diff --git a/y2023/control_loops/python/graph_codegen.py b/y2023/control_loops/python/graph_codegen.py
index 06f036e..667a78d 100644
--- a/y2023/control_loops/python/graph_codegen.py
+++ b/y2023/control_loops/python/graph_codegen.py
@@ -27,11 +27,11 @@
     cc_file.append("                             %s," % (alpha_unitizer))
     if reverse:
         cc_file.append(
-            "                             Trajectory(dynamics, Path::Reversed(%s()), 0.005, kArmConstants));"
+            "                             Trajectory(dynamics, Path::Reversed(%s()), 0.005));"
             % (path_function_name(str(name))))
     else:
         cc_file.append(
-            "                             Trajectory(dynamics, %s(), 0.005, kArmConstants));"
+            "                             Trajectory(dynamics, %s(), 0.005));"
             % (path_function_name(str(name))))
 
     start_index = None
@@ -202,11 +202,11 @@
     h_file.append("                            double vmax);")
     cc_file.append("SearchGraph MakeSearchGraph("
                    "const frc971::control_loops::arm::Dynamics *dynamics, "
-                   "::std::vector<TrajectoryAndParams> * /*trajectories*/,")
+                   "::std::vector<TrajectoryAndParams> *trajectories,")
     cc_file.append("                            "
-                   "const ::Eigen::Matrix<double, 2, 2> & /*alpha_unitizer*/,")
+                   "const ::Eigen::Matrix<double, 2, 2> &alpha_unitizer,")
     cc_file.append("                            "
-                   "double /*vmax*/) {")
+                   "double vmax) {")
     cc_file.append("  ::std::vector<SearchGraph::Edge> edges;")
 
     index = 0
diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index 6d8f489..cfc68ac 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -17,16 +17,21 @@
                                                            circular_index=-1)
 cone_perch_pos = to_theta_with_circular_index(1.0, 2.0, circular_index=-1)
 
-points = []
+# TODO(Max): Add real paths for arm.
+points = [(neutral, "NeutralPos"), (neutral_to_cone_1, "NeutralToConePos1"),
+          (neutral_to_cone_2, "NeutralToConePos2"), (cone_pos, "ConePos"),
+          (neutral_to_cone_perch_pos_1, "NeutralToConePerchPos1"),
+          (neutral_to_cone_perch_pos_2, "NeutralToConePerchPos2"),
+          (cone_perch_pos, "ConePerchPos")]
 front_points = []
 back_points = []
 unnamed_segments = []
-named_segments = []
-
-segments = [
+named_segments = [
     ThetaSplineSegment(neutral, neutral_to_cone_1, neutral_to_cone_2, cone_pos,
                        "NeutralToCone"),
     ThetaSplineSegment(neutral, neutral_to_cone_perch_pos_1,
                        neutral_to_cone_perch_pos_2, cone_perch_pos,
-                       "NeutralToPerchedCone"),
+                       "NeutralToConePerch"),
 ]
+
+segments = unnamed_segments + named_segments