diff --git a/y2018/control_loops/python/graph_generate.py b/y2018/control_loops/python/graph_generate.py
index 607613c..a976145 100644
--- a/y2018/control_loops/python/graph_generate.py
+++ b/y2018/control_loops/python/graph_generate.py
@@ -405,13 +405,13 @@
     0.732, 2.268, circular_index=-1)
 front_middle1_box = to_theta_with_circular_index(
     0.878, 1.885, circular_index=-1)
-front_low_box = to_theta_with_circular_index(0.926, 1.522, circular_index=-1)
+front_low_box = to_theta_with_circular_index(0.926, 1.542, circular_index=-1)
 back_high_box = to_theta_with_circular_index(-0.75, 2.48, circular_index=0)
 back_middle2_box = to_theta_with_circular_index(
     -0.732, 2.268, circular_index=0)
 back_middle1_box = to_theta_with_circular_index(
     -0.878, 1.885, circular_index=0)
-back_low_box = to_theta_with_circular_index(-0.926, 1.522, circular_index=0)
+back_low_box = to_theta_with_circular_index(-0.926, 1.542, circular_index=0)
 
 front_switch = to_theta_with_circular_index(0.88, 0.967, circular_index=-1)
 back_switch = to_theta_with_circular_index(-0.88, 0.967, circular_index=-2)
@@ -435,6 +435,9 @@
 ready_above_box_c1 = to_theta((0.38, 0.33), circular_index=-1)
 ready_above_box_c2 = to_theta((0.42, 0.51), circular_index=-1)
 
+front_switch_c1 = numpy.array([1.903841, -0.622351])
+front_switch_c2 = numpy.array([1.903841, -0.622351])
+
 points = [(ready_above_box, "ReadyAboveBox"),
           (tall_box_grab, "TallBoxGrab"),
           (short_box_grab, "ShortBoxGrab"),
@@ -474,9 +477,10 @@
 
 unnamed_segments = [
     AngleSegment(neutral, back_switch),
-    XYSegment(neutral, front_switch),
-    XYSegment(neutral, front_low_box),
+    #XYSegment(neutral, front_switch),
+    SplineSegment(neutral, front_switch_c1, front_switch_c2, front_switch),
 
+    XYSegment(neutral, front_low_box),
     XYSegment(up, front_high_box),
     XYSegment(up, front_middle2_box),
     XYSegment(up, front_middle1_box),
diff --git a/y2018/control_loops/python/path_points.py b/y2018/control_loops/python/path_points.py
index 9a140b0..319853c 100644
--- a/y2018/control_loops/python/path_points.py
+++ b/y2018/control_loops/python/path_points.py
@@ -6,7 +6,5 @@
 
 # Test data set in terms of (theta0, theta1) of a motion from Parker.
 # This is an example box lift profile.
-points = \
-[(1.3583511559969876, 0.99753029519739866), (1.3588773085542218, 0.99689357539323031), (1.3594016528242854, 0.99625874660952929), (1.3599242059738952, 0.99562579070357471), (1.3604449848987077, 0.99499468981909267), (1.3609640062292812, 0.99436542637995251), (1.3614812863368515, 0.99373798308406303), (1.3619968413389616, 0.99311234289742323), (1.3625106871049333, 0.99248848904833997), (1.3630228392611743, 0.99186640502181722), (1.3635333131963545, 0.99124607455408753), (1.3640421240664473, 0.99062748162728298), (1.3645492867996074, 0.99001061046427996), (1.3650548161009484, 0.989395445523651), (1.3655587264571691, 0.98878197149477332), (1.3660610321410793, 0.98817017329304824), (1.366561747215977, 0.98756003605527409), (1.3670608855399395, 0.98695154513510985), (1.3675584607699935, 0.98634468609867032), (1.368054486366149, 0.98573944472026087), (1.3685489755953899, 0.98513580697816161), (1.3690419415355004, 0.98453375905058238), (1.3695333970788255, 0.98393328731168894), (1.3700233549359311, 0.98333437832773474), (1.3705118276391728, 0.98273701885328935), (1.3709988275461686, 0.9821411958275682), (1.3714843668431982, 0.98154689637084092), (1.3719684575484949, 0.98095410778095005), (1.372451111515482, 0.9803628175298944), (1.3729323404359173, 0.97977301326050226), (1.3734121558429573, 0.9791846827831947), (1.3738905691141534, 0.97859781407281943), (1.3743675914743774, 0.97801239526555861), (1.3748432339986687, 0.97742841465592001), (1.3753175076150201, 0.97684586069379165), (1.3757904231070981, 0.97626472198156999), (1.3762619911168867, 0.97568498727136177), (1.3767322221472984, 0.97510664546222892), (1.3772011265646764, 0.97452968559754061), (1.3776687146012927, 0.97395409686233581), (1.3781349963577458, 0.97337986858078729), (1.3785999818053263, 0.97280699021370376), (1.3790636807883221, 0.97223545135609235), (1.3795261030262633, 0.97166524173478552), (1.3799872581161319, 0.97109635120610804), (1.3804471555345117, 0.97052876975360336), (1.3809058046396876, 0.96996248748581537), (1.3813632146736996, 0.9693974946341174), (1.3818193947643636, 0.96883378155057709), (1.3822743539272269, 0.96827133870589066), (1.3827281010674923, 0.96771015668734772), (1.3831806449819073, 0.96715022619683577), (1.3836319943605933, 0.96659153804890752), (1.3840821577888462, 0.96603408316887773), (1.384531143748907, 0.96547785259095098), (1.3849789606216714, 0.96492283745641638), (1.3854256166883818, 0.96436902901185939), (1.3858711201322809, 0.96381641860741352), (1.3863154790402232, 0.96326499769505758), (1.3867587014042524, 0.96271475782694982), (1.3872007951231566, 0.9621656906537821), (1.3876417680039816, 0.96161778792318331), (1.3880816277635084, 0.96107104147815625), (1.3885203820297187, 0.96052544325552958), (1.3889580383432047, 0.9599809852844674), (1.3893946041585732, 0.95943765968498684), (1.3898300868458122, 0.9588954586665116), (1.3902644936916158, 0.95835437452647454), (1.3906978319007086, 0.95781439964891557), (1.391130108597129, 0.95727552650312697), (1.3915613308254784, 0.95673774764233388), (1.3919915055521646, 0.95620105570237857), (1.3924206396666072, 0.9556654434004469), (1.3928487399824174, 0.95513090353382335), (1.3932758132385734, 0.95459742897864763), (1.3937018661005407, 0.95406501268872934), (1.3941269051614098, 0.95353364769434956), (1.3945509369429736, 0.95300332710111813), (1.3949739678968074, 0.95247404408883463), (1.3953960044053257, 0.95194579191037165), (1.3958170527828155, 0.95141856389058277), (1.3962371192764369, 0.95089235342524325), (1.3966562100672304, 0.95036715397998872), (1.3970743312710887, 0.94984295908928573), (1.3974914889397141, 0.94931976235542159), (1.3979076890615474, 0.94879755744752148), (1.3983229375627051, 0.94827633810055956), (1.3987372403078675, 0.94775609811441885), (1.3991506031011811, 0.94723683135293879), (1.3995630316871122, 0.94671853174301324), (1.3999745317513179, 0.94620119327366892), (1.4003851089214745, 0.94568480999519156), (1.4007947687681055, 0.9451693760182498), (1.4012035168053885, 0.94465488551304311), (1.4016113584919534, 0.94414133270845779), (1.4020182992316501, 0.94362871189125619), (1.4024243443743325, 0.94311701740524856), (1.4028294992165957, 0.9426062436505126), (1.4032337690025205, 0.94209638508260862), (1.403637158924397, 0.94158743621181351), (1.4040396741234407, 0.94107939160236465), (1.4044413196904877, 0.94057224587172517), (1.4048421006666869, 0.94006599368985244), (1.4052420220441713, 0.93956062977848886), (1.4056410887667239, 0.93905614891045819), (1.4060393057304355, 0.93855254590896953), (1.4064366777843365, 0.93804981564695122), (1.4068332097310297, 0.93754795304638205), (1.407228906327318, 0.93704695307762553), (1.4076237722848024, 0.93654681075880208), (1.4080178122704829, 0.93604752115515), (1.4084110309073541, 0.93554907937839893), (1.4088034327749721, 0.93505148058616916), (1.4091950224100316, 0.93455471998136341), (1.4095858043069214, 0.934058792811577), (1.4099757829182771, 0.93356369436851805), (1.4103649626555157, 0.93306941998743875), (1.4107533478893739, 0.93257596504656803), (1.4111409429504249, 0.93208332496656632), (1.4115277521296008, 0.9315914952099722), (1.411913779678688, 0.93110047128067863), (1.412299029810832, 0.9306102487234017), (1.4126835067010219, 0.93012082312316646), (1.413067214486583, 0.92963219010478737), (1.413450157267631, 0.92914434533238821), (1.4138323391075573, 0.9286572845088894), (1.4142137640334749, 0.92817100337553637), (1.414594436036678, 0.92768549771141495), (1.4149743590730779, 0.92720076333298918), (1.4153535370636474, 0.92671679609363333), (1.4157319738948484, 0.92623359188317933), (1.4161096734190508, 0.92575114662747393), (1.4164866394549582, 0.92526945628792867), (1.4168628757880048, 0.92478851686110208), (1.4172383861707765, 0.92430832437825283), (1.4176131743233942, 0.92382887490493559), (1.417987243933907, 0.92335016454058549), (1.4183605986586851, 0.92287218941810256), (1.4187332421227952, 0.92239494570345659), (1.4191051779203647, 0.92191842959529924), (1.4194764096149646, 0.92144263732456333), (1.4198469407399674, 0.92096756515408129), (1.4202167747988934, 0.92049320937822099), (1.420585915265776, 0.9200195663224997), (1.4209543655854979, 0.91954663234322853), (1.421322129174138, 0.919074403827145), (1.421689209419303, 0.91860287719106504), (1.4220556096804593, 0.91813204888152944), (1.4224213332892628, 0.9176619153744574), (1.4227863835498704, 0.91719247317481678), (1.4231507637392653, 0.9167237188162799), (1.4235144771075658, 0.91625564886089839), (1.4238775268783286, 0.91578825989878099), (1.4242399162488582, 0.9153215485477687), (1.4246016483904942, 0.91485551145312916), (1.4249627264489186, 0.91439014528723372), (1.4253231535444355, 0.91392544674926079), (1.4256829327722587, 0.91346141256489233), (1.4260420672027934, 0.91299803948601643), (1.4264005598819134, 0.91253532429043371), (1.4267584138312355, 0.91207326378156772), (1.427115632048384, 0.91161185478818652), (1.4274722175072618, 0.91115109416411388), (1.4278281731583107, 0.91069097878795735), (1.4281835019287623, 0.91023150556283972), (1.4285382067229069, 0.90977267141611773), (1.4288922904223309, 0.90931447329913029), (1.4292457558861642, 0.90885690818693587), (1.4295986059513393, 0.90839997307804077), (1.4299508434328114, 0.90794366499416501), (1.4303024711238086, 0.90748798097997907), (1.4306534917960647, 0.90703291810285691), (1.4310039082000401, 0.9065784734526432), (1.4313537230651621, 0.90612464414139948), (1.4317029391000426, 0.90567142730317318), (1.4320515589926979, 0.90521882009376764), (1.4323995854107672, 0.90476681969050843), (1.4327470210017346, 0.90431542329200965), (1.4330938683931329, 0.90386462811796076), (1.433440130192758, 0.90341443140889743), (1.4337858089888709, 0.9029648304259883), (1.4341309073504087, 0.90251582245081419), (1.434475427827179, 0.90206740478516001), (1.4348193729500629, 0.90161957475080223), (1.4351627452312075, 0.90117232968930516), (1.4355055471642189, 0.90072566696181522), (1.4358477812243589, 0.90027958394885554), (1.436189449868726, 0.89983407805013438), (1.4365305555364412, 0.89938914668434655), (1.4368711006488404, 0.89894478728897309), (1.4372110876096409, 0.89850099732010336), (1.4375505188051338, 0.89805777425223265), (1.4378893966043513, 0.89761511557808515), (1.4382277233592431, 0.89717301880842737), (1.4385655014048497, 0.89673148147188575), (1.4389027330594679, 0.89629050111477104), (1.4392394206248227, 0.89585007530089678), (1.4395755663862282, 0.89541020161140938), (1.4399111726127538, 0.89497087764461336), (1.4402462415573849, 0.89453210101579983), (1.4405807754571773, 0.89409386935708479), (1.4409147765334245, 0.89365618031723304), (1.441248246991794, 0.8932190315615105), (1.4415811890225037, 0.89278242077150305), (1.4419136048004546, 0.89234634564497162), (1.4422454964853859, 0.89191080389569177), (1.4425768662220282, 0.89147579325329018), (1.4429077161402368, 0.89104131146310306), (1.4432380483551466, 0.89060735628601462), (1.4435678649673056, 0.89017392549831442), (1.4438971680628239, 0.88974101689154073), (1.4442259597135036, 0.88930862827234225), (1.4445542419769746, 0.8888767574623363), (1.4448820168968428, 0.88844540229795099), (1.4452092865028074, 0.88801456063030093), (1.4455360528108026, 0.88758423032503941), (1.4458623178231234, 0.88715440926222322), (1.4461880835285559, 0.88672509533617627), (1.4465133519025031, 0.88629628645535707), (1.4468381249071136, 0.88586798054222116), (1.4471624044913991, 0.88544017553309862), (1.4474861925913647, 0.88501286937805612), (1.4478094911301245, 0.88458606004077311), (1.4481323020180206, 0.88415974549841858), (1.4484546271527448, 0.88373392374152071), (1.4487764684194557, 0.8833085927738431), (1.4490978276908892, 0.88288375061227042), (1.4494187068274771, 0.88245939528668027), (1.4497391076774591, 0.88203552483982517), (1.4500590320769895, 0.88161213732722166), (1.450378481850251, 0.88118923081702893), (1.4506974588095698, 0.88076680338992674), (1.451015964755511, 0.88034485313901578), (1.4513340014769893, 0.87992337816969968), (1.4516515707513786, 0.87950237659956954), (1.4519686743446094, 0.87908184655830157), (1.4522853140112773, 0.87866178618754187), (1.4526014914947378, 0.87824219364080547), (1.4529172085272126, 0.87782306708336721), (1.4532324668298848, 0.87740440469215664), (1.4535472681130015, 0.87698620465565325), (1.4538616140759579, 0.87656846517379539), (1.4541755064074167, 0.87615118445785622), (1.4544889467853768, 0.87573436073036859), (1.4548019368772822, 0.87531799222501216), (1.4551144783401133, 0.87490207718651603), (1.4554265728204747, 0.8744866138705657), (1.4557382219546859, 0.87407160054370792), (1.4560494273688711, 0.87365703548325535), (1.4563601906790531, 0.87324291697718792), (1.4566705134912308, 0.87282924332406997), (1.456980397401475, 0.87241601283295012), (1.4572898439960076, 0.87200322382327633), (1.4575988548512884, 0.87159087462480622), (1.4579074315341005, 0.87117896357751401), (1.4582155756016313, 0.8707674890315078), (1.4585232886015538, 0.87035644934694223), (1.4588305720721095, 0.86994584289393051), (1.4591374275421867, 0.86953566805246296), (1.459443856531399, 0.86912592321232263), (1.4597498605501649, 0.86871660677300222), (1.4600554410997884, 0.86830771714361898), (1.4603605996725291, 0.86789925274284019), (1.4606653377516841, 0.86749121199879686), (1.4609696568116579, 0.86708359334900953), (1.461273558318041, 0.8666763952403056), (1.4615770437276812, 0.86626961612874442), (1.4618801144887534, 0.86586325447954238), (1.4621827720408387, 0.86545730876699012), (1.4624850178149886, 0.865051777474385), (1.4627868532337995, 0.86464665909395177), (1.4630882797114779, 0.86424195212677346), (1.4633892986539152, 0.86383765508271393), (1.4636899114587534, 0.86343376648034631), (1.4639901195154463, 0.86303028484688959), (1.464289924205338, 0.86262720871812615), (1.4645893269017192, 0.86222453663834042), 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