diff --git a/ui/index.html b/ui/index.html
index 8b51c7a6e0b..e589b42ecd3 100644
--- a/ui/index.html
+++ b/ui/index.html
@@ -31,6 +31,7 @@
         <div class="col-md-1 center-block">
             <!-- Note that algoID should coincide with enums id in ModeChange -->
             <button type="button" class="btn btn-primary center-block btn-block" id="perimeter-btn" onclick="changeMode(1)">Explore Room Perimeter</button>
+            <button type="button" class="btn btn-primary center-block btn-block" id="perimeter-btn" onclick="perimeterRequest()">Get Waypoints Info</button>
             <button type="button" class="btn btn-primary center-block btn-block" id="manual-btn" onclick="changeMode(2)">Debug Room Exploration</button>
             <button type="button" class="btn btn-primary center-block btn-block" id="manual-btn" onclick="perimeterDebugRequest()">Draw algo state</button>
             <button type="button" class="btn btn-primary center-block btn-block" id="manual-btn" onclick="changeMode(0)">Manual Control</button>