diff --git a/y2023/control_loops/python/graph_codegen.py b/y2023/control_loops/python/graph_codegen.py
index 54b77a9..69e2497 100644
--- a/y2023/control_loops/python/graph_codegen.py
+++ b/y2023/control_loops/python/graph_codegen.py
@@ -152,8 +152,7 @@
                       point[1])
         h_file.append(
             "  return (::Eigen::Matrix<double, 3, 1>() << %f, %f, %f).finished();"
-            % (np.pi / 2.0 - point[0][0], np.pi / 2.0 - point[0][1],
-               np.pi / 2.0 - point[0][2]))
+            % (point[0][0], point[0][1], point[0][2]))
         h_file.append("}")
 
     front_points = [
@@ -195,16 +194,17 @@
             segment.start, segment.control1, segment.control2, segment.end
         ]
         for i in range(len(points)):
-            cc_file.append("%.12f," % (np.pi / 2.0 - points[i][0]))
+            cc_file.append("%.12f," % (points[i][0]))
         for i in range(len(points)):
-            cc_file.append("%.12f%s" % (np.pi / 2.0 - points[i][1],
-                                        ", " if i != len(points) - 1 else ""))
+            cc_file.append(
+                "%.12f%s" %
+                (points[i][1], ", " if i != len(points) - 1 else ""))
 
         cc_file.append(").finished()), {")
         for alpha, roll in segment.alpha_rolls:
             cc_file.append(
                 "CosSpline::AlphaTheta{.alpha = %.12f, .theta = %.12f}" %
-                (alpha, np.pi / 2.0 - roll))
+                (alpha, roll))
             if alpha != segment.alpha_rolls[-1][0]:
                 cc_file.append(", ")
         cc_file.append("  }}));")
@@ -219,8 +219,7 @@
     for point in graph_paths.points:
         cc_file.append(
             "  points.push_back((::Eigen::Matrix<double, 3, 1>() << %.12s, %.12s, %.12s).finished());"
-            % (np.pi / 2.0 - point[0][0], np.pi / 2.0 - point[0][1],
-               np.pi / 2.0 - point[0][2]))
+            % (point[0][0], point[0][1], point[0][2]))
     cc_file.append("  return points;")
     cc_file.append("}")
 
diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index c60a2c5..72dc02f 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -4,24 +4,24 @@
 
 neutral = to_theta_with_circular_index_and_roll(joint_center[0],
                                                 joint_center[1] + l2 - l1,
-                                                np.pi / 2,
+                                                0.0,
                                                 circular_index=-1)
 
 neutral_to_pickup_1 = to_theta_with_circular_index(0.3, 0.6, circular_index=-1)
 neutral_to_pickup_2 = to_theta_with_circular_index(0.3, 0.4, circular_index=-1)
 pickup_pos = to_theta_with_circular_index_and_roll(0.6,
                                                    0.1,
-                                                   np.pi / 2,
+                                                   0.0,
                                                    circular_index=-1)
-neutral_to_pickup_control_alpha_rolls = [(0.33, np.pi / 2), (.67, np.pi / 2)]
+neutral_to_pickup_control_alpha_rolls = [(0.33, 0.0), (.67, 0.0)]
 
 neutral_to_score_1 = to_theta_with_circular_index(-0.4, 1.2, circular_index=-1)
 neutral_to_score_2 = to_theta_with_circular_index(-0.7, 1.2, circular_index=-1)
 score_pos = to_theta_with_circular_index_and_roll(-1.0,
                                                   1.2,
-                                                  np.pi / 2,
+                                                  0.0,
                                                   circular_index=-1)
-neutral_to_score_control_alpha_rolls = [(0.33, np.pi / 2), (.67, np.pi / 2)]
+neutral_to_score_control_alpha_rolls = [(0.33, 0.0), (.67, 0.0)]
 
 # TODO(Max): Add real paths for arm.
 points = [(neutral, "NeutralPos"), (pickup_pos, "PickupPos"),
diff --git a/y2023/control_loops/python/graph_tools.py b/y2023/control_loops/python/graph_tools.py
index 3b5048e..feb611a 100644
--- a/y2023/control_loops/python/graph_tools.py
+++ b/y2023/control_loops/python/graph_tools.py
@@ -17,6 +17,15 @@
 theta_end_circle_size = 0.07
 
 
+# Shift the angle between the convention used for input/output and the convention we use for some computations here
+def shift_angle(theta):
+    return np.pi / 2 - theta
+
+
+def shift_angles(thetas):
+    return [shift_angle(theta) for theta in thetas]
+
+
 # Convert from x-y coordinates to theta coordinates.
 # orientation is a bool. This orientation is circular_index mod 2.
 # where circular_index is the circular index, or the position in the
@@ -154,6 +163,10 @@
 
 
 def roll_joint_collision(theta1, theta2, theta3):
+    theta1 = shift_angle(theta1)
+    theta2 = shift_angle(theta2)
+    theta3 = shift_angle(theta3)
+
     end_effector_points = to_end_effector_points(theta1, theta2, theta3)
 
     assert len(end_effector_points) == 8 and len(end_effector_points[0]) == 3
@@ -181,8 +194,8 @@
 
 
 def get_xy(theta):
-    theta1 = theta[0]
-    theta2 = theta[1]
+    theta1 = shift_angle(theta[0])
+    theta2 = shift_angle(theta[1])
     x = np.cos(theta1) * l1 + np.cos(theta2) * l2 + joint_center[0]
     y = np.sin(theta1) * l1 + np.sin(theta2) * l2 + joint_center[1]
     return np.array((x, y))
@@ -210,7 +223,7 @@
     theta1, theta2 = to_theta((x, y), circular_index)
     n_circular_index = int(np.floor((theta2 - theta1) / np.pi))
     theta2 = theta2 + ((circular_index - n_circular_index)) * np.pi
-    return np.array((theta1, theta2))
+    return np.array((shift_angle(theta1), shift_angle(theta2)))
 
 
 # to_theta, but distinguishes between
@@ -415,8 +428,10 @@
     def DoDrawTo(self, cr, theta_version):
         if (theta_version):
             draw_lines(cr, [
-                spline_eval(self.start, self.control1, self.control2, self.end,
-                            alpha) for alpha in subdivide_multistep()
+                shift_angles(
+                    spline_eval(self.start, self.control1, self.control2,
+                                self.end, alpha))
+                for alpha in subdivide_multistep()
             ])
         else:
             start = get_xy(self.start)