diff --git a/coordinator/coordinator.html b/coordinator/coordinator.html
index 75e0190..a105b88 100644
--- a/coordinator/coordinator.html
+++ b/coordinator/coordinator.html
@@ -20,12 +20,46 @@
     </div>
     <div class="panel panel-default">
         <div class="panel-heading">
-            Hardware Commands
+            Franka Arm Status
         </div>
         <div class="panel-body text-center">
+            <div class="col-md-4">
+                Current Robot Status:
+                <!-- <div class="col-md-3" id="FrankaStatus">
+                    N/A
+                </div> -->
+                <div class="row-md-3">
+                    <h4><span id="frankaModeOther" class="label label-default">Other</span></h4>
+                </div>
+                <div class="row-md-3">
+                    <h4><span id="frankaModeIdle" class="label label-default">Idle</span></h4>
+                </div>
+                <div class="row-md-3">
+                    <h4><span id="frankaModeMove" class="label label-default">Move</span></h4>
+                </div>
+                <div class="row-md-3">
+                    <h4><span id="frankaModeGuiding" class="label label-default">Guiding</span></h4>
+                </div>
+                <div class="row-md-3">
+                    <h4><span id="frankaModeReflex" class="label label-default">Reflex</span></h4>
+                </div>
+                <div class="row-md-3">
+                    <h4><span id="frankaModeUserStopped" class="label label-default">User Stopped</span></h4>
+                </div>
+                <div class="row-md-3">
+                    <h4><span id="frankaModeErrorRecovery" class="label label-default">Automatic Error Recovery</span></h4>
+                </div>
+            </div>
             <button id="fixFrankaButton" type="button" onclick="triggerService('/aescape/hardware/resetFrankaError')" class="btn btn-primary">
                 Fix Franka Errors
             </button>
+        </div>
+    </div>
+    <div class="panel panel-default">
+        <div class="panel-heading">
+            Hardware Commands
+        </div>
+        <div class="panel-body text-center">
             <button id="calibrateButton" type="button" onclick="triggerService('/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
                 Calibrate Robotiq
             </button>
diff --git a/coordinator/js/ros_scripts.js b/coordinator/js/ros_scripts.js
index 1233562..3702390 100644
--- a/coordinator/js/ros_scripts.js
+++ b/coordinator/js/ros_scripts.js
@@ -30,15 +30,15 @@ modeStatus.subscribe(function(message) {
   document.getElementById("executionModeButton").className = "btn btn-primary"
 
 
-  if (message.data === "stopped") {
+  if (message.data == "stopped") {
     document.getElementById("stoppedModeButton").className = "btn btn-warning"
-  } else if (message.data === "standby")
+  } else if (message.data == "standby")
   {
     document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
-  } else if (message.data === "teach")
+  } else if (message.data == "teach")
   {
     document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
-  } else if (message.data === "execution")
+  } else if (message.data == "execution")
   {
     document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
   }
@@ -55,7 +55,60 @@ bagPlayingTopic.subscribe(function(message) {
   document.getElementById("bagPlayingText").innerHTML = message.data
 });
 
+// FrankaState
+var frankaStatus = new ROSLIB.Topic({
+  ros : ros,
+  name : '/franka_state_controller/franka_states',
+  messageType : 'franka_msgs/FrankaState'
+});
 
+frankaStatus.subscribe(function(message) {
+  document.getElementById("frankaModeOther").className = "label label-default"
+  document.getElementById("frankaModeIdle").className = "label label-default"
+  document.getElementById("frankaModeMove").className = "label label-default"
+  document.getElementById("frankaModeGuiding").className = "label label-default"
+  document.getElementById("frankaModeReflex").className = "label label-default"
+  document.getElementById("frankaModeUserStopped").className = "label label-default"
+  document.getElementById("frankaModeErrorRecovery").className = "label label-default"
+  document.getElementById("fixFrankaButton").className = "btn btn-primary"
+
+  if (message.robot_mode == 0)
+  { 
+    document.getElementById("frankaModeOther").className = "label label-warning"
+    document.getElementById("fixFrankaButton").className = "btn btn-danger"
+  } 
+  else if (message.robot_mode == 1)
+  {
+    document.getElementById("frankaModeIdle").className = "label label-warning"
+    document.getElementById("fixFrankaButton").className = "btn btn-danger"
+  } 
+  else if (message.robot_mode == 2)
+  {
+    document.getElementById("frankaModeMove").className = "label label-warning"
+    document.getElementById("fixFrankaButton").className = "btn btn-success"
+  } 
+  else if (message.robot_mode == 3) 
+  {
+    document.getElementById("frankaModeGuiding").className = "label label-warning"
+    document.getElementById("fixFrankaButton").className = "btn btn-default"
+  }
+  else if (message.robot_mode == 4)
+  {
+    document.getElementById("frankaModeReflex").className = "label label-warning"
+    document.getElementById("fixFrankaButton").className = "btn btn-danger"
+
+  }
+  else if (message.robot_mode == 5) 
+  {
+    document.getElementById("frankaModeUserStopped").className = "label label-warning"
+    document.getElementById("fixFrankaButton").className = "btn btn-default"
+  }
+  else if (message.robot_mode == 6)
+  {
+    document.getElementById("frankaModeErrorRecovery").className = "label label-warning"
+    document.getElementById("fixFrankaButton").className = "btn btn-default"
+  }
+});
 
 ////////////////////////////////////////////////////////////////
 // Services