diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index c017656..66ca158 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -2,34 +2,41 @@
 
 from y2023.control_loops.python.graph_tools import *
 
-neutral = to_theta_with_circular_index_and_roll(joint_center[0],
-                                                joint_center[1] + l2 - l1,
-                                                0.0,
-                                                circular_index=1)
+neutral = np.array((np.pi, 0.0, 0.0))
 
 # NeutralToGroundPickupBackConeUp
 neutral_to_cone_up_1 = np.array([3.170156, -0.561227])
 neutral_to_cone_up_2 = np.array([2.972776, -1.026820])
 ground_pickup_back_cone_up = to_theta_with_circular_index_and_roll(
-    -0.913162844198605, 0.35, np.pi / 2.0, circular_index=1)
+    -1.07774334, 0.36308701, np.pi / 2.0, circular_index=1)
 
 # NeutralToGroundPickupBackConeDown
 neutral_to_ground_pickup_back_cone_down_1 = np.array([3.170156, -0.561227])
 neutral_to_ground_pickup_back_cone_down_2 = np.array([2.972776, -1.026820])
 ground_pickup_back_cone_down = to_theta_with_circular_index_and_roll(
-    -0.95, 0.24, np.pi / 2.0, circular_index=1)
+    -1.11487594, 0.23140145, np.pi / 2.0, circular_index=1)
+
+# NeutralToGroundPickupBackCube
+neutral_to_ground_pickup_back_cube_1 = np.array([3.153228, -0.497009])
+neutral_to_ground_pickup_back_cube_2 = np.array([2.972776, -1.026820])
+neutral_to_hp_pickup_back_cube_alpha_rolls = [
+    (0.7, 0.0),
+    (.9, -np.pi / 2.0),
+]
+ground_pickup_back_cube = to_theta_with_circular_index_and_roll(
+    -1.102, 0.224, -np.pi / 2.0, circular_index=1)
 
 # NeutralToBackMidConeUpScore
 neutral_to_score_back_mid_cone_up_1 = np.array([0.994244, -1.417442])
 neutral_to_score_back_mid_cone_up_2 = np.array([1.711325, -0.679748])
 score_back_mid_cone_up_pos = to_theta_with_circular_index_and_roll(
-    -1.255555, 1.10, np.pi / 2.0, circular_index=0)
+    -1.41871454, 1.07476162, np.pi / 2.0, circular_index=0)
 
 # NeutralToMidConeDownScore
 neutral_to_score_mid_cone_down_1 = np.array([3.394572, -0.239378])
 neutral_to_score_mid_cone_down_2 = np.array([3.654854, -0.626835])
 score_mid_cone_down_pos = to_theta_with_circular_index_and_roll(
-    -1.23, 0.74, np.pi / 2.0, circular_index=1)
+    -1.37792406, 0.81332449, np.pi / 2.0, circular_index=1)
 
 # NeutralToMidConeDownScore
 neutral_to_hp_pickup_back_cone_up_1 = np.array([2.0, -0.239378])
@@ -39,19 +46,19 @@
     (.9, np.pi / 2.0),
 ]
 hp_pickup_back_cone_up = to_theta_with_circular_index_and_roll(
-    -0.94, 1.31, np.pi / 2.0, circular_index=0)
+    -1.1050539, 1.31390128, np.pi / 2.0, circular_index=0)
 
 # NeutralToFrontHighConeUpScore
 neutral_to_score_front_high_cone_up_1 = np.array([2.594244, 0.417442])
 neutral_to_score_front_high_cone_up_2 = np.array([1.51325, 0.679748])
 score_front_high_cone_up_pos = to_theta_with_circular_index_and_roll(
-    0.87, 1.26, -np.pi / 2.0, circular_index=0)
+    0.98810344, 1.37536719, -np.pi / 2.0, circular_index=0)
 
 # NeutralToFrontMidConeUpScore
 neutral_to_score_front_mid_cone_up_1 = np.array([3.0, 0.317442])
 neutral_to_score_front_mid_cone_up_2 = np.array([2.9, 0.479748])
 score_front_mid_cone_up_pos = to_theta_with_circular_index_and_roll(
-    0.34, 0.93, -np.pi / 2.0, circular_index=0)
+    0.43740453, 1.06330555, -np.pi / 2.0, circular_index=0)
 
 neutral_to_cone_down_1 = np.array([2.396694, 0.508020])
 neutral_to_cone_down_2 = np.array([2.874513, 0.933160])
@@ -104,6 +111,7 @@
 points = [(neutral, "NeutralPos"),
           (ground_pickup_back_cone_up, "GroundPickupBackConeUp"),
           (ground_pickup_back_cone_down, "GroundPickupBackConeDown"),
+          (ground_pickup_back_cube, "GroundPickupBackCube"),
           (hp_pickup_back_cone_up, "HPPickupBackConeUp"),
           (cone_down_pos, "ConeDownPos"), (score_low_pos, "ScoreLowPos"),
           (score_back_mid_cone_up_pos, "ScoreBackMidConeUpPos"),
@@ -126,6 +134,11 @@
                        neutral_to_ground_pickup_back_cone_down_2,
                        ground_pickup_back_cone_down,
                        neutral_to_pickup_control_alpha_rolls),
+    ThetaSplineSegment("NeutralToGroundPickupBackCube", neutral,
+                       neutral_to_ground_pickup_back_cube_1,
+                       neutral_to_ground_pickup_back_cube_2,
+                       ground_pickup_back_cube,
+                       neutral_to_hp_pickup_back_cube_alpha_rolls),
     ThetaSplineSegment("NeutralToHPPickupBackConeUp", neutral,
                        neutral_to_hp_pickup_back_cone_up_1,
                        neutral_to_hp_pickup_back_cone_up_2,
diff --git a/y2023/control_loops/python/graph_tools.py b/y2023/control_loops/python/graph_tools.py
index 769c7b3..8751935 100644
--- a/y2023/control_loops/python/graph_tools.py
+++ b/y2023/control_loops/python/graph_tools.py
@@ -9,7 +9,7 @@
 
 # Joint distances (l1 = "proximal", l2 = "distal")
 l1 = 20.0 * IN_TO_M
-l2 = 31.5 * IN_TO_M
+l2 = 38.0 * IN_TO_M
 
 max_dist = 0.01
 max_dist_theta = np.pi / 64
@@ -35,7 +35,7 @@
     orient = (circular_index % 2) == 0
     x = pt[0]
     y = pt[1]
-    x -= joint_center[0]
+    x -= joint_center[0] - 1e-9
     y -= joint_center[1]
     l3 = np.hypot(x, y)
     t3 = np.arctan2(y, x)
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index 1615a29..0ecc5cf 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -590,6 +590,7 @@
 
     builder.CheckOk(builder.Send(goal_builder.Finish()));
   }
+  SetBeambreak(GetParam(), false);
 
   // This makes sure that we intake as normal when
   // requesting intake.