diff --git a/client/app/components/coordinator/coordinator.html b/client/app/components/coordinator/coordinator.html
index 08d593d..260f2e4 100644
--- a/client/app/components/coordinator/coordinator.html
+++ b/client/app/components/coordinator/coordinator.html
@@ -1,572 +1,572 @@
 
-        <div id="coordinator">                
-            <div class="col-md-6">
-                <div class="hand-panel panel panel-default">
-                    <div class="panel-heading">
-                            <i class="far fa-2x fa-hand-point-left"></i>
-                            Left Arm
-                    </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="left_safetyRunning" class="list-group-item">
-                                                            <div class="pretty p-default p-round">
-                                                                <input type="checkbox" class="disabled"/>
-                                                                <div class="state p-success-o">
-                                                                    <label>Running</label>
-                                                                </div>
-                                                            </div>
-                                                        </li>
-                                                        <li id="left_safetyStopped" class="list-group-item">
-                                                            <div class="pretty p-default p-round">
-                                                                <input type="checkbox" class="disabled"/>
-                                                                <div class="state p-success-o">
-                                                                    <label>Stopped</label>
-                                                                </div>
-                                                            </div>
-                                                        </li>        
-                                                    </ul>
-                                            </div>
-                                    </div>
-
-                                    <div class="action-button panel-footer">
-                                        <button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn">
-                                            Activate
-                                        </button>
-                                    </div>
+    <div id="coordinator">                
+        <div class="col-md-6">
+            <div class="hand-panel hand-panel-left panel panel-default">
+                <div class="panel-heading">
+                        <i class="far fa-2x fa-hand-point-left"></i>
+                        Left Arm
+                </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>
-                            <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="left_frankaModeOther" class="list-group-item">
-                                                            <div class="pretty p-default p-round">
-                                                                <input type="checkbox" class="disabled"/>
-                                                                <div class="state p-success-o">
-                                                                    <label>Other</label>
-                                                                </div>
+                                <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="pretty p-default p-round">
+                                                            <input type="checkbox" class="disabled"/>
+                                                            <div class="state p-success-o">
+                                                                <label>Running</label>
                                                             </div>
-                                                        </li>
-                                                        <li id="left_frankaModeIdle" class="list-group-item">
-                                                            <div class="pretty p-default p-round">
-                                                                <input type="checkbox" class="disabled"/>
-                                                                <div class="state p-success-o">
-                                                                    <label>Idle</label>
-                                                                </div>
+                                                        </div>
+                                                    </li>
+                                                    <li id="left_safetyStopped" class="list-group-item">
+                                                        <div class="pretty p-default p-round">
+                                                            <input type="checkbox" class="disabled"/>
+                                                            <div class="state p-success-o">
+                                                                <label>Stopped</label>
                                                             </div>
-                                                        </li>
-                                                        <li id="left_frankaModeMove" class="list-group-item">
-                                                            <div class="pretty p-default p-round">
-                                                                <input type="checkbox" class="disabled"/>
-                                                                <div class="state p-success-o">
-                                                                    <label>Move</label>
-                                                                </div>
-                                                            </div>
-                                                        </li>
-                                                        <li id="left_frankaModeGuiding" class="list-group-item">
-                                                            <div class="pretty p-default p-round">
-                                                                <input type="checkbox" class="disabled"/>
-                                                                <div class="state p-success-o">
-                                                                    <label>Guiding</label>
-                                                                </div>
-                                                            </div>
-                                                        </li>
-                                                        <li id="left_frankaModeReflex" class="list-group-item">
-                                                            <div class="pretty p-default p-round">
-                                                                <input type="checkbox" class="disabled"/>
-                                                                <div class="state p-success-o">
-                                                                    <label>Reflex</label>
-                                                                </div>
-                                                            </div>
-                                                        </li>
-                                                        <li id="left_frankaModeUserStopped" class="list-group-item">
-                                                            <div class="pretty p-default p-round">
-                                                                <input type="checkbox" class="disabled"/>
-                                                                <div class="state p-success-o">
-                                                                    <label>User Stopped</label>
-                                                                </div>
-                                                            </div>
-                                                        </li>
-                                                        <li id="left_frankaModeErrorRecovery" class="list-group-item">
-                                                            <div class="pretty p-default p-round">
-                                                                <input type="checkbox" class="disabled"/>
-                                                                <div class="state p-success-o">
-                                                                    <label>Automatic Error Recovery</label>
-                                                                </div>
-                                                            </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">
-                                                Fix Errors
-                                            </button>
-                                    </div>
+                                                        </div>
+                                                    </li>        
+                                                </ul>
+                                        </div>
                                 </div>
-                            </div>
-                            <div class="status-container">
-                                <div class="robotiq panel panel-default panel-horizontal">
-                                    <div class="panel-heading">
-                                        Robotiq
-                                    </div>
-                                    <div class="panel-body text-center">
-                                            <div class="status-list">
-                                                    <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>
-                                                    <ul class="list-group list-group-horizontal text-center">
-                                                        <li class="list-group-item">
-                                                            <h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
-                                                        </li>
-                                                        <li class="list-group-item">
-                                                            <h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
-                                                        </li>
-                                                        <li class="list-group-item">
-                                                            <h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
-                                                        </li>        
-                                                    </ul>
-                                            </div>
-                                    </div>
 
-                                    <div class="action-button panel-footer">
-                                        <button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq')" class="btn">
-                                            Calibrate 
-                                        </button>
-                                    </div>
+                                <div class="action-button panel-footer">
+                                    <button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn">
+                                        Activate
+                                    </button>
                                 </div>
                             </div>
                         </div>
-
-                        <div class="control-container col-md-6">
-                            <div class="control-card panel panel-default">
+                        <div class="status-container">
+                            <div class="franka panel panel-default panel-horizontal">
                                 <div class="panel-heading">
-                                    EEF Configuration
-                                    <i class="fas fa-info-circle" data-toggle="popover" title="Popover title" data-content="And here's some amazing content. It's very engaging. Right?"></i>
+                                    Franka Arm
+                                </div>
+                                <div class="panel-body text-center">
+                                        <div class="status-list">
+                                                <ul class="list-group list-group-horizontal">
+                                                    <li id="left_frankaModeOther" class="list-group-item">
+                                                        <div class="pretty p-default p-round">
+                                                            <input type="checkbox" class="disabled"/>
+                                                            <div class="state p-success-o">
+                                                                <label>Other</label>
+                                                            </div>
+                                                        </div>
+                                                    </li>
+                                                    <li id="left_frankaModeIdle" class="list-group-item">
+                                                        <div class="pretty p-default p-round">
+                                                            <input type="checkbox" class="disabled"/>
+                                                            <div class="state p-success-o">
+                                                                <label>Idle</label>
+                                                            </div>
+                                                        </div>
+                                                    </li>
+                                                    <li id="left_frankaModeMove" class="list-group-item">
+                                                        <div class="pretty p-default p-round">
+                                                            <input type="checkbox" class="disabled"/>
+                                                            <div class="state p-success-o">
+                                                                <label>Move</label>
+                                                            </div>
+                                                        </div>
+                                                    </li>
+                                                    <li id="left_frankaModeGuiding" class="list-group-item">
+                                                        <div class="pretty p-default p-round">
+                                                            <input type="checkbox" class="disabled"/>
+                                                            <div class="state p-success-o">
+                                                                <label>Guiding</label>
+                                                            </div>
+                                                        </div>
+                                                    </li>
+                                                    <li id="left_frankaModeReflex" class="list-group-item">
+                                                        <div class="pretty p-default p-round">
+                                                            <input type="checkbox" class="disabled"/>
+                                                            <div class="state p-success-o">
+                                                                <label>Reflex</label>
+                                                            </div>
+                                                        </div>
+                                                    </li>
+                                                    <li id="left_frankaModeUserStopped" class="list-group-item">
+                                                        <div class="pretty p-default p-round">
+                                                            <input type="checkbox" class="disabled"/>
+                                                            <div class="state p-success-o">
+                                                                <label>User Stopped</label>
+                                                            </div>
+                                                        </div>
+                                                    </li>
+                                                    <li id="left_frankaModeErrorRecovery" class="list-group-item">
+                                                        <div class="pretty p-default p-round">
+                                                            <input type="checkbox" class="disabled"/>
+                                                            <div class="state p-success-o">
+                                                                <label>Automatic Error Recovery</label>
+                                                            </div>
+                                                        </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">
+                                            Fix Errors
+                                        </button>
+                                </div>
+                            </div>
+                        </div>
+                        <div class="status-container">
+                            <div class="robotiq panel panel-default panel-horizontal">
+                                <div class="panel-heading">
+                                    Robotiq
+                                </div>
+                                <div class="panel-body text-center">
+                                        <div class="status-list">
+                                                <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>
+                                                <ul class="list-group list-group-horizontal text-center">
+                                                    <li class="list-group-item">
+                                                        <h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
+                                                    </li>
+                                                    <li class="list-group-item">
+                                                        <h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
+                                                    </li>
+                                                    <li class="list-group-item">
+                                                        <h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
+                                                    </li>        
+                                                </ul>
+                                        </div>
+                                </div>
+
+                                <div class="action-button panel-footer">
+                                    <button id="calibrateButton" type="button" onclick="triggerService('/left/aescape/hardware/calibrateRobotiq')" class="btn">
+                                        Calibrate 
+                                    </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="fas fa-info-circle" data-toggle="popover" title="Popover title" data-content="And here's some amazing content. It's very engaging. Right?"></i>
+                                
+                            </div>
+                            
+                            <div class="panel-body text-center">
+                                <div class="button-area">
+                                    <button type="button" onclick="triggerService('/left/aescape/hardware/setTrainingEEF')" active class="btn btn-primary col-md-6">
+                                        Recording EEF
+                                    </button>            
+                                    <button type="button" onclick="triggerService('/left/aescape/hardware/setExecutionEEF')" class="btn btn-primary col-md-6">
+                                        Massage EEF
+                                    </button>
+                                </div>
+                            </div>
+                            <div class="action-area panel-footer">
+                                <div class="message">
+                                    <!--You must be in "Stopped Mode" to change the EEF configuration! -->
+                                </div>
+                            </div>
+                        </div>                        
+                    </div>
+                    <div class="control-container col-md-6">
+                        <div class="control-card-six control-card panel panel-default">
+                            <div class="panel-heading">
+                                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-md-4">
+                                        Teaching
+                                    </button>
+                                    <button id="left_executionModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController')" class="btn btn-primary col-md-4">
+                                        Massage
+                                    </button>
+                                    <button id="left_readyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
+                                        Ready
+                                    </button>
+                                    <button id="left_standbyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateStandbyController')" class="btn btn-primary col-md-4">
+                                        Standby
+                                    </button>            
+                                    <button id="left_stoppedModeButton" type="button" onclick="triggerService('/left/aescape/mode/stopControllers')" class="btn btn-primary col-md-4">
+                                        Stopped
+                                    </button>
+                                </div>
+                                <!--
+                                    <div class="col-md-6">
+                                        Safety Monitor Status:
+                                        <div class="row-md-3">
+                                            <h4><span id="left_safetyRunning" class="label label-default">Running</span></h4>
+                                        </div>
+                                        <div class="row-md-3">
+                                            <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">
+                                                Activate Safety Monitor
+                                            </button>
+                                        </div>
+                                    </div>
+                                -->
+                            </div>
+                            <div class="action-area panel-footer">
+                                <div class="message">
                                     
                                 </div>
-                                
-                                <div class="panel-body text-center">
-                                    <div class="button-area">
-                                        <button type="button" onclick="triggerService('/left/aescape/hardware/setTrainingEEF')" active class="btn btn-primary col-md-6">
-                                            Recording EEF
-                                        </button>            
-                                        <button type="button" onclick="triggerService('/left/aescape/hardware/setExecutionEEF')" class="btn btn-primary col-md-6">
-                                            Massage EEF
-                                        </button>
-                                    </div>
-                                </div>
-                                <div class="action-area panel-footer">
-                                    <div class="message">
-                                        <!--You must be in "Stopped Mode" to change the EEF configuration! -->
-                                    </div>
-                                </div>
-                            </div>                        
+                            </div>
                         </div>
+                    </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>
+                            <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 class="button-area">
+                                        Current Robotiq Values:
+                                        <h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
+                                        <h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
+                                        <h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
+                                </div>
+                            </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 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="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="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-six control-card panel panel-default">
+                            <div class="control-card panel panel-default execution-control">
                                 <div class="panel-heading">
-                                    Select Operation Mode
+                                    Play Mode Operations
                                     <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-md-4">
-                                            Teaching Mode
+                                        <button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn col-md-3">
+                                            Activate Ready Mode
                                         </button>
-                                        <button id="left_executionModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController')" class="btn btn-primary col-md-4">
-                                            Massage Mode
+                                        <button id="executionLoadButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary col-md-3">
+                                            Load Last Recording
                                         </button>
-                                        <button id="left_readyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
-                                            Ready Mode
+                                        <button id="executionStartButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController'); triggerTopic('/left/run_trajectory')" class="btn btn-primary col-md-3">
+                                            Play Last Recording
                                         </button>
-                                        <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-md-4">
-                                            Stopped Mode
+                                        <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary col-md-3">
+                                            Stop Playing Recording
                                         </button>
                                     </div>
-                                    <!--
-                                        <div class="col-md-6">
-                                            Safety Monitor Status:
-                                            <div class="row-md-3">
-                                                <h4><span id="left_safetyRunning" class="label label-default">Running</span></h4>
+                                    <div>
+                                        <!-- <div class="row-md-4">
+                                            <<div class="col-md-3"> -->
+                                                <!-- Bagfile name must not start with "/" 
+                                                <button class="btn btn-primary" type="button" onclick="updateRecordingsList()">
+                                                    Refresh List
+                                                </button>
+                                        </div> -->
+                                    </div>
+                                </div>
+                                <div class="action-area panel-footer">
+                                    <div class="message" id="ExecutionStatusLabel">
+                                        <!--Bag manager not connected! -->
+                                    </div>
+                                    <div>
+                                        <!--Bagfile name must not start with "/" -->
+                                        <div class="row">
+                                            <div class="col-md-8">
+                                                <div class="dropdown">
+                                                    <div>
+                                                            <select id="bagList" placeholder="Select bag to play">
+                                                            </select>
+                                                    </div>
+                                                    <!-- <i class="fas fa-sync-alt" onclick="updateRecordingsList()"></i> -->
+                                                </div>
                                             </div>
-                                            <div class="row-md-3">
-                                                <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">
-                                                    Activate Safety Monitor
+                                            <div class="col-md-4">
+                                                <button class="btn btn-primary" type="button" onclick="updateSelectedBagFile()">
+                                                    <span>
+                                                        Play Bag
+                                                    </span>
                                                 </button>
                                             </div>
                                         </div>
-                                    -->
+                                    </div>
                                 </div>
-                                <div class="action-area panel-footer">
-                                    <div class="message">
-                                        
+                            </div>                        
+                        </div>
+                        </div>
+                <div class="panel-footer">
+
+                </div>
+                    </div>
+            </div>
+
+            <div class="col-md-6">
+                <div class="hand-panel hand-panel-right panel panel-default">
+                    <div class="panel-heading">
+                            Right Arm
+                            <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="pretty p-default p-round">
+                                                                    <input type="checkbox" class="disabled"/>
+                                                                    <div class="state p-success-o">
+                                                                        <label>Running</label>
+                                                                    </div>
+                                                                </div>
+                                                            </li>
+                                                            <li id="right_safetyStopped" class="list-group-item">
+                                                                <div class="pretty p-default p-round">
+                                                                    <input type="checkbox" class="disabled"/>
+                                                                    <div class="state p-success-o">
+                                                                        <label>Stopped</label>
+                                                                    </div>
+                                                                </div>
+                                                            </li>        
+                                                        </ul>
+                                                </div>
+                                        </div>
+    
+                                        <div class="action-button panel-footer">
+                                            <button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn">
+                                                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_frankaModeOther" class="list-group-item">
+                                                                <div class="pretty p-default p-round">
+                                                                    <input type="checkbox" class="disabled"/>
+                                                                    <div class="state p-success-o">
+                                                                        <label>Other</label>
+                                                                    </div>
+                                                                </div>
+                                                            </li>
+                                                            <li id="right_frankaModeIdle" class="list-group-item">
+                                                                <div class="pretty p-default p-round">
+                                                                    <input type="checkbox" class="disabled"/>
+                                                                    <div class="state p-success-o">
+                                                                        <label>Idle</label>
+                                                                    </div>
+                                                                </div>
+                                                            </li>
+                                                            <li id="right_frankaModeMove" class="list-group-item">
+                                                                <div class="pretty p-default p-round">
+                                                                    <input type="checkbox" class="disabled"/>
+                                                                    <div class="state p-success-o">
+                                                                        <label>Move</label>
+                                                                    </div>
+                                                                </div>
+                                                            </li>
+                                                            <li id="right_frankaModeGuiding" class="list-group-item">
+                                                                <div class="pretty p-default p-round">
+                                                                    <input type="checkbox" class="disabled"/>
+                                                                    <div class="state p-success-o">
+                                                                        <label>Guiding</label>
+                                                                    </div>
+                                                                </div>
+                                                            </li>
+                                                            <li id="right_frankaModeReflex" class="list-group-item">
+                                                                <div class="pretty p-default p-round">
+                                                                    <input type="checkbox" class="disabled"/>
+                                                                    <div class="state p-success-o">
+                                                                        <label>Reflex</label>
+                                                                    </div>
+                                                                </div>
+                                                            </li>
+                                                            <li id="right_frankaModeUserStopped" class="list-group-item">
+                                                                <div class="pretty p-default p-round">
+                                                                    <input type="checkbox" class="disabled"/>
+                                                                    <div class="state p-success-o">
+                                                                        <label>User Stopped</label>
+                                                                    </div>
+                                                                </div>
+                                                            </li>
+                                                            <li id="right_frankaModeErrorRecovery" class="list-group-item">
+                                                                <div class="pretty p-default p-round">
+                                                                    <input type="checkbox" class="disabled"/>
+                                                                    <div class="state p-success-o">
+                                                                        <label>Automatic Error Recovery</label>
+                                                                    </div>
+                                                                </div>
+                                                            </li>
+                                                        </ul>
+                                                </div>
+                                        </div>
+    
+                                        <div class="action-button panel-footer">
+                                                <button id="right_fixFrankaButton" type="button" onclick="triggerService('/left/aescape/hardware/resetFrankaError')" class="btn">
+                                                    Fix Errors
+                                                </button>
+                                        </div>
                                     </div>
                                 </div>
                             </div>
-                        </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>
-                                <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 class="button-area">
-                                            Current Robotiq Values:
-                                            <h4>X: <span id="robotiqX" class="label label-default">0.0</span></h4>
-                                            <h4>Y: <span id="robotiqY" class="label label-default">0.0</span></h4>
-                                            <h4>Z: <span id="robotiqZ" class="label label-default">0.0</span></h4>
-                                    </div>
-                                </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 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="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="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 execution-control">
+                                <div class="control-card panel panel-default">
                                     <div class="panel-heading">
-                                        Play Mode Operations
+                                        EEF Configuration
                                         <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-3">
-                                                Activate Ready Mode
+                                            <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>
-                                            <button id="executionLoadButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary col-md-3">
-                                                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-3">
-                                                Play Last Recording
-                                            </button>
-                                            <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary col-md-3">
-                                                Stop Playing Recording
-                                            </button>
-                                        </div>
-                                        <div>
-                                            <!-- <div class="row-md-4">
-                                                <<div class="col-md-3"> -->
-                                                    <!-- Bagfile name must not start with "/" 
-                                                    <button class="btn btn-primary" type="button" onclick="updateRecordingsList()">
-                                                        Refresh List
-                                                    </button>
-                                            </div> -->
                                         </div>
                                     </div>
                                     <div class="action-area panel-footer">
-                                        <div class="message" id="ExecutionStatusLabel">
-                                            <!--Bag manager not connected! -->
-                                        </div>
-                                        <div>
-                                            <!--Bagfile name must not start with "/" -->
-                                            <div class="row">
-                                                <div class="col-md-8">
-                                                    <div class="dropdown">
-                                                        <div>
-                                                                <select id="bagList" placeholder="Select bag to play">
-                                                                </select>
-                                                        </div>
-                                                        <!-- <i class="fas fa-sync-alt" onclick="updateRecordingsList()"></i> -->
-                                                    </div>
-                                                </div>
-                                                <div class="col-md-4">
-                                                    <button class="btn btn-primary" type="button" onclick="updateSelectedBagFile()">
-                                                        <span>
-                                                            Play Bag
-                                                        </span>
-                                                    </button>
-                                                </div>
-                                            </div>
+                                        <div class="message">
+                                            <!--You must be in "Stopped Mode" to change the EEF configuration! -->
                                         </div>
                                     </div>
                                 </div>                        
                             </div>
+                            <div class="control-container col-md-6">
+                                <div class="control-card-six control-card panel panel-default">
+                                    <div class="panel-heading">
+                                        Operation Mode
+                                        <i class="fas fa-info-circle"></i>
+                                    </div>
+                                    <div class="panel-body text-center">
+                                        <div class="button-area">
+                                            <button id="right_teachingModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateTeachingController')" class="btn btn-primary col-md-4">
+                                                Teaching
+                                            </button>
+                                            <button id="right_executionModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateExecutionController')" class="btn btn-primary col-md-4">
+                                                Massage
+                                            </button>
+                                            <button id="right_readyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
+                                                Ready
+                                            </button>
+                                            <button id="right_standbyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateStandbyController')" class="btn btn-primary col-md-4">
+                                                Standby
+                                            </button>            
+                                            <button id="right_stoppedModeButton" type="button" onclick="triggerService('/right/aescape/mode/stopControllers')" class="btn btn-primary col-md-4">
+                                                Stopped
+                                            </button>
+                                        </div>
+                                    </div>
+                                    <div class="action-area panel-footer">
+                                        <div class="message">
+                                            
+                                        </div>
+                                    </div>
+                                </div>
+                            </div>                     
+                        <!-- <div class="panel panel-default">
+                            <div class="panel-heading">
+                                Robotiq
                             </div>
+                            <div class="panel-body text-center">
+                                <div class="col-md-4">
+                                    Current Robotiq Values:
+                                    <div class="row-md-3">
+                                        <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="row-md-3">
+                                    <button id="calibrateButton" type="button" onclick="triggerService('/right/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
+                                        Calibrate Robotiq
+                                    </button>
+                                </div>
+                            </div>
+                        </div> -->
+                        </div>
                     <div class="panel-footer">
 
                     </div>
-                        </div>
                 </div>
-
-                <div class="col-md-6">
-                    <div class="hand-panel panel panel-default">
-                        <div class="panel-heading">
-                                Right Arm
-                                <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="pretty p-default p-round">
-                                                                        <input type="checkbox" class="disabled"/>
-                                                                        <div class="state p-success-o">
-                                                                            <label>Running</label>
-                                                                        </div>
-                                                                    </div>
-                                                                </li>
-                                                                <li id="right_safetyStopped" class="list-group-item">
-                                                                    <div class="pretty p-default p-round">
-                                                                        <input type="checkbox" class="disabled"/>
-                                                                        <div class="state p-success-o">
-                                                                            <label>Stopped</label>
-                                                                        </div>
-                                                                    </div>
-                                                                </li>        
-                                                            </ul>
-                                                    </div>
-                                            </div>
-        
-                                            <div class="action-button panel-footer">
-                                                <button type="button" onclick="triggerService('/left/aescape/mode/activateSafetyController')" class="btn">
-                                                    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_frankaModeOther" class="list-group-item">
-                                                                    <div class="pretty p-default p-round">
-                                                                        <input type="checkbox" class="disabled"/>
-                                                                        <div class="state p-success-o">
-                                                                            <label>Other</label>
-                                                                        </div>
-                                                                    </div>
-                                                                </li>
-                                                                <li id="right_frankaModeIdle" class="list-group-item">
-                                                                    <div class="pretty p-default p-round">
-                                                                        <input type="checkbox" class="disabled"/>
-                                                                        <div class="state p-success-o">
-                                                                            <label>Idle</label>
-                                                                        </div>
-                                                                    </div>
-                                                                </li>
-                                                                <li id="right_frankaModeMove" class="list-group-item">
-                                                                    <div class="pretty p-default p-round">
-                                                                        <input type="checkbox" class="disabled"/>
-                                                                        <div class="state p-success-o">
-                                                                            <label>Move</label>
-                                                                        </div>
-                                                                    </div>
-                                                                </li>
-                                                                <li id="right_frankaModeGuiding" class="list-group-item">
-                                                                    <div class="pretty p-default p-round">
-                                                                        <input type="checkbox" class="disabled"/>
-                                                                        <div class="state p-success-o">
-                                                                            <label>Guiding</label>
-                                                                        </div>
-                                                                    </div>
-                                                                </li>
-                                                                <li id="right_frankaModeReflex" class="list-group-item">
-                                                                    <div class="pretty p-default p-round">
-                                                                        <input type="checkbox" class="disabled"/>
-                                                                        <div class="state p-success-o">
-                                                                            <label>Reflex</label>
-                                                                        </div>
-                                                                    </div>
-                                                                </li>
-                                                                <li id="right_frankaModeUserStopped" class="list-group-item">
-                                                                    <div class="pretty p-default p-round">
-                                                                        <input type="checkbox" class="disabled"/>
-                                                                        <div class="state p-success-o">
-                                                                            <label>User Stopped</label>
-                                                                        </div>
-                                                                    </div>
-                                                                </li>
-                                                                <li id="right_frankaModeErrorRecovery" class="list-group-item">
-                                                                    <div class="pretty p-default p-round">
-                                                                        <input type="checkbox" class="disabled"/>
-                                                                        <div class="state p-success-o">
-                                                                            <label>Automatic Error Recovery</label>
-                                                                        </div>
-                                                                    </div>
-                                                                </li>
-                                                            </ul>
-                                                    </div>
-                                            </div>
-        
-                                            <div class="action-button panel-footer">
-                                                    <button id="right_fixFrankaButton" type="button" onclick="triggerService('/left/aescape/hardware/resetFrankaError')" class="btn">
-                                                        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="fas fa-info-circle"></i>
-                                        </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="message">
-                                                <!--You must be in "Stopped Mode" to change the EEF configuration! -->
-                                            </div>
-                                        </div>
-                                    </div>                        
-                                </div>
-                                <div class="control-container col-md-6">
-                                    <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="right_teachingModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateTeachingController')" class="btn btn-primary col-md-4">
-                                                    Teaching Mode
-                                                </button>
-                                                <button id="right_executionModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateExecutionController')" class="btn btn-primary col-md-4">
-                                                    Massage Mode
-                                                </button>
-                                                <button id="right_readyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateReadyController')" class="btn btn-primary col-md-4">
-                                                    Ready Mode
-                                                </button>
-                                                <button id="right_standbyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateStandbyController')" class="btn btn-primary col-md-4">
-                                                    Standby Mode
-                                                </button>            
-                                                <button id="right_stoppedModeButton" type="button" onclick="triggerService('/right/aescape/mode/stopControllers')" class="btn btn-primary col-md-4">
-                                                    Stopped Mode
-                                                </button>
-                                            </div>
-                                        </div>
-                                        <div class="action-area panel-footer">
-                                            <div class="message">
-                                                
-                                            </div>
-                                        </div>
-                                    </div>
-                                </div>                     
-                            <!-- <div class="panel panel-default">
-                                <div class="panel-heading">
-                                    Robotiq
-                                </div>
-                                <div class="panel-body text-center">
-                                    <div class="col-md-4">
-                                        Current Robotiq Values:
-                                        <div class="row-md-3">
-                                            <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="row-md-3">
-                                        <button id="calibrateButton" type="button" onclick="triggerService('/right/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
-                                            Calibrate Robotiq
-                                        </button>
-                                    </div>
-                                </div>
-                            </div> -->
-                            </div>
-                        <div class="panel-footer">
-
-                        </div>
-                    </div>
-            </div>
-
-            </div>
         </div>
 
-
-
-
-
-    <!-- <div class="panel panel-default">
-        <div class="panel-heading">
-            Execution Recording Operations
         </div>
-        <div class="panel-body text-center">
-            <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-primary">
-                Stop Recording Execution
-            </button>
-        </div>
-    </div> -->
\ No newline at end of file
+    </div>
+
+
+
+
+
+<!-- <div class="panel panel-default">
+    <div class="panel-heading">
+        Execution Recording Operations
+    </div>
+    <div class="panel-body text-center">
+        <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-primary">
+            Stop Recording Execution
+        </button>
+    </div>
+</div> -->
\ No newline at end of file
diff --git a/client/app/components/coordinator/js/update_guis.js b/client/app/components/coordinator/js/update_guis.js
index 3763835..76035fb 100644
--- a/client/app/components/coordinator/js/update_guis.js
+++ b/client/app/components/coordinator/js/update_guis.js
@@ -45,10 +45,9 @@ setTimeout(function(){
 }, 1000);
 
 
-
-
-
-
+setTimeout(function(){
+  document.querySelector('.hand-panel-right .status-bar').style.height = document.querySelector('.hand-panel-left .status-bar').offsetHeight + 20 + "px";
+}, 100);