachRecording')" class="btn btn-lg">
+            <button id="recordingStartButton" type="button" onclick="triggerService('/startTeachRecording')" class="btn btn-primary">
                 Start Teach Recording
             </button>
-            <button id="recordingStopButton" type="button" onclick="triggerService('/stopTeachRecording')" class="btn btn-lg">
+            <button id="recordingStopButton" type="button" onclick="triggerService('/stopTeachRecording')" class="btn btn-primary">
                 Stop Teach Recording
             </button>
         </div>
@@ -47,19 +47,19 @@
             Execution Mode Operations
         </div>
         <div class="panel-body text-center">
-            <button id="executionStartButton" type="button" onclick="triggerService('/startPlayingLastRecording')" class="btn btn-lg">
+            <button id="executionStartButton" type="button" onclick="triggerService('/startPlayingLastRecording')" class="btn btn-primary">
                 Play Last Recording
             </button>
-            <button id="executionStopButton" type="button" onclick="triggerService('/stopPlayingBag')" class="btn btn-lg">
+            <button id="executionStopButton" type="button" onclick="triggerService('/stopPlayingBag')" class="btn btn-primary">
                 Stop Playing Recording
             </button>
-            <!-- <div class="row">
+            <div class="row">
                 <div class="col-md-3">
                     Bagfile name must not start with "/"
                     <div class="input-group">
                         <input type="text" id="recordText" class="form-control" placeholder="bag_filename">
                         <span class="input-group-btn">
-                            <button class="btn btn-lg" id="recordButton" type="button" onclick="toggleRecording()">
+                            <button class="btn btn-primary" id="recordButton" type="button" onclick="toggleRecording()">
                                 <span id="recordButtonText">
                                     Start
                                 </span>
@@ -67,7 +67,7 @@
                         </span>
                     </div>
                 </div>
-            </div> -->
+            </div>
         </div>
         
     </div>
@@ -77,10 +77,10 @@
             Execution Recording Operations
         </div>
         <div class="panel-body text-center">
-            <button id="executionStartButton" type="button" onclick="triggerService('/startExecutionRecording')" class="btn btn-lg">
+            <button id="executionStartButton" type="button" onclick="triggerService('/startExecutionRecording')" class="btn btn-primary">
                 Start Recording Execution
             </button>
-            <button id="executionRecordingStopButton" type="button" onclick="triggerService('/stopExecutionRecording')" class="btn btn-lg">
+            <button id="executionRecordingStopButton" type="button" onclick="triggerService('/stopExecutionRecording')" class="btn btn-primary">
                 Stop Recording Execution
             </button>
         </div>
diff --git a/coordinator/js/ros_scripts.js b/coordinator/js/ros_scripts.js
index a09b009..2ec4233 100644
--- a/coordinator/js/ros_scripts.js
+++ b/coordinator/js/ros_scripts.js
@@ -1,3 +1,6 @@
+
+
+
 ///////////////////////////////////////////////////////////////////////////////////
 // Publishers
 ///////////////////////////////////////////////////////////////////////////////////
@@ -8,10 +11,35 @@
 ////////////////////////////////////////////////////////////////
 
 
+
 ////////////////////////////////////////////////////////////////
 // Subscribers
 ////////////////////////////////////////////////////////////////
 
+// Operation Mode
+var modeStatus = new ROSLIB.Topic({
+  ros : ros,
+  name : '/aescape/mode/status',
+  messageType : 'std_msgs/String'
+});
+
+modeStatus.subscribe(function(message) {
+  document.getElementById("standbyModeButton").className = "btn btn-primary"
+  document.getElementById("teachingModeButton").className = "btn btn-primary"
+  document.getElementById("executionModeButton").className = "btn btn-primary"
+
+
+  if (message.data === "standby") {
+    document.getElementById("standbyModeButton").className = "btn btn-success"
+  } else if (message.data === "teach")
+  {
+    document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
+  } else if (message.data === "execution")
+  {
+    document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
+  }
+});
+
 
 
 ////////////////////////////////////////////////////////////////