diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss
index b482a14..39e4a01 100644
--- a/src/app/component/new-grid/new-grid.component.scss
+++ b/src/app/component/new-grid/new-grid.component.scss
@@ -94,7 +94,7 @@
     font-weight: lighter;
 
     #unitsLabel {
-      poition: absolute;
+      position: absolute;
       top: 30px;
       right: 30px;
     }
diff --git a/src/app/component/toolbar/toolbar.component.html b/src/app/component/toolbar/toolbar.component.html
index 2aecc70..891deae 100644
--- a/src/app/component/toolbar/toolbar.component.html
+++ b/src/app/component/toolbar/toolbar.component.html
@@ -43,14 +43,14 @@
     <mat-icon>bug_report</mat-icon>
     Debug
   </button>
-<!--  <button mat-button (click)='handleUndo()' matTooltip='Undo' [disabled]='!canUndo()' matTooltipShowDelay='1000'>-->
-<!--    <mat-icon>undo</mat-icon>-->
-<!--    Undo-->
-<!--  </button>-->
-<!--  <button mat-button (click)='handleRedo()' matTooltip='Redo' [disabled]='!canRedo()' matTooltipShowDelay='1000'>-->
-<!--    <mat-icon>redo</mat-icon>-->
-<!--    Redo-->
-<!--  </button>-->
+ <button mat-button (click)='handleUndo()' matTooltip='Undo' [disabled]='!canUndo()' matTooltipShowDelay='1000'>
+   <mat-icon>undo</mat-icon>
+   Undo
+ </button>
+ <button mat-button (click)='handleRedo()' matTooltip='Redo' [disabled]='!canRedo()' matTooltipShowDelay='1000'>
+   <mat-icon>redo</mat-icon>
+   Redo
+  </button>
   <button mat-button (click)='openRightPanelSettings()' matTooltip='Change Linkage Settings' matTooltipShowDelay='1000'>
     <mat-icon>settings</mat-icon>
     Settings
diff --git a/src/app/selected-tab.service.ts b/src/app/selected-tab.service.ts
index e83d174..bde5e55 100644
--- a/src/app/selected-tab.service.ts
+++ b/src/app/selected-tab.service.ts
@@ -3,6 +3,7 @@ import { Injectable } from '@angular/core';
 import { BehaviorSubject } from 'rxjs';
 import { MechanismService } from './services/mechanism.service';
 import { SynthesisBuilderService } from './services/synthesis/synthesis-builder.service';
+import { ActiveObjService } from 'src/app/services/active-obj.service';
 
 export enum TabID {
   SYNTHESIZE,
@@ -18,7 +19,11 @@ export class SelectedTabService {
   private _tabNum: BehaviorSubject<TabID>;
   private _tabVisible: BehaviorSubject<boolean>;
 
-  constructor(private synthesis: SynthesisBuilderService, private mechanism: MechanismService) {
+  constructor(
+    private synthesis: SynthesisBuilderService,
+    private mechanism: MechanismService,
+    private activeObjService: ActiveObjService
+  ) {
     this._tabNum = new BehaviorSubject<TabID>(TabID.EDIT);
     this._tabVisible = new BehaviorSubject<boolean>(true);
   }
@@ -28,6 +33,11 @@ export class SelectedTabService {
     let previousTab = this.getCurrentTab();
     let isDifferentTab = previousTab !== tabID;
 
+    // when switching from synthesis to edit/analyze tab, clear selected synthesis pose, if it exists
+    if (previousTab === TabID.SYNTHESIZE && this.activeObjService.getSelectedObjType() === "SynthesisPose") {
+      this.activeObjService.updateSelectedObj(null);
+    }
+
     this._tabNum.next(tabID);
     this._tabVisible.next(true);
 
diff --git a/src/app/services/active-obj.service.ts b/src/app/services/active-obj.service.ts
index f121a63..d9c0c4e 100644
--- a/src/app/services/active-obj.service.ts
+++ b/src/app/services/active-obj.service.ts
@@ -5,11 +5,13 @@ import { RealLink } from '../model/link';
 import { Coord } from '../model/coord';
 import { SynthesisPose } from './synthesis/synthesis-util';
 
+export type ActiveObjType = "Nothing" | "Joint" | "Force" | "Link" | "Grid" | "SynthesisPose";
+
 @Injectable({
   providedIn: 'root',
 })
 export class ActiveObjService {
-  objType: string = 'Nothing';
+  objType: ActiveObjType = 'Nothing';
   selectedJoint!: RealJoint;
   prevSelectedJoint!: RealJoint;
   selectedForce!: Force;
@@ -35,6 +37,10 @@ export class ActiveObjService {
     }
   }
 
+  getSelectedObjType(): ActiveObjType {
+    return this.objType;
+  }
+
   fakeUpdateSelectedObj() {
     //Don't actually update the selected object, just emit the event so subscribers can update
     this.onActiveObjChange.emit(this.objType);