diff --git a/client/app/components/coordinator/coordinator.html b/client/app/components/coordinator/coordinator.html
index 48dd4f2..4694cf0 100644
--- a/client/app/components/coordinator/coordinator.html
+++ b/client/app/components/coordinator/coordinator.html
@@ -7,41 +7,83 @@
                             Left Arm
                     </div>
                     <div class="panel-body">
-
                         <div class="status-bar">
                             <div class="status-container">
-                                <div class="safety-monitor">
-                                    <div class="heading">
-                                        Safety Monitor Status
+                                <div class="safety-monitor panel panel-default panel-horizontal">
+                                    <div class="panel-heading">
+                                        Safety Monitor
                                     </div>
-                                    <div class="status-list">
-                                            <ul class="list-group list-group-horizontal">
-                                                <li id="left_safetyRunning" class="list-group-item">Running</li>
-                                                <li id="left_safetyStopped" class="list-group-item">Stopped</li>
-                                            </ul>
+                                    <div class="panel-body text-center">
+                                            <div class="status-list">
+                                                    <ul class="list-group list-group-horizontal">
+                                                        <li id="left_safetyRunning" class="list-group-item">
+                                                            <div class="radio disabled">
+                                                                <label><input type="radio" disabled>Running</label>
+                                                            </div>
+                                                        </li>
+                                                        <li id="left_safetyStopped" class="list-group-item">
+                                                            <div class="radio disabled">
+                                                                <label><input type="radio" disabled>Stopped</label>
+                                                            </div>
+                                                        </li>
+        
+                                                    </ul>
+                                            </div>
                                     </div>
-                                    <div class="action-button">
-                                        <button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
-                                            Activate Safety Monitor
+
+                                    <div class="action-button panel-footer">
+                                        <button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn btn-sm">
+                                            Activate
                                         </button>
                                     </div>
                                 </div>
                             </div>
                             <div class="status-container">
-                                <div class="franka">
-                                    <div class="heading">
-                                        Franka Arm Status
+                                <div class="franka panel panel-default panel-horizontal">
+                                    <div class="panel-heading">
+                                        Franka Arm
                                     </div>
-                                    <div class="status-list">
-                                            <ul class="list-group list-group-horizontal">
-                                                <li id="left_safetyRunning" class="list-group-item">Running</li>
-                                                <li id="left_safetyStopped" class="list-group-item">Stopped</li>
-                                            </ul>
+                                    <div class="panel-body text-center">
+                                            <div class="status-list">
+                                                    <ul class="list-group list-group-horizontal">
+                                                        <li id="left_frankaModeIdle" class="list-group-item">
+                                                            <div class="radio disabled">
+                                                                <label><input type="radio" disabled>Idle</label>
+                                                            </div>
+                                                        </li>
+                                                        <li id="left_frankaModeMove" class="list-group-item">
+                                                            <div class="radio disabled">
+                                                                <label><input type="radio" disabled>Move</label>
+                                                            </div>
+                                                        </li>
+                                                        <li id="left_frankaModeGuiding" class="list-group-item">
+                                                            <div class="radio disabled">
+                                                                <label><input type="radio" disabled>Guiding</label>
+                                                            </div>
+                                                        </li>
+                                                        <li id="left_frankaModeReflex" class="list-group-item">
+                                                            <div class="radio disabled">
+                                                                <label><input type="radio" disabled>Reflex</label>
+                                                            </div>
+                                                        </li>
+                                                        <li id="left_frankaModeUserStopped" class="list-group-item">
+                                                            <div class="radio disabled">
+                                                                <label><input type="radio" disabled>User Stopped</label>
+                                                            </div>
+                                                        </li>
+                                                        <li id="left_frankaModeErrorRecovery" class="list-group-item">
+                                                            <div class="radio disabled">
+                                                                <label><input type="radio" disabled>Automatic Error Recovery</label>
+                                                            </div>
+                                                        </li>
+                                                    </ul>
+                                            </div>
                                     </div>
-                                    <div class="action-button">
-                                        <button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
-                                            Activate Safety Monitor
-                                        </button>
+
+                                    <div class="action-button panel-footer">
+                                            <button id="left_fixFrankaButton" type="button" onclick="triggerService('/left/aescape/hardware/resetFrankaError')" class="btn btn-sm">
+                                                Fix Errors
+                                            </button>
                                     </div>
                                 </div>
                             </div>
@@ -51,8 +93,9 @@
                             <div class="control-card panel panel-default">
                                 <div class="panel-heading">
                                     EEF Configuration
-                                    <i class="far fa-hand-point-left pull-right"></i>
+                                    <i class="fas fa-info-circle"></i>
                                 </div>
+                                
                                 <div class="panel-body text-center">
                                     <div class="button-area">
                                         <button type="button" onclick="triggerService('/left/aescape/hardware/setTrainingEEF')" class="btn btn-primary col-md-6">
@@ -65,7 +108,7 @@
                                 </div>
                                 <div class="action-area panel-footer">
                                     <div class="message">
-                                        You must be in "Stopped Mode" to change the EEF configuration!
+                                        <!--You must be in "Stopped Mode" to change the EEF configuration! -->
                                     </div>
                                 </div>
                             </div>                        
@@ -74,22 +117,23 @@
                             <div class="control-card-six control-card panel panel-default">
                                 <div class="panel-heading">
                                     Select Operation Mode
+                                    <i class="fas fa-info-circle"></i>
                                 </div>
                                 <div class="panel-body text-center">
                                     <div class="button-area">
-                                        <button id="left_teachingModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateTeachingController')" class="btn btn-primary col-lg-4">
+                                        <button id="left_teachingModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateTeachingController')" class="btn btn-primary col-md-4">
                                             Teaching Mode
                                         </button>
-                                        <button id="left_executionModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController')" class="btn btn-primary col-lg-4">
+                                        <button id="left_executionModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController')" class="btn btn-primary col-md-4">
                                             Massage Mode
                                         </button>
-                                        <button id="left_readyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary col-lg-4">
+                                        <button id="left_readyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
                                             Ready Mode
                                         </button>
-                                        <button id="left_standbyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateStandbyController')" class="btn btn-primary col-lg-4">
+                                        <button id="left_standbyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateStandbyController')" class="btn btn-primary col-md-4">
                                             Standby Mode
                                         </button>            
-                                        <button id="left_stoppedModeButton" type="button" onclick="triggerService('/left/aescape/mode/stopControllers')" class="btn btn-primary col-lg-4">
+                                        <button id="left_stoppedModeButton" type="button" onclick="triggerService('/left/aescape/mode/stopControllers')" class="btn btn-primary col-md-4">
                                             Stopped Mode
                                         </button>
                                     </div>
@@ -103,7 +147,7 @@
                                                 <h4><span id="left_safetyStopped" class="label label-default">Stopped</span></h4>
                                             </div>
                                             <div class="row-md-3">
-                                                <button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
+                                                <button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn btn-sm">
                                                     Activate Safety Monitor
                                                 </button>
                                             </div>
@@ -117,137 +161,90 @@
                                 </div>
                             </div>
                         </div>
-                        <div class="control-card panel panel-default col-md-6">
-                            <div class="panel-heading">
-                                Franka Arm Status
-                            </div>
-                            <div class="panel-body text-center">
-                                <div class="col-md-4">
-                                    Current Robot Status:
-                                    <div class="row-md-3">
-                                        <h4><span id="left_frankaModeOther" class="label label-default">Other</span></h4>
-                                    </div>
-                                    <div class="row-md-3">
-                                        <h4><span id="left_frankaModeIdle" class="label label-default">Idle</span></h4>
-                                    </div>
-                                    <div class="row-md-3">
-                                        <h4><span id="left_frankaModeMove" class="label label-default">Move</span></h4>
-                                    </div>
-                                    <div class="row-md-3">
-                                        <h4><span id="left_frankaModeGuiding" class="label label-default">Guiding</span></h4>
-                                    </div>
-                                    <div class="row-md-3">
-                                        <h4><span id="left_frankaModeReflex" class="label label-default">Reflex</span></h4>
-                                    </div>
-                                    <div class="row-md-3">
-                                        <h4><span id="left_frankaModeUserStopped" class="label label-default">User Stopped</span></h4>
-                                    </div>
-                                    <div class="row-md-3">
-                                        <h4><span id="left_frankaModeErrorRecovery" class="label label-default">Automatic Error Recovery</span></h4>
-                                    </div>
+                        <div class="control-container col-md-6">
+                            <div class="control-card panel panel-default">
+                                <div class="panel-heading">
+                                    Robotiq
+                                    <i class="fas fa-info-circle"></i>
                                 </div>
-                                <button id="left_fixFrankaButton" type="button" onclick="triggerService('/left/aescape/hardware/resetFrankaError')" class="btn btn-primary">
-                                    Fix Franka Errors
-                                </button>
-                            </div>
-                        </div>
-                        <div class="control-card panel panel-default col-md-6">
-                            <div class="panel-heading">
-                                Robotiq
-                            </div>
-                            <div class="panel-body text-center">
-                                <div class="row-md-3">
+                                <div class="panel-body text-center">
                                     <div class="progress" id="robotiqForce">
                                         <div class="progress-bar bg-success" role="progressbar" id="robotiqForceBar" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">N/A</div>
                                     </div>
-                                </div>
-                                <div class="row">
-                                    <div class="col-md-4">
-                                        Current Robotiq Values:
-                                        <div class="row-md-3">
+                                    <div class="button-area">
+                                            Current Robotiq Values:
                                             <h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
-                                        </div>
-                                        <div class="row-md-3">
                                             <h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
-                                        </div>
-                                        <div class="row-md-3">
                                             <h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
-                                        </div>
                                     </div>
-
-                                    <div class="col-md-4">
+                                </div>
+                                <div class="action-area panel-footer">
+                                    <div class="button">
                                         <button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
                                             Calibrate Robotiq
                                         </button>
                                     </div>
                                 </div>
-                            </div>
+                            </div>                        
                         </div>
-
-                        <div class="control-card panel panel-default col-md-6">
-                            <div class="panel-heading">
-                                Teaching Mode Operations
-                            </div>
-                            <div class="panel-body text-center">
-                                <span class="row">
-                                    <label id="RecordingStatusLabel" class="label-warning">
-                                        Bag manager not connected!
-                                    </label>
-                                </span>
-                                <button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-default">
-                                    Activate Ready Mode
-                                </button>
-                                <button id="recordingStartButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq'); triggerService('/left/aescape/mode/activateTeachingController'); triggerService('/aescape/bags/startTeachRecording')" class="btn btn-primary">
-                                    Start Teach Recording
-                                </button>
-                                <button id="recordingStopButton" type="button" onclick="triggerService('/aescape/bags/stopTeachRecording'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
-                                    Stop Teach Recording
-                                </button>
-                            </div>
-                        </div>
-                            <div class="control-card panel panel-default col-md-6">
-                                    <div class="panel-heading">
-                                        Execution Mode Operations
-                                    </div>
-                            
-                            
-                                    <div class="panel-body text-center">
-                            
-                                        <span class="row">
-                                            <label id="ExecutionStatusLabel" class="label-warning">
-                                                Bag manager not connected!
-                                            </label>
-                                        </span>
-                            
-                                        Last Bag Playing:
-                                        <span  id="lastbagText">
-                                            None
-                                        </span>
-                                        <div class="row-md-4"> 
-                                            <button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-default">
+                        <div class="control-container col-md-6">
+                            <div class="control-card panel panel-default">
+                                <div class="panel-heading">
+                                    Teaching Mode Operations
+                                    <i class="fas fa-info-circle"></i>
+                                </div>
+                                <div class="panel-body text-center">
+                                    <div class="button-area">
+                                            <button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn col-md-4">
                                                 Activate Ready Mode
                                             </button>
-                                            <button id="executionLoadButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
-                                                Load Last Recording
+                                            <button id="recordingStartButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq'); triggerService('/left/aescape/mode/activateTeachingController'); triggerService('/aescape/bags/startTeachRecording')" class="btn btn-primary col-md-4">
+                                                Start Teach Recording
                                             </button>
-                                            <button id="executionStartButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController'); triggerTopic('/left/run_trajectory')" class="btn btn-primary">
+                                            <button id="recordingStopButton" type="button" onclick="triggerService('/aescape/bags/stopTeachRecording'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
+                                                Stop Teach Recording
+                                            </button>
+                                    </div>
+                                </div>
+                                <div class="action-area panel-footer">
+                                    <div id="RecordingStatusLabel" class="message">
+                                        <!--Bag manager not connected! -->
+                                    </div>
+                                </div>
+                            </div>                        
+                        </div>
+                            <div class="control-container col-md-6">
+                                <div class="control-card panel panel-default">
+                                    <div class="panel-heading">
+                                        Execution Mode Operations
+                                        <i class="fas fa-info-circle"></i>
+                                    </div>
+                                    <div class="panel-body text-center">
+                                        <div class="button-area">
+                                            <button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn col-md-4">
+                                                Activate Ready Mode
+                                            </button>
+                                            <!--<button id="executionLoadButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
+                                                Load Last Recording
+                                            </button>-->
+                                            <button id="executionStartButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController'); triggerTopic('/left/run_trajectory')" class="btn btn-primary col-md-4">
                                                 Play Last Recording
                                             </button>
-                                            <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
+                                            <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
                                                 Stop Playing Recording
                                             </button>
-                                            <div class="row-md-4">
-                                                Bagfile name must not start with "/"
-                                                <div class="input-group">
-                                                    <input type="text" id="bagNameText" class="form-control" placeholder="bag_filename">
-                                                    <span class="input-group-btn">
-                                                        <button class="btn btn-primary" type="button" onclick="triggerMessageService('/aescape/bags/startPlayingRecording', 'bagNameText')">
-                                                            <span>
-                                                                Start Playing Bag
-                                                            </span>
-                                                        </button>
-                                                    </span>
-                                                </div>
+                                        </div>
+                                        <div class="row-md-4">
+                                            Bagfile name must not start with "/"
+                                            <div class="input-group">
+                                                <input type="text" id="bagNameText" class="form-control" placeholder="bag_filename">
+                                                <span class="input-group-btn">
+                                                    <button class="btn btn-primary" type="button" onclick="triggerMessageService('/aescape/bags/startPlayingRecording', 'bagNameText')">
+                                                        <span>
+                                                            Start Playing Bag
+                                                        </span>
+                                                    </button>
+                                                </span>
                                             </div>
                                         </div>
                                         <!-- <div class="row-md-4">
@@ -256,10 +253,9 @@
                                                 <button class="btn btn-primary" type="button" onclick="updateRecordingsList()">
                                                     Refresh List
                                                 </button>
-                                            </div> -->
+                                        </div> -->
                                         <div class="row-md-3 pt-4">
-
-                                            <div style="height:300px;width:300px;overflow:auto">
+                                            <div>
                                                 <div class="list-group" id="bagList">
                                                     <button type="button" class="list-group-item list-group-item-action">Dapibus ac facilisis in</button>
                                                     <button type="button" class="list-group-item list-group-item-action">Morbi leo risus</button>
@@ -276,7 +272,13 @@
                                             </div>
                                         </div>
                                     </div>
-                                </div>
+                                    <div class="action-area panel-footer">
+                                        <div class="message" id="ExecutionStatusLabel">
+                                            <!--Bag manager not connected! -->
+                                        </div>
+                                    </div>
+                                </div>                        
+                            </div>
                             </div>
                         </div>
                 </div>
@@ -288,11 +290,93 @@
                                 <i class="far fa-2x fa-hand-point-right"></i>
                         </div>
                         <div class="panel-body">
+                                <div class="status-bar">
+                                        <div class="status-container">
+                                            <div class="safety-monitor panel panel-default panel-horizontal">
+                                                <div class="panel-heading">
+                                                    Safety Monitor
+                                                </div>
+                                                <div class="panel-body text-center">
+                                                        <div class="status-list">
+                                                                <ul class="list-group list-group-horizontal">
+                                                                    <li id="right_safetyRunning" class="list-group-item">
+                                                                        <div class="radio disabled">
+                                                                            <label><input type="radio" disabled>Running</label>
+                                                                        </div>
+                                                                    </li>
+                                                                    <li id="right_safetyStopped" class="list-group-item">
+                                                                        <div class="radio disabled">
+                                                                            <label><input type="radio" disabled>Stopped</label>
+                                                                        </div>
+                                                                    </li>
+                    
+                                                                </ul>
+                                                        </div>
+                                                </div>
+            
+                                                <div class="action-button panel-footer">
+                                                    <button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn btn-sm">
+                                                        Activate
+                                                    </button>
+                                                </div>
+                                            </div>
+                                        </div>
+                                        <div class="status-container">
+                                            <div class="franka panel panel-default panel-horizontal">
+                                                <div class="panel-heading">
+                                                    Franka Arm
+                                                </div>
+                                                <div class="panel-body text-center">
+                                                        <div class="status-list">
+                                                            <ul class="list-group list-group-horizontal">
+                                                                <li id="right_frankaModeIdle" class="list-group-item">
+                                                                    <div class="radio disabled">
+                                                                        <label><input type="radio" disabled>Idle</label>
+                                                                    </div>
+                                                                </li>
+                                                                <li id="right_frankaModeMove" class="list-group-item">
+                                                                    <div class="radio disabled">
+                                                                        <label><input type="radio" disabled>Move</label>
+                                                                    </div>
+                                                                </li>
+                                                                <li id="right_frankaModeGuiding" class="list-group-item">
+                                                                    <div class="radio disabled">
+                                                                        <label><input type="radio" disabled>Guiding</label>
+                                                                    </div>
+                                                                </li>
+                                                                <li id="right_frankaModeReflex" class="list-group-item">
+                                                                    <div class="radio disabled">
+                                                                        <label><input type="radio" disabled>Reflex</label>
+                                                                    </div>
+                                                                </li>
+                                                                <li id="right_frankaModeUserStopped" class="list-group-item">
+                                                                    <div class="radio disabled">
+                                                                        <label><input type="radio" disabled>User Stopped</label>
+                                                                    </div>
+                                                                </li>
+                                                                <li id="right_frankaModeErrorRecovery" class="list-group-item">
+                                                                    <div class="radio disabled">
+                                                                        <label><input type="radio" disabled>Automatic Error Recovery</label>
+                                                                    </div>
+                                                                </li>
+                                                            </ul>
+                                                    </div>
+                                            </div>
+        
+                                            <div class="action-button panel-footer">
+                                                    <button id="left_fixFrankaButton" type="button" onclick="triggerService('/left/aescape/hardware/resetFrankaError')" class="btn btn-sm">
+                                                        Fix Errors
+                                                    </button>
+                                            </div>
+                                        </div>
+                                    </div>
+                                </div>
+        
                                 <div class="control-container col-md-6">
                                     <div class="control-card panel panel-default">
                                         <div class="panel-heading">
                                             EEF Configuration
-                                            <i class="far fa-hand-point-left pull-right"></i>
+                                            <i class="fas fa-info-circle"></i>
                                         </div>
                                         <div class="panel-body text-center">
                                             <div class="button-area">
@@ -306,7 +390,7 @@
                                         </div>
                                         <div class="action-area panel-footer">
                                             <div class="message">
-                                                You must be in "Stopped Mode" to change the EEF configuration!
+                                                <!--You must be in "Stopped Mode" to change the EEF configuration! -->
                                             </div>
                                         </div>
                                     </div>                        
@@ -315,22 +399,23 @@
                                     <div class="control-card-six control-card panel panel-default">
                                         <div class="panel-heading">
                                             Select Operation Mode
+                                            <i class="fas fa-info-circle"></i>
                                         </div>
                                         <div class="panel-body text-center">
                                             <div class="button-area">
-                                                <button id="left_teachingModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateTeachingController')" class="btn btn-primary col-lg-4">
+                                                <button id="left_teachingModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateTeachingController')" class="btn btn-primary col-md-4">
                                                     Teaching Mode
                                                 </button>
-                                                <button id="left_executionModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateExecutionController')" class="btn btn-primary col-lg-4">
+                                                <button id="left_executionModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateExecutionController')" class="btn btn-primary col-md-4">
                                                     Massage Mode
                                                 </button>
-                                                <button id="left_readyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateReadyController')" class="btn btn-primary col-lg-4">
+                                                <button id="left_readyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
                                                     Ready Mode
                                                 </button>
-                                                <button id="left_standbyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateStandbyController')" class="btn btn-primary col-lg-4">
+                                                <button id="left_standbyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateStandbyController')" class="btn btn-primary col-md-4">
                                                     Standby Mode
                                                 </button>            
-                                                <button id="left_stoppedModeButton" type="button" onclick="triggerService('/right/aescape/mode/stopControllers')" class="btn btn-primary col-lg-4">
+                                                <button id="left_stoppedModeButton" type="button" onclick="triggerService('/right/aescape/mode/stopControllers')" class="btn btn-primary col-md-4">
                                                     Stopped Mode
                                                 </button>
                                             </div>
@@ -341,65 +426,7 @@
                                             </div>
                                         </div>
                                     </div>
-                                </div>
-                                <div class="control-container col-md-6">
-                                    <div class="control-card panel panel-default">
-                                        <div class="panel-heading">
-                                            Safety Monitor Status
-                                        </div>
-                                        <div class="panel-body text-center">
-                                            <div class="button-area">
-                                                <button type="button" onclick="triggerService('/right/aescape/hardware/setTrainingEEF')" class="btn btn-primary col-md-6">
-                                                    Recording EEF
-                                                </button>            
-                                                <button type="button" onclick="triggerService('/right/aescape/hardware/setExecutionEEF')" class="btn btn-primary col-md-6">
-                                                    Massage EEF
-                                                </button>
-                                            </div>
-                                        </div>
-                                        <div class="action-area panel-footer">
-                                            <div class="action-button">
-                                                <button type="button" onclick="triggerService('/right/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
-                                                    Activate Safety Monitor
-                                                </button>
-                                            </div>
-                                        </div>
-                                    </div>                        
-                                </div>                        
-                                <div class="control-card panel panel-default col-md-6">
-                                    <div class="panel-heading">
-                                        Franka Arm Status
-                                    </div>
-                                    <div class="panel-body text-center">
-                                        <div class="col-md-4">
-                                            Current Robot Status:
-                                            <div class="row-md-3">
-                                                <h4><span id="right_frankaModeOther" class="label label-default">Other</span></h4>
-                                            </div>
-                                            <div class="row-md-3">
-                                                <h4><span id="right_frankaModeIdle" class="label label-default">Idle</span></h4>
-                                            </div>
-                                            <div class="row-md-3">
-                                                <h4><span id="right_frankaModeMove" class="label label-default">Move</span></h4>
-                                            </div>
-                                            <div class="row-md-3">
-                                                <h4><span id="right_frankaModeGuiding" class="label label-default">Guiding</span></h4>
-                                            </div>
-                                            <div class="row-md-3">
-                                                <h4><span id="right_frankaModeReflex" class="label label-default">Reflex</span></h4>
-                                            </div>
-                                            <div class="row-md-3">
-                                                <h4><span id="right_frankaModeUserStopped" class="label label-default">User Stopped</span></h4>
-                                            </div>
-                                            <div class="row-md-3">
-                                                <h4><span id="right_frankaModeErrorRecovery" class="label label-default">Automatic Error Recovery</span></h4>
-                                            </div>
-                                        </div>
-                                        <button id="right_fixFrankaButton" type="button" onclick="triggerService('/right/aescape/hardware/resetFrankaError')" class="btn btn-primary">
-                                            Fix Franka Errors
-                                        </button>
-                                    </div>
-                            </div>
+                                </div>                     
                             <!-- <div class="panel panel-default">
                                 <div class="panel-heading">
                                     Robotiq
diff --git a/client/app/main.css b/client/app/main.css
index 3705ddb..f79b169 100644
--- a/client/app/main.css
+++ b/client/app/main.css
@@ -175,11 +175,31 @@ html, body {
         background: #182048;
     }
 
+    .status-container .action-button {
+        height: 30px;
+    }
+
+    .status-container .action-button > button {
+        height: 100%;
+        border-radius: 0;
+        color: #EDF0F4;
+        font-size : 14pt;
+        background: #182048;
+        width: 100%;
+        border-radius: 0 30px 30px 0;
+    }
+
     .control-card-six .button-area > button {
         height: 50%;
         font-size: 12pt;
     }
 
+    .control-card .panel-heading i {
+        position: absolute;
+        right: 25px;
+        font-size: 17px;
+    }
+
     .nav-pills li a {
         border-radius: 0;
         color: #EDF0F4;
@@ -213,6 +233,62 @@ html, body {
         font-size : 12pt;
     }
 
+    .status-container .status-list .list-group-horizontal{
+        display: flex;
+        flex-wrap: wrap;
+    }
+
+    .status-list .list-group {
+        margin-bottom: 0px;
+    }
+
+    .status-list .list-group-item {
+        border: none;
+        background: none;
+        padding: 0px;
+        margin: 0 5px 0 5px;
+    }
+
+
+    .panel.panel-horizontal {
+        display:table;
+        width:100%;
+    }
+    .panel.panel-horizontal > .panel-heading, .panel.panel-horizontal > .panel-body, .panel.panel-horizontal > .panel-footer {
+        display:table-cell;
+    }
+    .panel.panel-horizontal > .panel-heading, .panel.panel-horizontal > .panel-footer {
+        border:0;
+        vertical-align: middle;   
+    }
+    .panel.panel-horizontal > .panel-heading {
+        border-right: 1px solid #ddd;
+        border-radius: 30px 0 0 30px;
+        font-size: 12pt;
+        width: 20%;
+        padding: 5px 10px;
+    }
+    .panel.panel-horizontal > .panel-footer {
+        border-left: 1px solid #ddd;
+        border-radius: 0 30px 30px 0;
+        width: 20%;
+        padding: 0px;
+        border-color: #3573FB;
+    }
+
+    .panel.panel-horizontal > .panel-body {
+        height: auto;
+        padding: 0px;
+        font-size: 12pt;
+        padding: 5px 10px;
+    }
+
+    .btn {
+        white-space: normal;
+        word-wrap: break-word;
+    }
+
+