From 93f5a7f324eb76c258c287ef411963cec5ab7ccc Mon Sep 17 00:00:00 2001
From: David Walsh <david@aescape.co>
Date: Wed, 8 May 2019 12:39:47 -0400
Subject: [PATCH] Added left and right arm controls

Temp


Working


Updates


Playback working


Fix
---
 coordinator/coordinator.html  | 447 +++++++++++++++++++++-------------
 coordinator/js/ros_scripts.js | 293 +++++++++++-----------
 2 files changed, 437 insertions(+), 303 deletions(-)

diff --git a/coordinator/coordinator.html b/coordinator/coordinator.html
index 7a14021..0bca71e 100644
--- a/coordinator/coordinator.html
+++ b/coordinator/coordinator.html
@@ -1,175 +1,288 @@
 
-    <div class="panel panel-default">
-        <div class="panel-heading">
-            Select Operation Mode
-        </div>
-        <div class="panel-body text-center">
-            <div class="col-md-6">
-                <button id="teachingModeButton" type="button" onclick="triggerService('/aescape/mode/activateTeachingController')" class="btn btn-primary">
-                    Teaching Mode
-                </button>
-                <button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
-                    Massage Mode
-                </button>
-                <button id="readyModeButton" type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
-                    Ready Mode
-                </button>
-                <button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/activateStandbyController')" class="btn btn-primary">
-                    Standby Mode
-                </button>            
-                <button id="stoppedModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
-                    Stopped Mode
-                </button>
-            </div>
-            <div class="col-md-6">
-                Safety Monitor Status:
-                <div class="row-md-3">
-                    <h4><span id="safetyRunning" class="label label-default">Running</span></h4>
-                </div>
-                <div class="row-md-3">
-                    <h4><span id="safetyStopped" class="label label-default">Stopped</span></h4>
-                </div>
-                <div class="row-md-3">
-                    <button type="button" onclick="triggerService('/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
-                        Activate Safety Monitor
-                    </button>
-                </div>
-            </div>
-        </div>
-
-
-    </div>
-    <div class="panel panel-default">
-        <div class="panel-heading">
-            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">
-            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('/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
-                    Calibrate Robotiq
-                </button>
-            </div>
-        </div>
-    </div>
-    <div class="panel panel-default">
-        <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('/aescape/mode/activateReadyController')" class="btn btn-default">
-                Activate Ready Mode
-            </button>
-            <button id="recordingStartButton" type="button" onclick="triggerService('/aescape/hardware/calibrateRobotiq'); triggerService('/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('/aescape/mode/activateReadyController')" class="btn btn-primary">
-                Stop Teach Recording
-            </button>
-        </div>
-    </div>
-
-    <div class="panel panel-default">
-        <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>
-            <button type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-default">
-                Activate Ready Mode
-            </button>
-            <button id="executionStartButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController'); triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
-                Play Last Recording
-            </button>
-            <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
-                Stop Playing Recording
-            </button>
-            <div class="row">
-                <div class="col-md-3">
-                    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('/startPlayingRecording', 'bagNameText')">
-                                <span>
-                                    Start Playing Bag
-                                </span>
-                            </button>
-                        </span>
+        <div class="panel panel-default">
+            <div class="panel-body text-center">
+                <div class="col-lg-6">
+                    <div class="panel panel-default">
+                        <div class="panel-heading">
+                        Left Arm Controls
                     </div>
+                    <div class="panel panel-default">
+                        <div class="panel-heading">
+                            Select Operation Mode
+                        </div>
+                        <div class="panel-body text-center">
+                            <div class="col-md-6">
+                                <button id="left_teachingModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateTeachingController')" class="btn btn-primary">
+                                    Teaching Mode
+                                </button>
+                                <button id="left_executionModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController')" class="btn btn-primary">
+                                    Massage Mode
+                                </button>
+                                <button id="left_readyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
+                                    Ready Mode
+                                </button>
+                                <button id="left_standbyModeButton" type="button" onclick="triggerService('/left/aescape/mode/activateStandbyController')" class="btn btn-primary">
+                                    Standby Mode
+                                </button>            
+                                <button id="left_stoppedModeButton" type="button" onclick="triggerService('/left/aescape/mode/stopControllers')" class="btn btn-primary">
+                                    Stopped Mode
+                                </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 btn-default">
+                                        Activate Safety Monitor
+                                    </button>
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                    <div class="panel panel-default">
+                        <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>
+                            <button id="left_fixFrankaButton" type="button" onclick="triggerService('/left/aescape/hardware/resetFrankaError')" class="btn btn-primary">
+                                Fix Franka Errors
+                            </button>
+                        </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('/left/aescape/hardware/calibrateRobotiq')" class="btn btn-primary">
+                                    Calibrate Robotiq
+                                </button>
+                            </div>
+                        </div>
+                    </div>
+
+                    <div class="panel panel-default">
+                            <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="panel panel-default">
+                                <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>
+                                    <button type="button" onclick="triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-default">
+                                        Activate Ready Mode
+                                    </button>
+                                    <button id="executionStartButton" type="button" onclick="triggerService('/left/aescape/mode/activateExecutionController'); triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
+                                        Play Last Recording
+                                    </button>
+                                    <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/left/aescape/mode/activateReadyController')" class="btn btn-primary">
+                                        Stop Playing Recording
+                                    </button>
+                                    <div class="row">
+                                        <div class="col-md-3">
+                                            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('/startPlayingRecording', 'bagNameText')">
+                                                        <span>
+                                                            Start Playing Bag
+                                                        </span>
+                                                    </button>
+                                                </span>
+                                            </div>
+                                        </div>
+                                    </div>
+                                </div>
+                            </div>
+                        </div>
                 </div>
             </div>
-                    <!-- </div> -->
-           
+
+                <div class="col-lg-6">
+                    <div class="panel panel-default">
+                        <div class="panel-heading">
+                            Right Arm Controls
+                        </div>
+                        <div class="panel panel-default">
+                            <div class="panel-heading">
+                                Select Operation Mode
+                            </div>
+                            <div class="panel-body text-center">
+                                <div class="col-md-6">
+                                    <button id="right_teachingModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateTeachingController')" class="btn btn-primary">
+                                        Teaching Mode
+                                    </button>
+                                    <button id="right_executionModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateExecutionController')" class="btn btn-primary">
+                                        Massage Mode
+                                    </button>
+                                    <button id="right_readyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateReadyController')" class="btn btn-primary">
+                                        Ready Mode
+                                    </button>
+                                    <button id="right_standbyModeButton" type="button" onclick="triggerService('/right/aescape/mode/activateStandbyController')" class="btn btn-primary">
+                                        Standby Mode
+                                    </button>            
+                                    <button id="right_stoppedModeButton" type="button" onclick="triggerService('/right/aescape/mode/stopControllers')" class="btn btn-primary">
+                                        Stopped Mode
+                                    </button>
+                                </div>
+                                <div class="col-md-6">
+                                    Safety Monitor Status:
+                                    <div class="row-md-3">
+                                        <h4><span id="right_safetyRunning" class="label label-default">Running</span></h4>
+                                    </div>
+                                    <div class="row-md-3">
+                                        <h4><span id="right_safetyStopped" class="label label-default">Stopped</span></h4>
+                                    </div>
+                                    <div class="row-md-3">
+                                        <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="panel panel-default">
+                            <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 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>
+
+            </div>
         </div>
-        
-    </div>
+
+
+
+
 
     <!-- <div class="panel panel-default">
         <div class="panel-heading">
diff --git a/coordinator/js/ros_scripts.js b/coordinator/js/ros_scripts.js
index a12e2a8..52d9c22 100644
--- a/coordinator/js/ros_scripts.js
+++ b/coordinator/js/ros_scripts.js
@@ -16,69 +16,169 @@
 // Subscribers
 ////////////////////////////////////////////////////////////////
 
-// Operation Mode
-var modeStatus = new ROSLIB.Topic({
+class ArmControls 
+{
+  constructor(namespace) {
+    this.namespace = namespace;
+
+    // Franka Status
+    this.frankaStatusTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : '/'+this.namespace+'/franka_state_controller/franka_states',
+      messageType : 'franka_msgs/FrankaState',
+      throttle_rate : 500 // 2Hz
+    });
+    this.frankaStatusTopic.subscribe(this.frankaStatus.bind(this));
+
+    // Mode Status
+    this.modeStatusTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : '/'+this.namespace+'/aescape/mode/status',
+      messageType : 'std_msgs/String',
+      throttle_rate : 500 // 2Hz
+    });
+    this.modeStatusTopic.subscribe(this.modeStatus.bind(this));
+
+    // Safety Status
+    this.safetyStatusTopic = new ROSLIB.Topic({
+      ros : ros,
+      name : '/'+this.namespace+'/aescape/mode/safety_status',
+      messageType : 'std_msgs/String',
+      throttle_rate : 500 // 2Hz
+    });
+    this.safetyStatusTopic.subscribe(this.safetyStatus.bind(this));
+
+  }
+
+  // FrankaState
+  frankaStatus(message) {
+    document.getElementById(this.namespace+"_frankaModeOther").className = "label label-default"
+    document.getElementById(this.namespace+"_frankaModeIdle").className = "label label-default"
+    document.getElementById(this.namespace+"_frankaModeMove").className = "label label-default"
+    document.getElementById(this.namespace+"_frankaModeGuiding").className = "label label-default"
+    document.getElementById(this.namespace+"_frankaModeReflex").className = "label label-default"
+    document.getElementById(this.namespace+"_frankaModeUserStopped").className = "label label-default"
+    document.getElementById(this.namespace+"_frankaModeErrorRecovery").className = "label label-default"
+    document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-primary"
+
+    if (message.robot_mode == 0)
+    { 
+      document.getElementById(this.namespace+"_frankaModeOther").className = "label label-warning"
+      document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
+    } 
+    else if (message.robot_mode == 1)
+    {
+      document.getElementById(this.namespace+"_frankaModeIdle").className = "label label-warning"
+      document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
+    } 
+    else if (message.robot_mode == 2)
+    {
+      document.getElementById(this.namespace+"_frankaModeMove").className = "label label-warning"
+      document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-success"
+    } 
+    else if (message.robot_mode == 3) 
+    {
+      document.getElementById(this.namespace+"_frankaModeGuiding").className = "label label-warning"
+      document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
+    }
+    else if (message.robot_mode == 4)
+    {
+      document.getElementById(this.namespace+"_frankaModeReflex").className = "label label-warning"
+      document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-danger"
+
+    }
+    else if (message.robot_mode == 5) 
+    {
+      document.getElementById(this.namespace+"_frankaModeUserStopped").className = "label label-warning"
+      document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
+    }
+    else if (message.robot_mode == 6)
+    {
+      document.getElementById(this.namespace+"_frankaModeErrorRecovery").className = "label label-warning"
+      document.getElementById(this.namespace+"_fixFrankaButton").className = "btn btn-default"
+    }
+  }
+
+    // Operation Mode
+   modeStatus(message) {
+    document.getElementById(this.namespace+"_stoppedModeButton").className = "btn btn-secondary"
+    document.getElementById(this.namespace+"_standbyModeButton").className = "btn btn-primary"
+    document.getElementById(this.namespace+"_readyModeButton").className = "btn btn-primary"
+    document.getElementById(this.namespace+"_teachingModeButton").className = "btn btn-primary"
+    document.getElementById(this.namespace+"_executionModeButton").className = "btn btn-primary"
+    
+    if (this.namespace == "left") 
+    {
+      document.getElementById("recordingStartButton").disabled = true
+      document.getElementById("executionStartButton").disabled = true
+    }
+   
+    if (message.data == "stopped") 
+    {
+      document.getElementById(this.namespace+"_stoppedModeButton").className = "btn btn-warning"
+    } 
+    else if (message.data == "standby")
+    {
+      document.getElementById(this.namespace+"_standbyModeButton").className = "btn btn-primary btn-success"
+    } 
+    else if (message.data == "teach")
+    {
+      document.getElementById(this.namespace+"_teachingModeButton").className = "btn btn-primary btn-success"
+    } 
+    else if (message.data == "execution")
+    {
+      document.getElementById(this.namespace+"_executionModeButton").className = "btn btn-primary btn-success"
+    }
+    else if (message.data == "ready")
+    {
+      document.getElementById(this.namespace+"_readyModeButton").className = "btn btn-primary btn-success"
+      
+      if (this.namespace == "left") 
+      {
+        document.getElementById("recordingStartButton").disabled = false
+        document.getElementById("executionStartButton").disabled = false
+      }
+    }
+  }
+
+  safetyStatus(message) {
+    document.getElementById(this.namespace+"_safetyRunning").className = 'label label-default';
+    document.getElementById(this.namespace+"_safetyStopped").className = 'label label-default';
+    
+    if (message.data == "stopped") 
+    {
+      document.getElementById(this.namespace+"_safetyStopped").className = 'label label-danger';
+    } 
+    else if (message.data == "running")
+    {
+      document.getElementById(this.namespace+"_safetyRunning").className = 'label label-success';
+    }
+  };
+}
+
+var leftArmControls = new ArmControls('left');
+var rightArmControls = new ArmControls('right');
+  
+
+// Robotiq Data
+var robotiqDataTopic = new ROSLIB.Topic({
   ros : ros,
-  name : '/aescape/mode/status',
-  messageType : 'std_msgs/String',
+  name : '/left/robotiq_ft_wrench',
+  messageType : 'geometry_msgs/WrenchStamped',
   throttle_rate : 500 // 2Hz
 });
 
-modeStatus.subscribe(function(message) {
-  document.getElementById("stoppedModeButton").className = "btn btn-secondary"
-  document.getElementById("standbyModeButton").className = "btn btn-primary"
-  document.getElementById("readyModeButton").className = "btn btn-primary"
-  document.getElementById("teachingModeButton").className = "btn btn-primary"
-  document.getElementById("executionModeButton").className = "btn btn-primary"
-  
-  document.getElementById("recordingStartButton").disabled = true
-  document.getElementById("executionStartButton").disabled = true
+robotiqDataTopic.subscribe(function(message) {
+  var force = message.wrench.force
+  document.getElementById("robotiqX").innerHTML = force.x.toFixed(1)
+  document.getElementById("robotiqY").innerHTML = force.y.toFixed(1)
+  document.getElementById("robotiqZ").innerHTML = force.z.toFixed(1)
 
-
-
-  if (message.data == "stopped") 
+  if ((Math.abs(force.x) > 0.5) || (Math.abs(force.y) > 0.5) || (Math.abs(force.z) > 0.5))
   {
-    document.getElementById("stoppedModeButton").className = "btn btn-warning"
-  } 
-  else if (message.data == "standby")
-  {
-    document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
-  } 
-  else if (message.data == "teach")
-  {
-    document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
-  } 
-  else if (message.data == "execution")
-  {
-    document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
-  }
-  else if (message.data == "ready")
-  {
-    document.getElementById("readyModeButton").className = "btn btn-primary btn-success"
-    document.getElementById("recordingStartButton").disabled = false
-    document.getElementById("executionStartButton").disabled = false
-  }
-});
-
-// Safety Status
-var safetyStatusTopic = new ROSLIB.Topic({
-  ros : ros,
-  name : '/aescape/mode/safety_status',
-  messageType : 'std_msgs/String',
-  throttle_rate : 500 // 2Hz
-});
-
-safetyStatusTopic.subscribe(function(message) {
-  document.getElementById("safetyRunning").className = 'label label-default';
-  document.getElementById("safetyStopped").className = 'label label-default';
-  
-  if (message.data == "stopped") 
-  {
-    document.getElementById("safetyStopped").className = 'label label-danger';
-  } 
-  else if (message.data == "running")
-  {
-    document.getElementById("safetyRunning").className = 'label label-success';
+    document.getElementById("calibrateButton").className = "btn btn-danger"
+  } else {
+    document.getElementById("calibrateButton").className = "btn btn-default"
   }
 });
 
@@ -135,85 +235,6 @@ bagPlayingTopic.subscribe(function(message) {
   document.getElementById("lastbagText").innerHTML = message.data
 });
 
-// FrankaState
-var frankaStatus = new ROSLIB.Topic({
-  ros : ros,
-  name : '/franka_state_controller/franka_states',
-  messageType : 'franka_msgs/FrankaState',
-  throttle_rate : 500 // 2Hz
-});
-
-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"
-  }
-});
-
-
-// Robotiq Data
-var robotiqDataTopic = new ROSLIB.Topic({
-  ros : ros,
-  name : '/robotiq_ft_wrench',
-  messageType : 'geometry_msgs/WrenchStamped',
-  throttle_rate : 500 // 2Hz
-});
-
-robotiqDataTopic.subscribe(function(message) {
-  var force = message.wrench.force
-  document.getElementById("robotiqX").innerHTML = force.x.toFixed(1)
-  document.getElementById("robotiqY").innerHTML = force.y.toFixed(1)
-  document.getElementById("robotiqZ").innerHTML = force.z.toFixed(1)
-
-  if ((Math.abs(force.x) > 0.5) || (Math.abs(force.y) > 0.5) || (Math.abs(force.z) > 0.5))
-  {
-    document.getElementById("calibrateButton").className = "btn btn-danger"
-  } else {
-    document.getElementById("calibrateButton").className = "btn btn-default"
-  }
-});
-
 ////////////////////////////////////////////////////////////////
 // Services
 ////////////////////////////////////////////////////////////////