diff --git a/y2019/control_loops/superstructure/collision_avoidance.cc b/y2019/control_loops/superstructure/collision_avoidance.cc
index c999cac..9f7cc9b 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.cc
+++ b/y2019/control_loops/superstructure/collision_avoidance.cc
@@ -16,6 +16,8 @@
 constexpr double CollisionAvoidance::kIntakeInAngle;
 constexpr double CollisionAvoidance::kWristElevatorCollisionMinAngle;
 constexpr double CollisionAvoidance::kWristElevatorCollisionMaxAngle;
+constexpr double
+    CollisionAvoidance::kWristElevatorCollisionMaxAngleWithoutObject;
 constexpr double CollisionAvoidance::kEps;
 constexpr double CollisionAvoidance::kEpsIntake;
 constexpr double CollisionAvoidance::kEpsWrist;
@@ -32,10 +34,15 @@
   const double wrist_position = status->wrist.position;
   const double elevator_position = status->elevator.position;
   const double intake_position = status->intake.position;
+  const bool has_piece = status->has_piece;
+
+  const double wrist_elevator_collision_max_angle =
+      has_piece ? kWristElevatorCollisionMaxAngle
+                : kWristElevatorCollisionMaxAngleWithoutObject;
 
   // Elevator is down, so the wrist can't be close to vertical.
   if (elevator_position < kElevatorClearHeight) {
-    if (wrist_position < kWristElevatorCollisionMaxAngle &&
+    if (wrist_position < wrist_elevator_collision_max_angle &&
         wrist_position > kWristElevatorCollisionMinAngle) {
       return true;
     }
@@ -69,6 +76,7 @@
   const double wrist_position = status->wrist.position;
   const double elevator_position = status->elevator.position;
   const double intake_position = status->intake.position;
+  const bool has_piece = status->has_piece;
 
   // Start with our constraints being wide open.
   clear_max_wrist_goal();
@@ -76,6 +84,10 @@
   clear_max_intake_goal();
   clear_min_intake_goal();
 
+  const double wrist_elevator_collision_max_angle =
+      has_piece ? kWristElevatorCollisionMaxAngle
+                : kWristElevatorCollisionMaxAngleWithoutObject;
+
   // If the elevator is low enough, we also can't transition the wrist.
   if (elevator_position < kElevatorClearHeight) {
     // Figure out which side the wrist is on and stay there.
@@ -84,7 +96,7 @@
                              3.0) {
       update_max_wrist_goal(kWristElevatorCollisionMinAngle - kEpsWrist);
     } else {
-      update_min_wrist_goal(kWristElevatorCollisionMaxAngle + kEpsWrist);
+      update_min_wrist_goal(wrist_elevator_collision_max_angle + kEpsWrist);
     }
   }
 
@@ -101,7 +113,7 @@
   // If the elevator is too low, the intake can't transition from in to out or
   // back.
   if (elevator_position < kElevatorClearIntakeHeight &&
-      wrist_position > kWristElevatorCollisionMaxAngle) {
+      wrist_position > wrist_elevator_collision_max_angle) {
     // Figure out if the intake is in our out and keep it there.
     if (intake_position < kIntakeMiddleAngle) {
       update_max_intake_goal(kIntakeInAngle - kEpsIntake);
@@ -115,7 +127,7 @@
 
   // If the intake is within the collision range, don't let the elevator down.
   if (intake_position > kIntakeInAngle && intake_position < kIntakeOutAngle &&
-      wrist_position > kWristElevatorCollisionMaxAngle) {
+      wrist_position > wrist_elevator_collision_max_angle) {
     update_min_elevator_goal(kElevatorClearIntakeHeight + kEps);
   }
 
@@ -129,7 +141,7 @@
   // If the wrist is within the elevator collision range, don't let the elevator
   // go down.
   if (wrist_position > kWristElevatorCollisionMinAngle &&
-      wrist_position < kWristElevatorCollisionMaxAngle) {
+      wrist_position < wrist_elevator_collision_max_angle) {
     update_min_elevator_goal(kElevatorClearHeight + kEps);
   }
 
@@ -154,7 +166,7 @@
     // If we need to move the intake, we've got to shove the elevator up.  The
     // intake is already constrained so it can't hit anything until it's clear.
     if (intake_needs_to_move &&
-        wrist_position > kWristElevatorCollisionMaxAngle) {
+        wrist_position > wrist_elevator_collision_max_angle) {
       update_min_elevator_goal(kElevatorClearIntakeHeight + kEps);
     }
     // If we need to move the wrist, we've got to shove the elevator up too. The
diff --git a/y2019/control_loops/superstructure/collision_avoidance.h b/y2019/control_loops/superstructure/collision_avoidance.h
index ca29e7c..7fc80cd 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.h
+++ b/y2019/control_loops/superstructure/collision_avoidance.h
@@ -70,6 +70,7 @@
   // elevator is below kElevatorClearHeight.
   static constexpr double kWristElevatorCollisionMinAngle = -M_PI / 4.0;
   static constexpr double kWristElevatorCollisionMaxAngle = M_PI / 4.0;
+  static constexpr double kWristElevatorCollisionMaxAngleWithoutObject = M_PI / 6.0;
 
   // Tolerance for the elevator.
   static constexpr double kEps = 0.02;
diff --git a/y2019/control_loops/superstructure/collision_avoidance_tests.cc b/y2019/control_loops/superstructure/collision_avoidance_tests.cc
index 918bc5e..82bff4c 100644
--- a/y2019/control_loops/superstructure/collision_avoidance_tests.cc
+++ b/y2019/control_loops/superstructure/collision_avoidance_tests.cc
@@ -22,8 +22,11 @@
     QuarterCounterClockwiseRotationFromBottomFrontIntakeMoving
 */
 
-class CollisionAvoidanceTests : public ::testing::Test {
+class CollisionAvoidanceTests : public ::testing::Test,
+                                public ::testing::WithParamInterface<bool> {
  public:
+  CollisionAvoidanceTests() { status.has_piece = GetParam(); }
+
   void Iterate() {
     SuperstructureQueue::Goal safe_goal;
     bool was_collided = avoidance.IsCollided(&status);
@@ -40,8 +43,8 @@
           ::aos::Clip(unsafe_goal.wrist.unsafe_goal, avoidance.min_wrist_goal(),
                       avoidance.max_wrist_goal());
 
-      safe_goal.elevator.unsafe_goal = ::std::max(unsafe_goal.elevator.unsafe_goal,
-                                             avoidance.min_elevator_goal());
+      safe_goal.elevator.unsafe_goal = ::std::max(
+          unsafe_goal.elevator.unsafe_goal, avoidance.min_elevator_goal());
 
       safe_goal.intake.unsafe_goal =
           ::aos::Clip(unsafe_goal.intake.unsafe_goal,
@@ -79,7 +82,8 @@
   void CheckGoals() {
     // check to see if we reached the goals
     ASSERT_NEAR(unsafe_goal.wrist.unsafe_goal, status.wrist.position, 0.001);
-    ASSERT_NEAR(unsafe_goal.elevator.unsafe_goal, status.elevator.position, 0.001);
+    ASSERT_NEAR(unsafe_goal.elevator.unsafe_goal, status.elevator.position,
+                0.001);
     ASSERT_NEAR(unsafe_goal.intake.unsafe_goal, status.intake.position, 0.001);
   }
 
@@ -97,11 +101,12 @@
   static constexpr double kIterationMove = 0.001;
 };
 // It is trying to rotate from far back to front low.
-TEST_F(CollisionAvoidanceTests, FullClockwiseRotationFromBottomBackIntakeIn) {
+TEST_P(CollisionAvoidanceTests, FullClockwiseRotationFromBottomBackIntakeIn) {
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // in.
-  unsafe_goal.wrist.unsafe_goal = avoidance.kWristMaxAngle - avoidance.kEpsWrist;
+  unsafe_goal.wrist.unsafe_goal =
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist;
   unsafe_goal.elevator.unsafe_goal = 0.0;
   unsafe_goal.intake.unsafe_goal =
       avoidance.kIntakeInAngle - avoidance.kEpsIntake;
@@ -118,12 +123,13 @@
 }
 
 // It is trying to rotate from the front middle to front bottom.
-TEST_F(CollisionAvoidanceTests,
+TEST_P(CollisionAvoidanceTests,
        QuarterClockwiseRotationFromMiddleFrontIntakeOut) {
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // out.
-  unsafe_goal.wrist.unsafe_goal = avoidance.kWristMaxAngle - avoidance.kEpsWrist;
+  unsafe_goal.wrist.unsafe_goal =
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist;
   unsafe_goal.elevator.unsafe_goal = 0.0;
   unsafe_goal.intake.unsafe_goal =
       avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
@@ -140,7 +146,7 @@
   CheckGoals();
 }
 // It is trying to rotate from the front middle to front bottom.
-TEST_F(CollisionAvoidanceTests,
+TEST_P(CollisionAvoidanceTests,
        QuarterClockwiseRotationFromMiddleFrontIntakeMiddle) {
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
@@ -152,7 +158,8 @@
 
   // sets the status position messgaes to be have the elevator at the half way
   // with the intake in and the wrist middle front
-  unsafe_goal.wrist.unsafe_goal = avoidance.kWristMaxAngle - avoidance.kEpsWrist;
+  unsafe_goal.wrist.unsafe_goal =
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist;
   unsafe_goal.elevator.unsafe_goal = 0.0;
   unsafe_goal.intake.unsafe_goal =
       avoidance.kIntakeOutAngle + avoidance.kEpsIntake;
@@ -163,7 +170,7 @@
 }
 
 // It is trying to rotate from front low to far back.
-TEST_F(CollisionAvoidanceTests,
+TEST_P(CollisionAvoidanceTests,
        FullCounterClockwiseRotationFromBottomBackIntakeIn) {
   // sets the status position messgaes to be have the elevator at the bottom
   // with the intake in and the wrist low back
@@ -174,7 +181,8 @@
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // in.
-  unsafe_goal.wrist.unsafe_goal = avoidance.kWristMinAngle + avoidance.kEpsWrist;
+  unsafe_goal.wrist.unsafe_goal =
+      avoidance.kWristMinAngle + avoidance.kEpsWrist;
   unsafe_goal.elevator.unsafe_goal = 0.0;
   unsafe_goal.intake.unsafe_goal =
       avoidance.kIntakeInAngle - avoidance.kEpsIntake;
@@ -185,7 +193,7 @@
 }
 
 // It is trying to rotate from the front bottom to front middle.
-TEST_F(CollisionAvoidanceTests,
+TEST_P(CollisionAvoidanceTests,
        QuarterCounterClockwiseRotationFromMiddleFrontIntakeOut) {
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
@@ -208,7 +216,7 @@
 }
 
 // It is trying to rotate from the front bottom to front middle.
-TEST_F(CollisionAvoidanceTests,
+TEST_P(CollisionAvoidanceTests,
        QuarterCounterClockwiseRotationFromBottomFrontIntakeMiddle) {
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
@@ -232,7 +240,7 @@
 }
 
 // Unreasonable Elevator Goal
-TEST_F(CollisionAvoidanceTests, UnreasonableElevatorGoal) {
+TEST_P(CollisionAvoidanceTests, UnreasonableElevatorGoal) {
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // out.
@@ -256,7 +264,7 @@
 }
 
 // Unreasonable Wrist Goal
-TEST_F(CollisionAvoidanceTests, UnreasonableWristGoal) {
+TEST_P(CollisionAvoidanceTests, UnreasonableWristGoal) {
   // changes the goals to be in the position where the angle is low front and
   // the elevator is all the way at the bottom with the intake attempting to be
   // out.
@@ -282,7 +290,7 @@
 }
 
 // Fix Collision Wrist in Elevator
-TEST_F(CollisionAvoidanceTests, FixElevatorCollision) {
+TEST_P(CollisionAvoidanceTests, FixElevatorCollision) {
   // changes the goals
   unsafe_goal.wrist.unsafe_goal = 3.14;
   unsafe_goal.elevator.unsafe_goal = 0.0;
@@ -303,9 +311,10 @@
 }
 
 // Fix Collision Wrist in Intake
-TEST_F(CollisionAvoidanceTests, FixWristCollision) {
+TEST_P(CollisionAvoidanceTests, FixWristCollision) {
   // changes the goals
-  unsafe_goal.wrist.unsafe_goal = avoidance.kWristMaxAngle - avoidance.kEpsWrist;
+  unsafe_goal.wrist.unsafe_goal =
+      avoidance.kWristMaxAngle - avoidance.kEpsWrist;
   unsafe_goal.elevator.unsafe_goal = 0.0;
   unsafe_goal.intake.unsafe_goal =
       (avoidance.kIntakeOutAngle + avoidance.kIntakeInAngle) / 2.0;
@@ -324,7 +333,7 @@
   ASSERT_NEAR(unsafe_goal.intake.unsafe_goal, status.intake.position, 0.001);
 }
 // Fix Collision Wrist Above Elevator
-TEST_F(CollisionAvoidanceTests, FixWristElevatorCollision) {
+TEST_P(CollisionAvoidanceTests, FixWristElevatorCollision) {
   // changes the goals
   unsafe_goal.wrist.unsafe_goal = 0.0;
   unsafe_goal.elevator.unsafe_goal = 0.0;
@@ -343,6 +352,10 @@
               status.elevator.position, 0.001);
   ASSERT_NEAR(unsafe_goal.intake.unsafe_goal, status.intake.position, 0.001);
 }
+
+INSTANTIATE_TEST_CASE_P(CollisionAvoidancePieceTest, CollisionAvoidanceTests,
+                        ::testing::Bool());
+
 }  // namespace testing
 }  // namespace superstructure
 }  // namespace control_loops