diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index d79a293..812f091 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -42,10 +42,10 @@
                   bool close_claw, const control_loops::ArmPosition *position,
                   const bool claw_beambreak_triggered,
                   const bool box_back_beambreak_triggered,
-                  const bool intake_clear_of_box, double *proximal_output,
+                  const bool intake_clear_of_box, bool suicide,
+                  bool trajectory_override, double *proximal_output,
                   double *distal_output, bool *release_arm_brake,
-                  bool *claw_closed, control_loops::ArmStatus *status,
-                  bool suicide) {
+                  bool *claw_closed, control_loops::ArmStatus *status) {
   ::Eigen::Matrix<double, 2, 1> Y;
   const bool outputs_disabled =
       ((proximal_output == nullptr) || (distal_output == nullptr) ||
@@ -160,6 +160,11 @@
     case State::GOTO_PATH:
       if (outputs_disabled) {
         state_ = State::DISABLED;
+      } else if (trajectory_override) {
+        follower_.SwitchTrajectory(nullptr);
+        current_node_ = filtered_goal;
+        follower_.set_theta(points_[current_node_]);
+        state_ = State::GOTO_PATH;
       } else if (close_enough_for_full_power_) {
         state_ = State::RUNNING;
         grab_state_ = GrabState::NORMAL;
@@ -175,6 +180,11 @@
         state_ = State::ESTOP;
       } else if (outputs_disabled) {
         state_ = State::DISABLED;
+      } else if (trajectory_override) {
+        follower_.SwitchTrajectory(nullptr);
+        current_node_ = filtered_goal;
+        follower_.set_theta(points_[current_node_]);
+        state_ = State::GOTO_PATH;
       } else if (suicide) {
         state_ = State::PREP_CLIMB;
         climb_count_ = 50;
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 9493037..d3dd2df 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -38,10 +38,11 @@
                bool close_claw, const control_loops::ArmPosition *position,
                const bool claw_beambreak_triggered,
                const bool box_back_beambreak_triggered,
-               const bool intake_clear_of_box, double *proximal_output,
+               const bool intake_clear_of_box,
+               bool suicide, bool trajectory_override,
+               double *proximal_output,
                double *distal_output, bool *release_arm_brake,
-               bool *claw_closed, control_loops::ArmStatus *status,
-               bool suicide);
+               bool *claw_closed, control_loops::ArmStatus *status);
 
   void Reset();
 
@@ -71,6 +72,10 @@
   // intake position to release the box when the state machine is lifting.
   double max_intake_override() const { return max_intake_override_; }
 
+  uint32_t current_node() const { return current_node_; }
+
+  double path_distance_to_go() { return follower_.path_distance_to_go(); }
+
  private:
   bool AtState(uint32_t state) const { return current_node_ == state; }
   bool NearEnd(double threshold = 0.03) const {
diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index 2098cd0..26f75be 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -96,18 +96,28 @@
 
   const bool intake_clear_of_box =
       intake_left_.clear_of_box() && intake_right_.clear_of_box();
+
+  bool open_claw = unsafe_goal != nullptr ? unsafe_goal->open_claw : false;
+  if (unsafe_goal) {
+    if (unsafe_goal->open_threshold != 0.0) {
+      if (arm_.current_node() != unsafe_goal->arm_goal_position ||
+          arm_.path_distance_to_go() > unsafe_goal->open_threshold) {
+        open_claw = false;
+      }
+    }
+  }
   arm_.Iterate(
       unsafe_goal != nullptr ? &(unsafe_goal->arm_goal_position) : nullptr,
-      unsafe_goal != nullptr ? unsafe_goal->grab_box : false,
-      unsafe_goal != nullptr ? unsafe_goal->open_claw : false,
+      unsafe_goal != nullptr ? unsafe_goal->grab_box : false, open_claw,
       unsafe_goal != nullptr ? unsafe_goal->close_claw : false,
       &(position->arm), position->claw_beambreak_triggered,
       position->box_back_beambreak_triggered, intake_clear_of_box,
+      unsafe_goal != nullptr ? unsafe_goal->voltage_winch > 1.0 : false,
+      unsafe_goal != nullptr ? unsafe_goal->trajectory_override : false,
       output != nullptr ? &(output->voltage_proximal) : nullptr,
       output != nullptr ? &(output->voltage_distal) : nullptr,
       output != nullptr ? &(output->release_arm_brake) : nullptr,
-      output != nullptr ? &(output->claw_grabbed) : nullptr, &(status->arm),
-      unsafe_goal != nullptr ? unsafe_goal->voltage_winch > 1.0 : false);
+      output != nullptr ? &(output->claw_grabbed) : nullptr, &(status->arm));
 
   if (output) {
     if (unsafe_goal) {
diff --git a/y2018/control_loops/superstructure/superstructure.q b/y2018/control_loops/superstructure/superstructure.q
index e2cad73..fc1d935 100644
--- a/y2018/control_loops/superstructure/superstructure.q
+++ b/y2018/control_loops/superstructure/superstructure.q
@@ -140,7 +140,11 @@
 
     double voltage_winch;
 
+    double open_threshold;
+
     bool disable_box_correct;
+
+    bool trajectory_override;
   };
 
   message Status {