diff --git a/client/app/components/coordinator/play.html b/client/app/components/coordinator/play.html
new file mode 100644
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+++ b/client/app/components/coordinator/play.html
@@ -0,0 +1,706 @@
+
+    <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 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>
+                        </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>
+                                                    </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="franka-force force-bar panel panel-default panel-horizontal">
+                                <div class="panel-heading">
+                                    Franka Force
+                                </div>
+                                <div class="panel-body text-center">
+                                        <div class="status-list">
+                                            <div class="commanded">
+                                                <div class="progress">
+                                                    <!-- <div class="progress-bar-label">Commanded</div> -->
+                                                    <div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedLeft" 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 force-value">
+                                                        <h4>X: <span id="frankaForceLeftCommandedX">0.0</span></h4>
+                                                    </li>
+                                                    <li class="list-group-item force-value">
+                                                        <h4>Y: <span id="frankaForceLeftCommandedY">0.0</span></h4>
+                                                    </li>
+                                                    <li class="list-group-item force-value">
+                                                        <h4>Z: <span id="frankaForceLeftCommandedZ">0.0</span></h4>
+                                                    </li>        
+                                                </ul>
+                                            </div>
+                                            <div class="observed">
+                                              <div class="progress">
+                                                  <!-- <div class="progress-bar-label">Observed</div> -->
+                                                  <div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedLeft" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">
+                                                      <span>N/A</span>
+                                                      <div>
+                                                          <span>Observed</span>
+                                                      </div>
+                                                  </div>
+                                              </div>
+                                              <ul class="list-group list-group-horizontal text-center">
+                                                  <li class="list-group-item force-value">
+                                                      <h4>X: <span id="frankaForceLeftObservedX">0.0</span></h4>
+                                                  </li>
+                                                  <li class="list-group-item force-value">
+                                                      <h4>Y: <span id="frankaForceLeftObservedY">0.0</span></h4>
+                                                  </li>
+                                                  <li class="list-group-item force-value">
+                                                      <h4>Z: <span id="frankaForceLeftObservedZ">0.0</span></h4>
+                                                  </li>        
+                                              </ul>
+                                          </div>
+                                        </div>
+                                </div>
+                                <div class="action-button panel-footer">
+
+                                </div>
+                            </div>
+                        </div>
+                        <div class="status-container">
+                            <div class="robotiq force-bar 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 force-value">
+                                                        <h4>X: <span id="robotiqX">0.0</span></h4>
+                                                    </li>
+                                                    <li class="list-group-item force-value">
+                                                        <h4>Y: <span id="robotiqY">0.0</span></h4>
+                                                    </li>
+                                                    <li class="list-group-item force-value">
+                                                        <h4>Z: <span id="robotiqZ">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" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the end-effector attached to the left arm."></i>
+                            </div>
+                            
+                            <div class="panel-body text-center">
+                                <div class="button-area">
+                                    <button type="button" onclick="setEEFConfig('left', 'teach')" active class="btn btn-primary col-md-6">
+                                        Recording EEF
+                                    </button>            
+                                    <button type="button" onclick="setEEFConfig('left', 'play')" 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 id="left-operation-mode" class="control-card-six control-card panel panel-default">
+                            <div class="panel-heading">
+                                Operation Mode
+                                <i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the operation mode of the left arm."></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>
+                        </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 teaching-mode-operations col-md-7">
+                        <div class="control-card panel panel-default">
+                            <div class="panel-heading">
+                                Teaching Mode Operations
+                                <i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This helps recoding a new massage!"></i>
+                            </div>
+                            <div class="panel-body text-center">
+                                <div class="button-area">
+                                        <button id="recordingStartButton" type="button" onclick="startTeachRecoding()" class="btn btn-primary col-md-6">
+                                            Start Recording
+                                        </button>
+                                        <button id="recordingStopButton" type="button" onclick="stopTeachRecording()" class="btn btn-primary col-md-6">
+                                            Stop Recording
+                                        </button>
+                                </div>
+                            </div>
+                            <div class="action-area panel-footer">
+                                <div id="RecordingStatusLabel" class="message">
+                                    <!-- TO DO: Show errors in bag manager -->
+                                </div>
+                                <div class="slider-options tagging-options" id="teachTags">
+                                    <div class="col-md-10">
+                                        <!--full with naming box search:no new:yes-->
+                                        <select id="teachBagFileName" placeholder="Filename"></select>
+                                        <!--full width category box search:yes new:yes-->
+                                        <select id="teachBagCategory" placeholder="Category"></select>
+                                        <!--full width tags box search:yes new:yes-->
+                                        <select id="teachBagTags" placeholder="Tags"></select>
+                                    </div>
+                                    <div class="col-md-2">
+                                        <button class="btn btn-primary" onclick="hideTaggingOptions('teach', true)">Tag</button>
+                                        <button class="btn btn-primary" onclick="hideTaggingOptions('teach', false)">Cancel</button>
+                                    </div>
+                                </div>
+                                <div id="teachTagError" class="col-md-10 error"></div>
+                                <div class="clearfix"></div>
+                            </div>
+                        </div>                        
+                    </div>
+                        <div class="control-container play-mode-operations col-md-10">
+                            <div class="control-card panel panel-default execution-control">
+                                <div class="panel-heading">
+                                    Play Mode Operations
+                                    <i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This helps selecting and playback of recorded massages!"></i>
+                                </div>
+                                <div class="panel-body text-center">
+                                    <div class="button-area">
+                                        <button id="executionLoadButton" type="button" onclick="displayLoadingOptions()" class="btn btn-primary col-md-3">
+                                            Load Recording
+                                        </button>
+                                        <button id="executionLoadButton" type="button" onclick="triggerService('/aescape/massageReady')" class="btn btn-primary col-md-3">
+                                            Complete Body Scaling
+                                        </button>
+                                        <button id="executionStartButton" type="button" onclick="playLoadedRecording()" class="btn btn-primary col-md-3">
+                                            Play Loaded Recording
+                                        </button>
+                                        <button id="executionStopButton" type="button" onclick="stopPlayingRecording()" 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">
+                                        <!-- TO DO: Show errors in bag manager -->
+                                    </div>
+                                    <!-- TO DO: Bagfile name must not start with "/" -->
+                                    <div class="slider-options tagging-options" id="playTags">
+                                        <div class="col-md-10">
+                                            <!--full with naming box search:no new:yes-->
+                                            <select id="playBagFileName" placeholder="Filename"></select>
+                                            <!--full width category box search:yes new:yes-->
+                                            <select id="playBagCategory" placeholder="Category"></select>
+                                            <!--full width tags box search:yes new:yes-->
+                                            <select id="playBagTags" placeholder="Tags"></select>
+                                        </div>
+                                        <div class="col-md-2">
+                                            <button class="btn btn-primary" onclick="hideTaggingOptions('play', true)">Tag</button>
+                                            <button class="btn btn-primary" onclick="hideTaggingOptions('play', false)">Cancel</button>
+                                        </div>
+                                    </div>
+                                    <div class="slider-options loading-options" id="loadBags">
+                                        <div class="col-md-10">
+                                            <div class="dropdown">
+                                                <div>
+                                                        <select id="loadBagList" placeholder="Select bag to play"></select>
+                                                        <select id="armMode"></select>
+                                                </div>
+                                                <!-- <i class="fas fa-sync-alt" onclick="updateRecordingsList()"></i> -->
+                                            </div>
+                                        </div>
+                                        <div class="col-md-2">
+                                            <!-- <i class="fas fa-check-circle" onclick="hideLoadingOptions(true)"></i> -->
+                                            <button class="btn btn-primary" onclick="hideLoadingOptions(true)">Load</button>
+                                            <button class="btn btn-primary" onclick="hideLoadingOptions(false)">Cancel</button>
+                                        </div>
+                                    </div>
+                                    <div id="playTagError" class="col-md-10 error"></div>
+                                    <div class="clearfix"></div>
+                                </div>
+                            </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('/right/aescape/hardware/resetFrankaError')" class="btn">
+                                                    Fix Errors
+                                                </button>
+                                        </div>
+                                    </div>
+                                </div>
+                                <div class="status-container">
+                                    <div class="franka-force force-bar panel panel-default panel-horizontal">
+                                        <div class="panel-heading">
+                                            Franka Force
+                                        </div>
+                                        <div class="panel-body text-center">
+                                                <div class="status-list">
+                                                    <div class="commanded">
+                                                        <div class="progress">
+                                                            <!-- <div class="progress-bar-label">Commanded</div> -->
+                                                            <div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedRight" 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 force-value">
+                                                                <h4>X: <span id="frankaForceRightCommandedX">0.0</span></h4>
+                                                            </li>
+                                                            <li class="list-group-item force-value">
+                                                                <h4>Y: <span id="frankaForceRightCommandedY">0.0</span></h4>
+                                                            </li>
+                                                            <li class="list-group-item force-value">
+                                                                <h4>Z: <span id="frankaForceRightCommandedZ">0.0</span></h4>
+                                                            </li>        
+                                                        </ul>
+                                                    </div>
+                                                    <div class="observed">
+                                                      <div class="progress">
+                                                          <!-- <div class="progress-bar-label">Observed</div> -->
+                                                          <div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedRight" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">
+                                                              <span>N/A</span>
+                                                              <div>
+                                                                  <span>Observed</span>
+                                                              </div>
+                                                          </div>
+                                                      </div>
+                                                      <ul class="list-group list-group-horizontal text-center">
+                                                          <li class="list-group-item force-value">
+                                                              <h4>X: <span id="frankaForceRightObservedX">0.0</span></h4>
+                                                          </li>
+                                                          <li class="list-group-item force-value">
+                                                              <h4>Y: <span id="frankaForceRightObservedY">0.0</span></h4>
+                                                          </li>
+                                                          <li class="list-group-item force-value">
+                                                              <h4>Z: <span id="frankaForceRightObservedZ">0.0</span></h4>
+                                                          </li>        
+                                                      </ul>
+                                                  </div>
+                                                </div>
+                                        </div>
+                                        <div class="action-button panel-footer">
+        
+                                        </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" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the end-effector attached to the right arm."></i>
+                                    </div>
+                                    <div class="panel-body text-center">
+                                        <div class="button-area">
+                                            <button type="button" onclick="setEEFConfig('right', 'teach')" class="btn btn-primary col-md-6">
+                                                Recording EEF
+                                            </button>            
+                                            <button type="button" onclick="setEEFConfig('right', 'play')" 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 id="right-operation-mode" class="control-card-six control-card panel panel-default">
+                                    <div class="panel-heading">
+                                        Operation Mode
+                                        <i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-placement="bottom" data-content="This selects the operation mode of the right arm."></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>
+                <button type="button" onclick="triggerService('/aescape/safety_activate')" class="safety-button danger btn">
+                    Stop Now!
+                </button>
+        </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
diff --git a/client/app/components/coordinator/teach.html b/client/app/components/coordinator/teach.html
new file mode 100644
index 0000000..2550694
--- /dev/null
+++ b/client/app/components/coordinator/teach.html
@@ -0,0 +1,706 @@
+
+    <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 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>
+                        </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>
+                                                    </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="franka-force force-bar panel panel-default panel-horizontal">
+                                <div class="panel-heading">
+                                    Franka Force
+                                </div>
+                                <div class="panel-body text-center">
+                                        <div class="status-list">
+                                            <div class="commanded">
+                                                <div class="progress">
+                                                    <!-- <div class="progress-bar-label">Commanded</div> -->
+                                                    <div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedLeft" 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 force-value">
+                                                        <h4>X: <span id="frankaForceLeftCommandedX">0.0</span></h4>
+                                                    </li>
+                                                    <li class="list-group-item force-value">
+                                                        <h4>Y: <span id="frankaForceLeftCommandedY">0.0</span></h4>
+                                                    </li>
+                                                    <li class="list-group-item force-value">
+                                                        <h4>Z: <span id="frankaForceLeftCommandedZ">0.0</span></h4>
+                                                    </li>        
+                                                </ul>
+                                            </div>
+                                            <div class="observed">
+                                              <div class="progress">
+                                                  <!-- <div class="progress-bar-label">Observed</div> -->
+                                                  <div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedLeft" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">
+                                                      <span>N/A</span>
+                                                      <div>
+                                                          <span>Observed</span>
+                                                      </div>
+                                                  </div>
+                                              </div>
+                                              <ul class="list-group list-group-horizontal text-center">
+                                                  <li class="list-group-item force-value">
+                                                      <h4>X: <span id="frankaForceLeftObservedX">0.0</span></h4>
+                                                  </li>
+                                                  <li class="list-group-item force-value">
+                                                      <h4>Y: <span id="frankaForceLeftObservedY">0.0</span></h4>
+                                                  </li>
+                                                  <li class="list-group-item force-value">
+                                                      <h4>Z: <span id="frankaForceLeftObservedZ">0.0</span></h4>
+                                                  </li>        
+                                              </ul>
+                                          </div>
+                                        </div>
+                                </div>
+                                <div class="action-button panel-footer">
+
+                                </div>
+                            </div>
+                        </div>
+                        <div class="status-container">
+                            <div class="robotiq force-bar 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 force-value">
+                                                        <h4>X: <span id="robotiqX">0.0</span></h4>
+                                                    </li>
+                                                    <li class="list-group-item force-value">
+                                                        <h4>Y: <span id="robotiqY">0.0</span></h4>
+                                                    </li>
+                                                    <li class="list-group-item force-value">
+                                                        <h4>Z: <span id="robotiqZ">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" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the end-effector attached to the left arm."></i>
+                            </div>
+                            
+                            <div class="panel-body text-center">
+                                <div class="button-area">
+                                    <button type="button" onclick="setEEFConfig('left', 'teach')" active class="btn btn-primary col-md-6">
+                                        Recording EEF
+                                    </button>            
+                                    <button type="button" onclick="setEEFConfig('left', 'play')" 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 id="left-operation-mode" class="control-card-six control-card panel panel-default">
+                            <div class="panel-heading">
+                                Operation Mode
+                                <i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the operation mode of the left arm."></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>
+                        </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 teaching-mode-operations col-md-7">
+                        <div class="control-card panel panel-default">
+                            <div class="panel-heading">
+                                Teaching Mode Operations
+                                <i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This helps recoding a new massage!"></i>
+                            </div>
+                            <div class="panel-body text-center">
+                                <div class="button-area">
+                                        <button id="recordingStartButton" type="button" onclick="startTeachRecoding()" class="btn btn-primary col-md-6">
+                                            Start Recording
+                                        </button>
+                                        <button id="recordingStopButton" type="button" onclick="stopTeachRecording()" class="btn btn-primary col-md-6">
+                                            Stop Recording
+                                        </button>
+                                </div>
+                            </div>
+                            <div class="action-area panel-footer">
+                                <div id="RecordingStatusLabel" class="message">
+                                    <!-- TO DO: Show errors in bag manager -->
+                                </div>
+                                <div class="slider-options tagging-options" id="teachTags">
+                                    <div class="col-md-10">
+                                        <!--full with naming box search:no new:yes-->
+                                        <select id="teachBagFileName" placeholder="Filename"></select>
+                                        <!--full width category box search:yes new:yes-->
+                                        <select id="teachBagCategory" placeholder="Category"></select>
+                                        <!--full width tags box search:yes new:yes-->
+                                        <select id="teachBagTags" placeholder="Tags"></select>
+                                    </div>
+                                    <div class="col-md-2">
+                                        <button class="btn btn-primary" onclick="hideTaggingOptions('teach', true)">Tag</button>
+                                        <button class="btn btn-primary" onclick="hideTaggingOptions('teach', false)">Cancel</button>
+                                    </div>
+                                </div>
+                                <div id="teachTagError" class="col-md-10 error"></div>
+                                <div class="clearfix"></div>
+                            </div>
+                        </div>                        
+                    </div>
+                        <div class="control-container play-mode-operations col-md-10">
+                            <div class="control-card panel panel-default execution-control">
+                                <div class="panel-heading">
+                                    Play Mode Operations
+                                    <i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This helps selecting and playback of recorded massages!"></i>
+                                </div>
+                                <div class="panel-body text-center">
+                                    <div class="button-area">
+                                        <button id="executionLoadButton" type="button" onclick="displayLoadingOptions()" class="btn btn-primary col-md-3">
+                                            Load Recording
+                                        </button>
+                                        <button id="executionLoadButton" type="button" onclick="triggerService('/aescape/massageReady')" class="btn btn-primary col-md-3">
+                                            Complete Body Scaling
+                                        </button>
+                                        <button id="executionStartButton" type="button" onclick="playLoadedRecording()" class="btn btn-primary col-md-3">
+                                            Play Loaded Recording
+                                        </button>
+                                        <button id="executionStopButton" type="button" onclick="stopPlayingRecording()" 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">
+                                        <!-- TO DO: Show errors in bag manager -->
+                                    </div>
+                                    <!-- TO DO: Bagfile name must not start with "/" -->
+                                    <div class="slider-options tagging-options" id="playTags">
+                                        <div class="col-md-10">
+                                            <!--full with naming box search:no new:yes-->
+                                            <select id="playBagFileName" placeholder="Filename"></select>
+                                            <!--full width category box search:yes new:yes-->
+                                            <select id="playBagCategory" placeholder="Category"></select>
+                                            <!--full width tags box search:yes new:yes-->
+                                            <select id="playBagTags" placeholder="Tags"></select>
+                                        </div>
+                                        <div class="col-md-2">
+                                            <button class="btn btn-primary" onclick="hideTaggingOptions('play', true)">Tag</button>
+                                            <button class="btn btn-primary" onclick="hideTaggingOptions('play', false)">Cancel</button>
+                                        </div>
+                                    </div>
+                                    <div class="slider-options loading-options" id="loadBags">
+                                        <div class="col-md-10">
+                                            <div class="dropdown">
+                                                <div>
+                                                        <select id="loadBagList" placeholder="Select bag to play"></select>
+                                                        <select id="armMode"></select>
+                                                </div>
+                                                <!-- <i class="fas fa-sync-alt" onclick="updateRecordingsList()"></i> -->
+                                            </div>
+                                        </div>
+                                        <div class="col-md-2">
+                                            <!-- <i class="fas fa-check-circle" onclick="hideLoadingOptions(true)"></i> -->
+                                            <button class="btn btn-primary" onclick="hideLoadingOptions(true)">Load</button>
+                                            <button class="btn btn-primary" onclick="hideLoadingOptions(false)">Cancel</button>
+                                        </div>
+                                    </div>
+                                    <div id="playTagError" class="col-md-10 error"></div>
+                                    <div class="clearfix"></div>
+                                </div>
+                            </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('/right/aescape/hardware/resetFrankaError')" class="btn">
+                                                    Fix Errors
+                                                </button>
+                                        </div>
+                                    </div>
+                                </div>
+                                <div class="status-container">
+                                    <div class="franka-force force-bar panel panel-default panel-horizontal">
+                                        <div class="panel-heading">
+                                            Franka Force
+                                        </div>
+                                        <div class="panel-body text-center">
+                                                <div class="status-list">
+                                                    <div class="commanded">
+                                                        <div class="progress">
+                                                            <!-- <div class="progress-bar-label">Commanded</div> -->
+                                                            <div class="progress-bar bg-success" role="progressbar" id="frankaForceCommandedRight" 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 force-value">
+                                                                <h4>X: <span id="frankaForceRightCommandedX">0.0</span></h4>
+                                                            </li>
+                                                            <li class="list-group-item force-value">
+                                                                <h4>Y: <span id="frankaForceRightCommandedY">0.0</span></h4>
+                                                            </li>
+                                                            <li class="list-group-item force-value">
+                                                                <h4>Z: <span id="frankaForceRightCommandedZ">0.0</span></h4>
+                                                            </li>        
+                                                        </ul>
+                                                    </div>
+                                                    <div class="observed">
+                                                      <div class="progress">
+                                                          <!-- <div class="progress-bar-label">Observed</div> -->
+                                                          <div class="progress-bar bg-success" role="progressbar" id="frankaForceObservedRight" aria-valuenow="25" aria-valuemin="0" aria-valuemax="200">
+                                                              <span>N/A</span>
+                                                              <div>
+                                                                  <span>Observed</span>
+                                                              </div>
+                                                          </div>
+                                                      </div>
+                                                      <ul class="list-group list-group-horizontal text-center">
+                                                          <li class="list-group-item force-value">
+                                                              <h4>X: <span id="frankaForceRightObservedX">0.0</span></h4>
+                                                          </li>
+                                                          <li class="list-group-item force-value">
+                                                              <h4>Y: <span id="frankaForceRightObservedY">0.0</span></h4>
+                                                          </li>
+                                                          <li class="list-group-item force-value">
+                                                              <h4>Z: <span id="frankaForceRightObservedZ">0.0</span></h4>
+                                                          </li>        
+                                                      </ul>
+                                                  </div>
+                                                </div>
+                                        </div>
+                                        <div class="action-button panel-footer">
+        
+                                        </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" tabindex="0" data-toggle="popover" data-trigger="focus" data-content="This selects the end-effector attached to the right arm."></i>
+                                    </div>
+                                    <div class="panel-body text-center">
+                                        <div class="button-area">
+                                            <button type="button" onclick="setEEFConfig('right', 'teach')" class="btn btn-primary col-md-6">
+                                                Recording EEF
+                                            </button>            
+                                            <button type="button" onclick="setEEFConfig('right', 'play')" 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 id="right-operation-mode" class="control-card-six control-card panel panel-default">
+                                    <div class="panel-heading">
+                                        Operation Mode
+                                        <i class="fas fa-info-circle" tabindex="0" data-toggle="popover" data-trigger="focus" data-placement="bottom" data-content="This selects the operation mode of the right arm."></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>
+                <button type="button" onclick="triggerService('/aescape/safety_activate')" class="safety-button danger btn">
+                    Stop Now!
+                </button>
+        </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
diff --git a/client/index.html b/client/index.html
index 8d8d075..fe249ec 100644
--- a/client/index.html
+++ b/client/index.html
@@ -42,8 +42,8 @@
         <script>
             $(function(){
                 $("#coordinatorContent").load("app/components/coordinator/coordinator.html");
-            });
-            $(function(){
+                $("#teachContent").load("app/components/coordinator/teach.html");
+                $("#playContent").load("app/components/coordinator/play.html");
                 $("#connectorContent").load("app/components/connect/connect.html");
             });
         </script>
@@ -100,6 +100,16 @@
                                     Coordinator
                                 </a>
                             </li>
+                            <li>
+                                <a href="#Teach" data-toggle="tab">
+                                    Teach
+                                </a>
+                            </li>
+                            <li>
+                                <a href="#Play" data-toggle="tab">
+                                    Play
+                                </a>
+                            </li>
                             <li>
                                 <a target="_blank" href="vision/vision.html">
                                     Vision
@@ -127,6 +137,12 @@
                 <div class="tab-pane active" id="Coordinator">
                     <div id="coordinatorContent"></div>
                 </div>
+                <div class="tab-pane" id="Teach">
+                    <div id="teachContent"></div>
+                </div>
+                <div class="tab-pane" id="Play">
+                    <div id="playContent"></div>
+                </div>
                 <!-- <div class="tab-pane" id="Vision">
                     <div id="visionContent"></div>
                 </div> -->