diff --git a/y2023/BUILD b/y2023/BUILD
index fa53462..7121809 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -20,6 +20,7 @@
         ":aos_config",
         "//aos/starter:roborio_irq_config.json",
         "//y2023/constants:constants.json",
+        "//y2023/control_loops/superstructure/arm:arm_trajectories_generated.bfbs",
         "@ctre_phoenix_api_cpp_athena//:shared_libraries",
         "@ctre_phoenix_cci_athena//:shared_libraries",
         "@ctre_phoenixpro_api_cpp_athena//:shared_libraries",
diff --git a/y2023/control_loops/python/graph_codegen.py b/y2023/control_loops/python/graph_codegen.py
index 6f3bc0d..289913f 100644
--- a/y2023/control_loops/python/graph_codegen.py
+++ b/y2023/control_loops/python/graph_codegen.py
@@ -37,12 +37,13 @@
     cc_file.append("                             %s," % (alpha_unitizer))
     if reverse:
         cc_file.append(
-            "                             Trajectory(dynamics, &hybrid_roll_joint_loop->plant(), Path::Reversed(%s()), 0.005));"
+            "                             Trajectory(dynamics, &hybrid_roll_joint_loop->plant(), Path::Reversed(%s()), 0.005), "
             % (path_function_name(str(name))))
     else:
         cc_file.append(
-            "                             Trajectory(dynamics, &hybrid_roll_joint_loop->plant(), %s(), 0.005));"
+            "                             Trajectory(dynamics, &hybrid_roll_joint_loop->plant(), %s(), 0.005), "
             % (path_function_name(str(name))))
+    cc_file.append(f"\"{path_function_name(str(name))}\");")
 
     start_index = None
     end_index = None
@@ -116,6 +117,9 @@
         "#include \"y2023/control_loops/superstructure/arm/arm_constants.h\"")
     h_file.append(
         "#include \"y2023/control_loops/superstructure/arm/trajectory.h\"")
+    h_file.append(
+        "#include \"y2023/control_loops/superstructure/arm/arm_trajectories_generated.h\""
+    )
 
     h_file.append("")
     h_file.append("namespace y2023 {")
@@ -130,19 +134,39 @@
     h_file.append(
         "using y2023::control_loops::superstructure::arm::kArmConstants;")
 
+    h_file.append(
+        "using y2023::control_loops::superstructure::arm::TrajectoryAndParamsFbs;"
+    )
+
     h_file.append("")
     h_file.append("struct TrajectoryAndParams {")
     h_file.append("  TrajectoryAndParams(double new_vmax,")
     h_file.append(
         "                      const ::Eigen::Matrix<double, 3, 3> &new_alpha_unitizer,"
     )
-    h_file.append("                      Trajectory &&new_trajectory)")
+    h_file.append(
+        "                      Trajectory &&new_trajectory, std::string_view new_name)"
+    )
     h_file.append("      : vmax(new_vmax),")
     h_file.append("        alpha_unitizer(new_alpha_unitizer),")
-    h_file.append("        trajectory(::std::move(new_trajectory)) {}")
+    h_file.append("        trajectory(::std::move(new_trajectory)),")
+    h_file.append("         name(new_name) {}")
+    h_file.append(
+        "TrajectoryAndParams(const frc971::control_loops::arm::Dynamics *dynamics, const StateFeedbackHybridPlant<3, 1, 1> *roll, const TrajectoryAndParamsFbs &trajectory_and_params_fbs)"
+    )
+    h_file.append(": vmax(trajectory_and_params_fbs.vmax()),")
+    h_file.append(
+        "alpha_unitizer((trajectory_and_params_fbs.alpha_unitizer()->data(),")
+    h_file.append("     trajectory_and_params_fbs.alpha_unitizer()->data() +")
+    h_file.append(
+        "         trajectory_and_params_fbs.alpha_unitizer()->size())),")
+    h_file.append(
+        "trajectory(dynamics, roll, *trajectory_and_params_fbs.trajectory()),")
+    h_file.append("name(trajectory_and_params_fbs.name()->string_view()) {}")
     h_file.append("  double vmax;")
     h_file.append("  ::Eigen::Matrix<double, 3, 3> alpha_unitizer;")
     h_file.append("  Trajectory trajectory;")
+    h_file.append(" std::string_view name;")
     h_file.append("};")
     h_file.append("")
 
diff --git a/y2023/control_loops/superstructure/BUILD b/y2023/control_loops/superstructure/BUILD
index 5da5250..e6f14aa 100644
--- a/y2023/control_loops/superstructure/BUILD
+++ b/y2023/control_loops/superstructure/BUILD
@@ -87,6 +87,9 @@
     hdrs = [
         "superstructure.h",
     ],
+    data = [
+        "//y2023/control_loops/superstructure/arm:arm_trajectories_generated.bfbs",
+    ],
     deps = [
         ":end_effector",
         ":superstructure_goal_fbs",
@@ -100,6 +103,7 @@
         "//y2023:constants",
         "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
         "//y2023/control_loops/superstructure/arm",
+        "//y2023/control_loops/superstructure/arm:arm_trajectories_fbs",
     ],
 )
 
@@ -129,6 +133,7 @@
         ":superstructure_output_fbs",
         ":superstructure_position_fbs",
         ":superstructure_status_fbs",
+        "//aos:json_to_flatbuffer",
         "//aos:math",
         "//aos/events/logging:log_writer",
         "//aos/testing:googletest",
diff --git a/y2023/control_loops/superstructure/arm/BUILD b/y2023/control_loops/superstructure/arm/BUILD
index e1e3392..44b2aac 100644
--- a/y2023/control_loops/superstructure/arm/BUILD
+++ b/y2023/control_loops/superstructure/arm/BUILD
@@ -1,3 +1,5 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+
 cc_library(
     name = "arm",
     srcs = [
@@ -24,6 +26,39 @@
 )
 
 genrule(
+    name = "generated_arm_trajectory_genrule",
+    outs = [
+        "arm_trajectories_generated.bfbs",
+    ],
+    cmd = "$(location //y2023/control_loops/superstructure/arm:arm_trajectory_generator) --output $(OUTS)",
+    target_compatible_with = ["@platforms//os:linux"],
+    tools = [
+        "//y2023/control_loops/superstructure/arm:arm_trajectory_generator",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+cc_binary(
+    name = "arm_trajectory_generator",
+    srcs = [
+        "arm_trajectory_gen.cc",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":arm_constants",
+        ":arm_trajectories_fbs",
+        "//aos:flatbuffers",
+        "//aos:json_to_flatbuffer",
+        "//frc971/control_loops/double_jointed_arm:graph",
+        "//y2023:constants",
+        "//y2023/control_loops/superstructure/arm:generated_graph",
+        "//y2023/control_loops/superstructure/arm:trajectory",
+        "//y2023/control_loops/superstructure/roll:roll_plants",
+    ],
+)
+
+genrule(
     name = "generated_graph_genrule",
     outs = [
         "generated_graph.h",
@@ -36,6 +71,15 @@
     ],
 )
 
+flatbuffer_cc_library(
+    name = "arm_trajectories_fbs",
+    srcs = [
+        "arm_trajectories.fbs",
+    ],
+    gen_reflections = 1,
+    visibility = ["//visibility:public"],
+)
+
 cc_library(
     name = "generated_graph",
     srcs = [
@@ -86,6 +130,7 @@
     srcs = ["trajectory.cc"],
     hdrs = ["trajectory.h"],
     target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
     deps = [
         "//frc971/control_loops:binomial",
         "//frc971/control_loops:dlqr",
@@ -93,6 +138,7 @@
         "//frc971/control_loops:hybrid_state_feedback_loop",
         "//frc971/control_loops/double_jointed_arm:dynamics",
         "//frc971/control_loops/double_jointed_arm:ekf",
+        "//y2023/control_loops/superstructure/arm:arm_trajectories_fbs",
         "@org_tuxfamily_eigen//:eigen",
     ],
 )
diff --git a/y2023/control_loops/superstructure/arm/arm.cc b/y2023/control_loops/superstructure/arm/arm.cc
index 27a1450..6cd8d0d 100644
--- a/y2023/control_loops/superstructure/arm/arm.cc
+++ b/y2023/control_loops/superstructure/arm/arm.cc
@@ -16,7 +16,8 @@
 
 }  // namespace
 
-Arm::Arm(std::shared_ptr<const constants::Values> values)
+Arm::Arm(std::shared_ptr<const constants::Values> values,
+         const ArmTrajectories &arm_trajectories)
     : values_(values),
       state_(ArmState::UNINITIALIZED),
       proximal_zeroing_estimator_(values_->arm_proximal.zeroing),
@@ -36,13 +37,17 @@
       roll_joint_loop_(roll::MakeIntegralRollLoop()),
       hybrid_roll_joint_loop_(roll::MakeIntegralHybridRollLoop()),
       arm_ekf_(&dynamics_),
-      search_graph_(MakeSearchGraph(&dynamics_, &trajectories_, alpha_unitizer_,
-                                    constants::Values::kArmVMax(),
-                                    &hybrid_roll_joint_loop_)),
+      search_graph_(GetSearchGraph(arm_trajectories)),
       // Go to the start of the first trajectory.
       follower_(&dynamics_, &hybrid_roll_joint_loop_, NeutralPoint()),
       points_(PointList()),
       current_node_(0) {
+  // Creating trajectories from fbs
+  for (const auto *trajectory : *arm_trajectories.trajectories()) {
+    trajectories_.emplace_back(&dynamics_, &hybrid_roll_joint_loop_.plant(),
+                               *trajectory);
+  }
+
   int i = 0;
   for (const auto &trajectory : trajectories_) {
     AOS_LOG(INFO, "trajectory length for edge node %d: %f\n", i,
@@ -54,7 +59,6 @@
 void Arm::Reset() { state_ = ArmState::UNINITIALIZED; }
 
 namespace {
-
 // Proximal joint center in xy space
 constexpr std::pair<double, double> kJointCenter = {-0.203, 0.787};
 
diff --git a/y2023/control_loops/superstructure/arm/arm.h b/y2023/control_loops/superstructure/arm/arm.h
index 216b89d..1f97d80 100644
--- a/y2023/control_loops/superstructure/arm/arm.h
+++ b/y2023/control_loops/superstructure/arm/arm.h
@@ -21,7 +21,8 @@
 
 class Arm {
  public:
-  Arm(std::shared_ptr<const constants::Values> values);
+  Arm(std::shared_ptr<const constants::Values> values,
+      const ArmTrajectories &arm_trajectories);
 
   flatbuffers::Offset<superstructure::ArmStatus> Iterate(
       const ::aos::monotonic_clock::time_point /*monotonic_now*/,
@@ -52,6 +53,23 @@
            follower_.path_distance_to_go() < 1e-3;
   }
 
+  static SearchGraph GetSearchGraph(const ArmTrajectories &arm_trajectories) {
+    // Creating edges from fbs
+    std::vector<SearchGraph::Edge> edges;
+
+    for (const auto *edge : *arm_trajectories.edges()) {
+      SearchGraph::Edge edge_data{
+          .start = static_cast<size_t>(edge->start()),
+          .end = static_cast<size_t>(edge->end()),
+          .cost = edge->cost(),
+      };
+
+      edges.emplace_back(edge_data);
+    }
+
+    return SearchGraph(edges.size(), std::move(edges));
+  }
+
   std::shared_ptr<const constants::Values> values_;
 
   ArmState state_;
diff --git a/y2023/control_loops/superstructure/arm/arm_trajectories.fbs b/y2023/control_loops/superstructure/arm/arm_trajectories.fbs
new file mode 100644
index 0000000..b0570f0
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/arm_trajectories.fbs
@@ -0,0 +1,56 @@
+namespace y2023.control_loops.superstructure.arm;
+
+table SplineFbs {
+  // 2x4 Eigen matrix
+  control_points: [double] (id: 0);
+}
+
+struct AlphaThetaFbs {
+  // Parameterized value from 0-1
+  alpha: double;
+  // Roll joint angle
+  theta: double;
+}
+
+table CosSplineFbs {
+  spline: SplineFbs (id: 0);
+  roll: [AlphaThetaFbs] (id: 1);
+}
+
+table PathFbs {
+  spline: CosSplineFbs (id: 0);
+  distances: [float] (id: 1);
+}
+
+table TrajectoryFbs {
+  path: PathFbs (id: 0);
+  num_plan_points: uint64 (id: 1);
+  step_size: double (id: 2);
+  max_dvelocity_unfiltered: [double] (id: 3);
+  max_dvelocity_backward_accel: [double] (id: 4);
+  max_dvelocity_forwards_accel: [double] (id: 5);
+  max_dvelocity_backward_voltage: [double] (id: 6);
+  max_dvelocity_forwards_voltage: [double] (id: 7);
+  alpha_unitizer: [double] (id: 8);
+}
+
+struct EdgeFbs {
+  start: uint64;
+  end: uint64;
+  cost: double;
+}
+
+table TrajectoryAndParamsFbs {
+  vmax: double (id: 0);
+  alpha_unitizer: [double] (id: 1);
+  trajectory: TrajectoryFbs (id: 2);
+  name: string (id: 3);
+}
+
+table ArmTrajectories {
+  trajectories: [TrajectoryAndParamsFbs] (id: 0);
+  edges: [EdgeFbs] (id: 1);
+  // TODO(milind/maxwell): add vertexes in too
+}
+
+root_type ArmTrajectories;
diff --git a/y2023/control_loops/superstructure/arm/arm_trajectory_gen.cc b/y2023/control_loops/superstructure/arm/arm_trajectory_gen.cc
new file mode 100644
index 0000000..578bf1f
--- /dev/null
+++ b/y2023/control_loops/superstructure/arm/arm_trajectory_gen.cc
@@ -0,0 +1,196 @@
+#include <iostream>
+#include <memory>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/flatbuffers.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "frc971/control_loops/double_jointed_arm/graph.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "y2023/constants.h"
+#include "y2023/control_loops/superstructure/arm/arm_constants.h"
+#include "y2023/control_loops/superstructure/arm/arm_trajectories_generated.h"
+#include "y2023/control_loops/superstructure/arm/generated_graph.h"
+#include "y2023/control_loops/superstructure/arm/trajectory.h"
+#include "y2023/control_loops/superstructure/roll/integral_hybrid_roll_plant.h"
+
+using frc971::control_loops::arm::SearchGraph;
+using y2023::control_loops::superstructure::arm::AlphaThetaFbs;
+using y2023::control_loops::superstructure::arm::CosSpline;
+using y2023::control_loops::superstructure::arm::kArmConstants;
+using y2023::control_loops::superstructure::arm::NSpline;
+using y2023::control_loops::superstructure::arm::Path;
+using y2023::control_loops::superstructure::arm::Trajectory;
+
+DEFINE_string(output, "", "Defines the location of the output file");
+
+int main(int argc, char **argv) {
+  aos::InitGoogle(&argc, &argv);
+
+  const frc971::control_loops::arm::Dynamics dynamics(kArmConstants);
+  std::vector<y2023::control_loops::superstructure::arm::TrajectoryAndParams>
+      trajectories;
+  Eigen::DiagonalMatrix<double, 3> alpha_unitizer(
+      (::Eigen::DiagonalMatrix<double, 3>().diagonal()
+           << (1.0 / y2023::constants::Values::kArmAlpha0Max()),
+       (1.0 / y2023::constants::Values::kArmAlpha1Max()),
+       (1.0 / y2023::constants::Values::kArmAlpha2Max()))
+          .finished());
+  StateFeedbackLoop<3, 1, 1, double, StateFeedbackHybridPlant<3, 1, 1>,
+                    HybridKalman<3, 1, 1>>
+      hybrid_roll_joint_loop = y2023::control_loops::superstructure::roll::
+          MakeIntegralHybridRollLoop();
+
+  // Optimizes paths
+  auto search_graph =
+      y2023::control_loops::superstructure::arm::MakeSearchGraph(
+          &dynamics, &trajectories, alpha_unitizer,
+          y2023::constants::Values::kArmVMax(), &hybrid_roll_joint_loop);
+
+  auto edges = search_graph.edges();
+
+  flatbuffers::FlatBufferBuilder fbb;
+  fbb.ForceDefaults(true);
+
+  std::vector<flatbuffers::Offset<
+      y2023::control_loops::superstructure::arm::TrajectoryAndParamsFbs>>
+      trajectory_and_params_offsets;
+
+  std::vector<y2023::control_loops::superstructure::arm::EdgeFbs> fbs_edges;
+
+  // Generating flatbuffer
+
+  for (const auto &trajectory : trajectories) {
+    auto nspline = trajectory.trajectory.path().spline().spline();
+    auto cos_spline = trajectory.trajectory.path().spline();
+    auto path = trajectory.trajectory.path();
+
+    auto control_points_offset = fbb.CreateVector(
+        nspline.control_points().data(), nspline.control_points().size());
+
+    std::vector<AlphaThetaFbs> roll;
+
+    for (const auto &alpha_theta : cos_spline.roll()) {
+      roll.emplace_back(alpha_theta.alpha, alpha_theta.theta);
+    }
+    auto cos_spline_roll = fbb.CreateVectorOfStructs(roll);
+
+    auto path_distances =
+        fbb.CreateVector(path.distances().data(), path.distances().size());
+
+    auto trajectory_max_dvelocity_unfiltered = fbb.CreateVector(
+        trajectory.trajectory.max_dvelocity_unfiltered().data(),
+        trajectory.trajectory.max_dvelocity_unfiltered().size());
+
+    auto trajectory_max_dvelocity_backward_accel = fbb.CreateVector(
+        trajectory.trajectory.max_dvelocity_backward_accel().data(),
+        trajectory.trajectory.max_dvelocity_backward_accel().size());
+
+    auto trajectory_max_dvelocity_forwards_accel = fbb.CreateVector(
+        trajectory.trajectory.max_dvelocity_forwards_accel().data(),
+        trajectory.trajectory.max_dvelocity_forwards_accel().size());
+
+    auto trajectory_max_dvelocity_backward_voltage = fbb.CreateVector(
+        trajectory.trajectory.max_dvelocity_backward_voltage().data(),
+        trajectory.trajectory.max_dvelocity_backward_voltage().size());
+
+    auto trajectory_max_dvelocity_forwards_voltage = fbb.CreateVector(
+        trajectory.trajectory.max_dvelocity_forwards_voltage().data(),
+        trajectory.trajectory.max_dvelocity_forwards_voltage().size());
+
+    auto trajectory_alpha_unitizer =
+        fbb.CreateVector(trajectory.trajectory.alpha_unitizer().data(),
+                         trajectory.trajectory.alpha_unitizer().size());
+
+    auto trajectory_and_params_name = fbb.CreateString(trajectory.name);
+
+    auto trajectory_and_params_alpha_unitizer = fbb.CreateVector(
+        trajectory.alpha_unitizer.data(), trajectory.alpha_unitizer.size());
+
+    y2023::control_loops::superstructure::arm::SplineFbs::Builder
+        spline_builder(fbb);
+
+    spline_builder.add_control_points(control_points_offset);
+
+    auto spline_offset = spline_builder.Finish();
+
+    y2023::control_loops::superstructure::arm::CosSplineFbs::Builder
+        cos_spline_builder(fbb);
+
+    cos_spline_builder.add_spline(spline_offset);
+
+    cos_spline_builder.add_roll(cos_spline_roll);
+
+    auto cos_spline_offset = cos_spline_builder.Finish();
+
+    y2023::control_loops::superstructure::arm::PathFbs::Builder path_builder(
+        fbb);
+
+    path_builder.add_spline(cos_spline_offset);
+    path_builder.add_distances(path_distances);
+
+    auto path_offset = path_builder.Finish();
+
+    y2023::control_loops::superstructure::arm::TrajectoryFbs::Builder
+        trajectory_builder(fbb);
+
+    trajectory_builder.add_path(path_offset);
+    trajectory_builder.add_num_plan_points(
+        trajectory.trajectory.num_plan_points());
+    trajectory_builder.add_step_size(trajectory.trajectory.step_size());
+    trajectory_builder.add_max_dvelocity_unfiltered(
+        trajectory_max_dvelocity_unfiltered);
+    trajectory_builder.add_max_dvelocity_backward_accel(
+        trajectory_max_dvelocity_backward_accel);
+    trajectory_builder.add_max_dvelocity_forwards_accel(
+        trajectory_max_dvelocity_forwards_accel);
+    trajectory_builder.add_max_dvelocity_backward_voltage(
+        trajectory_max_dvelocity_backward_voltage);
+    trajectory_builder.add_max_dvelocity_forwards_voltage(
+        trajectory_max_dvelocity_forwards_voltage);
+    trajectory_builder.add_alpha_unitizer(trajectory_alpha_unitizer);
+
+    auto trajectory_offset = trajectory_builder.Finish();
+
+    y2023::control_loops::superstructure::arm::TrajectoryAndParamsFbs::Builder
+        trajectory_and_params_builder(fbb);
+
+    trajectory_and_params_builder.add_vmax(trajectory.vmax);
+    trajectory_and_params_builder.add_alpha_unitizer(
+        trajectory_and_params_alpha_unitizer);
+    trajectory_and_params_builder.add_trajectory(trajectory_offset);
+    trajectory_and_params_builder.add_name(trajectory_and_params_name);
+
+    trajectory_and_params_offsets.emplace_back(
+        trajectory_and_params_builder.Finish());
+  }
+
+  for (const auto &edge : edges) {
+    fbs_edges.emplace_back(edge.start, edge.end, edge.cost);
+  }
+
+  auto arm_trajectories_trajctory_and_params_offsets =
+      fbb.CreateVector(trajectory_and_params_offsets.data(),
+                       trajectory_and_params_offsets.size());
+
+  auto arm_trajectories_edges = fbb.CreateVectorOfStructs(fbs_edges);
+
+  y2023::control_loops::superstructure::arm::ArmTrajectories::Builder
+      arm_trajectories_builder(fbb);
+
+  arm_trajectories_builder.add_trajectories(
+      arm_trajectories_trajctory_and_params_offsets);
+  arm_trajectories_builder.add_edges(arm_trajectories_edges);
+
+  auto arm_trajectories_offset = arm_trajectories_builder.Finish();
+
+  fbb.Finish(arm_trajectories_offset);
+
+  auto detatched_buffer = aos::FlatbufferDetachedBuffer<
+      y2023::control_loops::superstructure::arm::ArmTrajectories>(
+      fbb.Release());
+
+  // This writes to a binary file so we can cache the optimization results
+  aos::WriteFlatbufferToFile(FLAGS_output, detatched_buffer);
+}
diff --git a/y2023/control_loops/superstructure/arm/trajectory.cc b/y2023/control_loops/superstructure/arm/trajectory.cc
index 717a29e..d216467 100644
--- a/y2023/control_loops/superstructure/arm/trajectory.cc
+++ b/y2023/control_loops/superstructure/arm/trajectory.cc
@@ -7,6 +7,7 @@
 #include "frc971/control_loops/jacobian.h"
 #include "frc971/control_loops/runge_kutta.h"
 #include "gflags/gflags.h"
+#include "y2023/control_loops/superstructure/arm/arm_trajectories_generated.h"
 
 DEFINE_double(lqr_proximal_pos, 0.5, "Position LQR gain");
 DEFINE_double(lqr_proximal_vel, 5, "Velocity LQR gain");
@@ -165,6 +166,56 @@
   return ::std::make_unique<Path>(p->Reversed());
 }
 
+Trajectory::Trajectory(const frc971::control_loops::arm::Dynamics *dynamics,
+                       const StateFeedbackHybridPlant<3, 1, 1> *roll,
+                       const TrajectoryFbs &trajectory_fbs)
+    : dynamics_(dynamics),
+      roll_(roll),
+      num_plan_points_(trajectory_fbs.num_plan_points()),
+      step_size_(trajectory_fbs.step_size()),
+      max_dvelocity_unfiltered_(
+          trajectory_fbs.max_dvelocity_unfiltered()->data(),
+          trajectory_fbs.max_dvelocity_unfiltered()->data() +
+              trajectory_fbs.max_dvelocity_unfiltered()->size()),
+      max_dvelocity_backwards_voltage_(
+          trajectory_fbs.max_dvelocity_backward_voltage()->data(),
+          trajectory_fbs.max_dvelocity_backward_voltage()->data() +
+              trajectory_fbs.max_dvelocity_backward_voltage()->size()),
+      max_dvelocity_backwards_accel_(
+          trajectory_fbs.max_dvelocity_backward_accel()->data(),
+          trajectory_fbs.max_dvelocity_backward_accel()->data() +
+              trajectory_fbs.max_dvelocity_backward_accel()->size()),
+      max_dvelocity_forwards_accel_(
+          trajectory_fbs.max_dvelocity_forwards_accel()->data(),
+          trajectory_fbs.max_dvelocity_forwards_accel()->data() +
+              trajectory_fbs.max_dvelocity_forwards_accel()->size()),
+      max_dvelocity_forwards_voltage_(
+          trajectory_fbs.max_dvelocity_forwards_voltage()->data(),
+          trajectory_fbs.max_dvelocity_forwards_voltage()->data() +
+              trajectory_fbs.max_dvelocity_forwards_voltage()->size()),
+      alpha_unitizer_(trajectory_fbs.alpha_unitizer()->data()) {
+  auto control_points = ::Eigen::Matrix<double, 2, 4>(
+      trajectory_fbs.path()->spline()->spline()->control_points()->data());
+  NSpline<4, 2> spline(control_points);
+
+  std::vector<CosSpline::AlphaTheta> alpha_roll;
+
+  for (const auto &alpha_theta : *trajectory_fbs.path()->spline()->roll()) {
+    CosSpline::AlphaTheta atheta = {
+        .alpha = alpha_theta->alpha(),
+        .theta = alpha_theta->theta(),
+    };
+
+    alpha_roll.emplace_back(atheta);
+  }
+
+  CosSpline cos_spline(spline, alpha_roll);
+
+  path_ = std::make_unique<Path>(cos_spline,
+                                 (trajectory_fbs.path()->distances()->data(),
+                                  trajectory_fbs.path()->distances()->size()));
+}
+
 double Trajectory::MaxCurvatureSpeed(
     double goal_distance, const ::Eigen::Matrix<double, 3, 3> &alpha_unitizer,
     double plan_vmax) {
diff --git a/y2023/control_loops/superstructure/arm/trajectory.h b/y2023/control_loops/superstructure/arm/trajectory.h
index 17ec3aa..e498168 100644
--- a/y2023/control_loops/superstructure/arm/trajectory.h
+++ b/y2023/control_loops/superstructure/arm/trajectory.h
@@ -13,6 +13,7 @@
 #include "frc971/control_loops/fixed_quadrature.h"
 #include "frc971/control_loops/hybrid_state_feedback_loop.h"
 #include "frc971/control_loops/state_feedback_loop.h"
+#include "y2023/control_loops/superstructure/arm/arm_trajectories_generated.h"
 
 namespace y2023 {
 namespace control_loops {
@@ -152,6 +153,10 @@
   // Returns the d^2spline/dalpha^2 for a given alpha.
   ::Eigen::Matrix<double, 3, 1> Alpha(double alpha) const;
 
+  const NSpline<4, 2> &spline() const { return spline_; }
+
+  const std::vector<AlphaTheta> &roll() { return roll_; }
+
   CosSpline Reversed() const;
 
  private:
@@ -170,6 +175,9 @@
   Path(const CosSpline &spline, int num_alpha = 100)
       : spline_(spline), distances_(BuildDistances(num_alpha)) {}
 
+  Path(const CosSpline &spline, std::vector<float> distances)
+      : spline_(spline), distances_(distances) {}
+
   virtual ~Path() {}
 
   // Returns a point on the spline as a function of distance.
@@ -186,6 +194,8 @@
 
   const absl::Span<const float> distances() const { return distances_; }
 
+  const CosSpline &spline() const { return spline_; }
+
   Path Reversed() const;
   static ::std::unique_ptr<Path> Reversed(::std::unique_ptr<Path> p);
 
@@ -211,7 +221,7 @@
   // size.
   Trajectory(const frc971::control_loops::arm::Dynamics *dynamics,
              const StateFeedbackHybridPlant<3, 1, 1> *roll,
-             ::std::unique_ptr<const Path> path, double gridsize)
+             std::unique_ptr<const Path> path, double gridsize)
       : dynamics_(dynamics),
         roll_(roll),
         path_(::std::move(path)),
@@ -222,6 +232,10 @@
     alpha_unitizer_.setZero();
   }
 
+  Trajectory(const frc971::control_loops::arm::Dynamics *dynamics,
+             const StateFeedbackHybridPlant<3, 1, 1> *roll,
+             const TrajectoryFbs &trajectory_fbs);
+
   // Optimizes the trajectory.  The path will adhere to the constraints that
   // || angular acceleration * alpha_unitizer || < 1, and the applied voltage <
   // plan_vmax.
@@ -431,6 +445,8 @@
 
   const Path &path() const { return *path_; }
 
+  double step_size() const { return step_size_; }
+
  private:
   friend class testing::TrajectoryTest_IndicesForDistanceTest_Test;
 
@@ -457,7 +473,7 @@
   const StateFeedbackHybridPlant<3, 1, 1> *roll_;
 
   // The path to follow.
-  ::std::unique_ptr<const Path> path_;
+  std::unique_ptr<const Path> path_;
   // The number of points in the plan.
   const size_t num_plan_points_;
   // A cached version of the step size since we need this a *lot*.
@@ -607,8 +623,8 @@
 };
 
 }  // namespace arm
+}  // namespace superstructure
 }  // namespace control_loops
-}  // namespace frc971
 }  // namespace y2023
 
 #endif  // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index f59626c..9b9b119 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -4,6 +4,7 @@
 #include "aos/flatbuffer_merge.h"
 #include "aos/network/team_number.h"
 #include "frc971/zeroing/wrap.h"
+#include "y2023/control_loops/superstructure/arm/arm_trajectories_generated.h"
 
 DEFINE_bool(ignore_distance, false,
             "If true, ignore distance when shooting and obay joystick_reader");
@@ -18,9 +19,11 @@
 using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
 using frc971::control_loops::RelativeEncoderProfiledJointStatus;
 
-Superstructure::Superstructure(::aos::EventLoop *event_loop,
-                               std::shared_ptr<const constants::Values> values,
-                               const ::std::string &name)
+Superstructure::Superstructure(
+    ::aos::EventLoop *event_loop,
+    std::shared_ptr<const constants::Values> values,
+    const aos::FlatbufferVector<ArmTrajectories> &arm_trajectories,
+    const ::std::string &name)
     : frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
                                                                     name),
       values_(values),
@@ -29,7 +32,7 @@
               "/drivetrain")),
       joystick_state_fetcher_(
           event_loop->MakeFetcher<aos::JoystickState>("/aos")),
-      arm_(values_),
+      arm_(values_, arm_trajectories.message()),
       end_effector_(),
       wrist_(values->wrist.subsystem_params) {
   event_loop->SetRuntimeRealtimePriority(30);
diff --git a/y2023/control_loops/superstructure/superstructure.h b/y2023/control_loops/superstructure/superstructure.h
index 87a5395..0c8b2c0 100644
--- a/y2023/control_loops/superstructure/superstructure.h
+++ b/y2023/control_loops/superstructure/superstructure.h
@@ -2,17 +2,22 @@
 #define Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
 
 #include "aos/events/event_loop.h"
+#include "aos/json_to_flatbuffer.h"
 #include "frc971/control_loops/control_loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2023/constants.h"
 #include "y2023/control_loops/drivetrain/drivetrain_can_position_generated.h"
 #include "y2023/control_loops/superstructure/arm/arm.h"
+#include "y2023/control_loops/superstructure/arm/arm_trajectories_generated.h"
 #include "y2023/control_loops/superstructure/end_effector.h"
 #include "y2023/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2023/control_loops/superstructure/superstructure_output_generated.h"
 #include "y2023/control_loops/superstructure/superstructure_position_generated.h"
 #include "y2023/control_loops/superstructure/superstructure_status_generated.h"
 
+using y2023::control_loops::superstructure::arm::ArmTrajectories;
+using y2023::control_loops::superstructure::arm::TrajectoryAndParams;
+
 namespace y2023 {
 namespace control_loops {
 namespace superstructure {
@@ -35,9 +40,11 @@
           ::frc971::zeroing::AbsoluteEncoderZeroingEstimator,
           ::frc971::control_loops::AbsoluteEncoderProfiledJointStatus>;
 
-  explicit Superstructure(::aos::EventLoop *event_loop,
-                          std::shared_ptr<const constants::Values> values,
-                          const ::std::string &name = "/superstructure");
+  explicit Superstructure(
+      ::aos::EventLoop *event_loop,
+      std::shared_ptr<const constants::Values> values,
+      const aos::FlatbufferVector<ArmTrajectories> &arm_trajectories,
+      const ::std::string &name = "/superstructure");
 
   double robot_velocity() const;
 
@@ -45,6 +52,11 @@
   inline const EndEffector &end_effector() const { return end_effector_; }
   inline const AbsoluteEncoderSubsystem &wrist() const { return wrist_; }
 
+  static const aos::FlatbufferVector<ArmTrajectories> GetArmTrajectories(
+      const std::string &filename) {
+    return aos::FileToFlatbuffer<arm::ArmTrajectories>(filename);
+  }
+
  protected:
   virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
                             aos::Sender<Output>::Builder *output,
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index 2a67adf..4eeb0f6 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -276,8 +276,12 @@
         values_(std::make_shared<constants::Values>(constants::MakeValues())),
         roborio_(aos::configuration::GetNode(configuration(), "roborio")),
         logger_pi_(aos::configuration::GetNode(configuration(), "logger")),
+        arm_trajectories_(superstructure::Superstructure::GetArmTrajectories(
+            "y2023/control_loops/superstructure/arm/"
+            "arm_trajectories_generated.bfbs")),
         superstructure_event_loop(MakeEventLoop("Superstructure", roborio_)),
-        superstructure_(superstructure_event_loop.get(), values_),
+        superstructure_(superstructure_event_loop.get(), values_,
+                        arm_trajectories_),
         test_event_loop_(MakeEventLoop("test", roborio_)),
         superstructure_goal_fetcher_(
             test_event_loop_->MakeFetcher<Goal>("/superstructure")),
@@ -410,6 +414,8 @@
   const aos::Node *const roborio_;
   const aos::Node *const logger_pi_;
 
+  const ::aos::FlatbufferVector<ArmTrajectories> arm_trajectories_;
+
   ::std::unique_ptr<::aos::EventLoop> superstructure_event_loop;
   ::y2023::control_loops::superstructure::Superstructure superstructure_;
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;
diff --git a/y2023/control_loops/superstructure/superstructure_main.cc b/y2023/control_loops/superstructure/superstructure_main.cc
index bb25ad8..10a9ca9 100644
--- a/y2023/control_loops/superstructure/superstructure_main.cc
+++ b/y2023/control_loops/superstructure/superstructure_main.cc
@@ -2,6 +2,12 @@
 #include "aos/init.h"
 #include "y2023/control_loops/superstructure/superstructure.h"
 
+DEFINE_string(arm_trajectories, "arm_trajectories_generated.bfbs",
+              "The path to the generated arm trajectories bfbs file.");
+
+using y2023::control_loops::superstructure::Superstructure;
+using y2023::control_loops::superstructure::arm::ArmTrajectories;
+
 int main(int argc, char **argv) {
   ::aos::InitGoogle(&argc, &argv);
 
@@ -9,11 +15,15 @@
       aos::configuration::ReadConfig("aos_config.json");
 
   ::aos::ShmEventLoop event_loop(&config.message());
+
+  auto trajectories =
+      y2023::control_loops::superstructure::Superstructure::GetArmTrajectories(
+          FLAGS_arm_trajectories);
+
   std::shared_ptr<const y2023::constants::Values> values =
       std::make_shared<const y2023::constants::Values>(
           y2023::constants::MakeValues());
-  ::y2023::control_loops::superstructure::Superstructure superstructure(
-      &event_loop, values);
+  Superstructure superstructure(&event_loop, values, trajectories);
 
   event_loop.Run();
 
diff --git a/y2023/control_loops/superstructure/superstructure_replay.cc b/y2023/control_loops/superstructure/superstructure_replay.cc
index ed97966..9bd3ae2 100644
--- a/y2023/control_loops/superstructure/superstructure_replay.cc
+++ b/y2023/control_loops/superstructure/superstructure_replay.cc
@@ -17,6 +17,8 @@
 DEFINE_int32(team, 971, "Team number to use for logfile replay.");
 DEFINE_string(output_folder, "/tmp/superstructure_replay/",
               "Logs all channels to the provided logfile.");
+DEFINE_string(arm_trajectories, "arm/arm_trajectories_generated.bfbs",
+              "The path to the generated arm trajectories bfbs file.");
 
 int main(int argc, char **argv) {
   aos::InitGoogle(&argc, &argv);
@@ -45,10 +47,16 @@
   auto logger = std::make_unique<aos::logger::Logger>(logger_event_loop.get());
   logger->StartLoggingOnRun(FLAGS_output_folder);
 
-  roborio->OnStartup([roborio]() {
+  auto trajectories =
+      y2023::control_loops::superstructure::Superstructure::GetArmTrajectories(
+          FLAGS_arm_trajectories);
+
+  roborio->OnStartup([roborio, &trajectories]() {
     roborio->AlwaysStart<y2023::control_loops::superstructure::Superstructure>(
-        "superstructure", std::make_shared<y2023::constants::Values>(
-                              y2023::constants::MakeValues()));
+        "superstructure",
+        std::make_shared<y2023::constants::Values>(
+            y2023::constants::MakeValues()),
+        trajectories);
   });
 
   std::unique_ptr<aos::EventLoop> print_loop = roborio->MakeEventLoop("print");