diff --git a/y2018/control_loops/python/graph_edit.py b/y2018/control_loops/python/graph_edit.py
index 183f7bf..fbf5f8b 100644
--- a/y2018/control_loops/python/graph_edit.py
+++ b/y2018/control_loops/python/graph_edit.py
@@ -93,7 +93,6 @@
         pt = points[pt_i]
         delta = last_pt[1] - pt[1]
         if abs(delta) > numpy.pi:
-            print(delta)
             return points[pt_i:] + points[:pt_i]
         last_pt = pt
     return points
@@ -123,9 +122,6 @@
 # Fully computed theta constrints.
 lines_theta = list(p1.intersection(p2).exterior.coords)
 
-print("Theta constraint.")
-print(", ".join("{%s, %s}" % (a, b) for a, b in lines_theta))
-
 lines1_theta_back = back_to_xy_loop(lines1_theta)
 lines2_theta_back = back_to_xy_loop(lines2_theta)
 
@@ -419,8 +415,7 @@
     def do_button_press(self, event):
         self.last_pos = (event.x, event.y)
         self.now_segment_pt = self.cur_pt_in_theta()
-        print('Clicked at theta: (%f, %f)' % (self.now_segment_pt[0],
-                                              self.now_segment_pt[1]))
+        print('Clicked at theta: %s' % (repr(self.now_segment_pt,)))
         if not self.theta_version:
             print('Clicked at xy, circular index: (%f, %f, %f)' %
                   (self.last_pos[0], self.last_pos[1],
diff --git a/y2018/control_loops/python/graph_generate.py b/y2018/control_loops/python/graph_generate.py
index a976145..6d7b628 100644
--- a/y2018/control_loops/python/graph_generate.py
+++ b/y2018/control_loops/python/graph_generate.py
@@ -420,6 +420,16 @@
 
 up = to_theta_with_circular_index(0.0, 2.547, circular_index=-1)
 
+self_hang = numpy.array(
+    [numpy.pi / 2.0 - 0.191611, numpy.pi / 2.0])
+partner_hang = numpy.array(
+    [numpy.pi / 2.0 - (-0.25), numpy.pi / 2.0])
+
+above_hang = numpy.array(
+    [numpy.pi / 2.0 - 0.008739, numpy.pi / 2.0 - (-0.101927)])
+below_hang = numpy.array(
+    [numpy.pi / 2.0 - 0.329954, numpy.pi / 2.0 - (-0.534816)])
+
 up_c1 = to_theta((0.63, 1.17), circular_index=-1)
 up_c2 = to_theta((0.65, 1.62), circular_index=-1)
 
@@ -452,7 +462,12 @@
           (front_switch, "FrontSwitch"),
           (back_switch, "BackSwitch"),
           (neutral, "Neutral"),
-          (up, "Up")]  # yapf: disable
+          (up, "Up"),
+          (above_hang, "AboveHang"),
+          (below_hang, "BelowHang"),
+          (self_hang, "SelfHang"),
+          (partner_hang, "PartnerHang"),
+]  # yapf: disable
 
 # We need to define critical points so we can create paths connecting them.
 # TODO(austin): Attach velocities to the slow ones.
@@ -477,7 +492,6 @@
 
 unnamed_segments = [
     AngleSegment(neutral, back_switch),
-    #XYSegment(neutral, front_switch),
     SplineSegment(neutral, front_switch_c1, front_switch_c2, front_switch),
 
     XYSegment(neutral, front_low_box),
@@ -503,6 +517,12 @@
     XYSegment(back_middle2_box, back_middle1_box),
     XYSegment(back_middle2_box, back_low_box),
     XYSegment(back_middle1_box, back_low_box),
+
+    AngleSegment(up, above_hang),
+    AngleSegment(above_hang, below_hang),
+    AngleSegment(up, below_hang),
+    AngleSegment(up, self_hang),
+    AngleSegment(up, partner_hang),
 ]
 
 segments = named_segments + unnamed_segments