diff --git a/01_Code/physical_computing_interface/assembly/assemblerControl/setup.js b/01_Code/physical_computing_interface/assembly/assemblerControl/setup.js
index f0ff714d0d768d622f2a6d067e98ef430988415c..0dbf7f12ef3032bb3101f2c57710bac8a78c5125 100644
--- a/01_Code/physical_computing_interface/assembly/assemblerControl/setup.js
+++ b/01_Code/physical_computing_interface/assembly/assemblerControl/setup.js
@@ -16,6 +16,20 @@ var placeHeight = -35;
 // var placeHeight = -34;
 var traverseHeight = -26;
 
+let updatePickupOrigin_btn= document.getElementById('updatePickupOrigin');
+updatePickupOrigin_btn.addEventListener( 'click', () => {
+    pickupOrigin.x=machineCoords.x;
+    pickupOrigin.y=machineCoords.y;
+    // relativeMove("X",-xstepselect.value);
+});
+
+let updatePlaceOrigin_btn= document.getElementById('updatePlaceOrigin');
+updatePickupOrigin_btn.addEventListener( 'click', () => {
+    placeOrigin.x=machineCoords.x;
+    placeOrigin.y=machineCoords.y;
+    // relativeMove("X",-xstepselect.value);
+});
+
 // pick and place list in voxel coordinates
 var pickupList = [{x:0,y:0},
                 {x:1,y:0},
@@ -98,6 +112,7 @@ document.addEventListener('addNode', function (e) {
     let astepselect = document.getElementById('aStepSelect');
 
     let zmax_btn = document.getElementById('gotozmaxbtn');
+    
     let ztraverse_btn = document.getElementById('gotoztraversebtn');
     let zapproach_btn = document.getElementById('gotozapproachbtn');
     let zmin_btn = document.getElementById('gotozminbtn');
@@ -297,6 +312,8 @@ document.addEventListener('addNode', function (e) {
         // relativeMove("X",-xstepselect.value);
     })
 
+    
+
     ztraverse_btn.addEventListener( 'click', () => {
         monitor.sendJSONmsg("G90G0Z"+offsets.zTraverse);
         // relativeMove("X",-xstepselect.value);
diff --git a/01_Code/physical_computing_interface/index.html b/01_Code/physical_computing_interface/index.html
index fceb6941181159865e4f4bf1b3ba07c5c9edbc71..f60a99a3dbfd9c6c578011ba6ae0a2e54ced8ab4 100644
--- a/01_Code/physical_computing_interface/index.html
+++ b/01_Code/physical_computing_interface/index.html
@@ -100,6 +100,9 @@
                                 <span class="input-group-text">deg</span>
                             </div>
                         </div>
+                        <button class="btn btn-success" id="updatePickupOrigin">Update Pickup Origin</button><br>
+                        <button class="btn btn-success" id="updatePlaceOrigin">Update Place Origin</button><br>
+                        
                     </div>
                     <div class='col'>