diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index cde885c..6c74a74 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -8,7 +8,7 @@
 points['Neutral'] = np.array((np.pi, 0.0, 0.0))
 
 points['GroundPickupBackConeUp'] = to_theta_with_circular_index_and_roll(
-    -1.07774334, 0.36308701, np.pi / 2.0, circular_index=1)
+    -1.07774334, 0.40, np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
@@ -20,21 +20,74 @@
         control_alpha_rolls=[(0.30, 0.0), (.95, np.pi / 2.0)],
     ))
 
-points['GroundPickupBackConeDown'] = to_theta_with_circular_index_and_roll(
-    -1.11487594, 0.23140145, np.pi / 2.0, circular_index=1)
+points['GroundPickupBackConeDownBase'] = to_theta_with_circular_index_and_roll(
+    -1.11487594, 0.25, np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
-        name="NeutralToGroundPickupBackConeDown",
+        name="NeutralToGroundPickupBackConeDownBase",
         start=points['Neutral'],
         control1=np.array([3.170156, -0.561227]),
         control2=np.array([2.972776, -1.026820]),
-        end=points['GroundPickupBackConeDown'],
+        end=points['GroundPickupBackConeDownBase'],
         control_alpha_rolls=[(0.30, 0.0), (.95, np.pi / 2.0)],
     ))
 
+points[
+    'GroundPickupFrontConeDownBase'] = to_theta_with_circular_index_and_roll(
+        0.263207, 0.24, -np.pi / 2.0, circular_index=0)
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="NeutralToGroundPickupFrontConeDownBase",
+        start=points['Neutral'],
+        control1=np.array([3.495221564200401, 0.4737763579250964]),
+        control2=np.array([4.110392601248856, 1.0424853539638115]),
+        end=points['GroundPickupFrontConeDownBase'],
+        control_alpha_rolls=[(0.30, 0.0), (.95, -np.pi / 2.0)],
+    ))
+
+points['ScoreFrontLowConeDownBase'] = to_theta_with_circular_index_and_roll(
+    0.328533, 0.40, -np.pi / 2.0, circular_index=0)
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="NeutralToScoreFrontLowConeDownBase",
+        start=points['Neutral'],
+        control1=np.array([3.153481004695907, 0.4827717171390571]),
+        control2=np.array([4.107487625131798, 0.9935705415901082]),
+        end=points['ScoreFrontLowConeDownBase'],
+        control_alpha_rolls=[(0.30, 0.0), (.95, -np.pi / 2.0)],
+    ))
+
+points['ScoreFrontMidConeDownBase'] = to_theta_with_circular_index_and_roll(
+    0.697179, 0.88, -np.pi / 2.0, circular_index=0)
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="NeutralToScoreFrontMidConeDownBase",
+        start=points['Neutral'],
+        control1=np.array([3.2296966803523395, 0.4274365560093907]),
+        control2=np.array([3.111677631381042, 0.6783534686461494]),
+        end=points['ScoreFrontMidConeDownBase'],
+        control_alpha_rolls=[(0.30, 0.0), (.95, -np.pi / 2.0)],
+    ))
+
+points['ScoreFrontHighConeDownBase'] = to_theta_with_circular_index_and_roll(
+    1.04686, 1.13243, -np.pi / 2.0, circular_index=0)
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="NeutralToScoreFrontHighConeDownBase",
+        start=points['Neutral'],
+        control1=np.array([2.7653359284612185, 0.3091554519868296]),
+        control2=np.array([2.6035409027556344, 0.5009078441624968]),
+        end=points['ScoreFrontHighConeDownBase'],
+        control_alpha_rolls=[(0.30, 0.0), (.95, -np.pi / 2.0)],
+    ))
+
 points['GroundPickupBackCube'] = to_theta_with_circular_index_and_roll(
-    -1.102, 0.25, -np.pi / 2.0, circular_index=1)
+    -1.102, 0.30, -np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
@@ -59,34 +112,80 @@
         control_alpha_rolls=[(0.4, 0.0), (.9, np.pi / 2.0)],
     ))
 
-points['ScoreBackMidConeUpPos'] = to_theta_with_circular_index_and_roll(
-    -1.41871454, 1.07476162, np.pi / 2.0, circular_index=0)
+points['ScoreBackMidConeUp'] = to_theta_with_circular_index_and_roll(
+    -1.33013, 1.08354, np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
         name="NeutralToBackMidConeUpScore",
         start=points['Neutral'],
-        control1=np.array([0.994244, -1.417442]),
-        control2=np.array([1.711325, -0.679748]),
-        end=points['ScoreBackMidConeUpPos'],
+        control1=np.array([3.6130298244820453, -0.2781204657180023]),
+        control2=np.array([3.804763224169111, -0.5179424890517237]),
+        end=points['ScoreBackMidConeUp'],
         control_alpha_rolls=[(0.40, 0.0), (.95, np.pi / 2.0)],
     ))
 
-points['ScoreBackMidConeDownPos'] = to_theta_with_circular_index_and_roll(
+points['ScoreBackLowConeUp'] = to_theta_with_circular_index_and_roll(
+    -1.00472, 0.672615, np.pi / 2.0, circular_index=1)
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="NeutralToBackLowConeUpScore",
+        start=points['Neutral'],
+        control1=np.array([3.260123029490386, -0.5296803702636037]),
+        control2=np.array([3.1249665389044283, -0.7810758529482493]),
+        end=points['ScoreBackLowConeUp'],
+        control_alpha_rolls=[(0.40, 0.0), (.95, np.pi / 2.0)],
+    ))
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="GroundPickupBackConeUpToBackLowConeUpScore",
+        start=points['GroundPickupBackConeUp'],
+        control1=np.array([2.943017165830755, -1.3740647485244808]),
+        control2=np.array([2.941104610508278, -1.2434759967435083]),
+        end=points['ScoreBackLowConeUp'],
+        control_alpha_rolls=[],
+    ))
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="ScoreBackLowConeUpToScoreBackMidConeUp",
+        start=points['ScoreBackLowConeUp'],
+        control1=np.array([3.2930271753937728, -0.9256552441650734]),
+        control2=np.array([3.6425461598470568, -0.8085366888146934]),
+        end=points['ScoreBackMidConeUp'],
+        control_alpha_rolls=[],
+    ))
+
+points['ScoreBackMidConeDownBase'] = to_theta_with_circular_index_and_roll(
     -1.37792406, 0.81332449, np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
-        name="NeutralToMidConeDownScore",
+        name="NeutralToMidConeDownBaseScore",
         start=points['Neutral'],
         control1=np.array([3.394572, -0.239378]),
         control2=np.array([3.654854, -0.626835]),
-        end=points['ScoreBackMidConeDownPos'],
+        end=points['ScoreBackMidConeDownBase'],
+        control_alpha_rolls=[(0.40, 0.0), (.95, np.pi / 2.0)],
+    ))
+
+points['ScoreBackLowConeDownBase'] = to_theta_with_circular_index_and_roll(
+    -1.06372, 0.442764, np.pi / 2.0, circular_index=1)
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="NeutralToLowConeDownBaseScore",
+        start=points['Neutral'],
+        control1=np.array([2.8613439132427896, -0.5868069120126034]),
+        control2=np.array([2.9041434685529923, -1.240030040719494]),
+        end=points['ScoreBackLowConeDownBase'],
         control_alpha_rolls=[(0.40, 0.0), (.95, np.pi / 2.0)],
     ))
 
 points['HPPickupBackConeUp'] = to_theta_with_circular_index_and_roll(
-    -1.1050539, 1.31390128, np.pi / 2.0, circular_index=0)
+    -1.1050539, 1.34, np.pi / 2.0, circular_index=0)
 
 named_segments.append(
     ThetaSplineSegment(
@@ -98,7 +197,22 @@
         control_alpha_rolls=[(0.7, 0.0), (.9, np.pi / 2.0)],
     ))
 
-points['ScoreFrontHighConeUpPos'] = to_theta_with_circular_index_and_roll(
+points['HPPickupFrontConeUp'] = np.array(
+    (5.16514378449353, 1.26, -np.pi / 2.0))
+#        to_theta_with_circular_index_and_roll(
+#    0.265749, 1.28332, -np.pi / 2.0, circular_index=1)
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="NeutralToHPPickupFrontConeUp",
+        start=points['Neutral'],
+        control1=np.array([4.068204933788692, -0.05440997896697275]),
+        control2=np.array([4.861911360838861, -0.03790410600482508]),
+        end=points['HPPickupFrontConeUp'],
+        control_alpha_rolls=[(0.7, 0.0), (.9, -np.pi / 2.0)],
+    ))
+
+points['ScoreFrontHighConeUp'] = to_theta_with_circular_index_and_roll(
     0.98810344, 1.37536719, -np.pi / 2.0, circular_index=0)
 
 named_segments.append(
@@ -107,11 +221,11 @@
         start=points['Neutral'],
         control1=np.array([2.594244, 0.417442]),
         control2=np.array([1.51325, 0.679748]),
-        end=points['ScoreFrontHighConeUpPos'],
+        end=points['ScoreFrontHighConeUp'],
         control_alpha_rolls=[(0.40, 0.0), (.95, -np.pi / 2.0)],
     ))
 
-points['ScoreFrontMidConeUpPos'] = to_theta_with_circular_index_and_roll(
+points['ScoreFrontMidConeUp'] = to_theta_with_circular_index_and_roll(
     0.43740453, 1.06330555, -np.pi / 2.0, circular_index=0)
 
 named_segments.append(
@@ -120,7 +234,7 @@
         start=points['Neutral'],
         control1=np.array([3.0, 0.317442]),
         control2=np.array([2.9, 0.479748]),
-        end=points['ScoreFrontMidConeUpPos'],
+        end=points['ScoreFrontMidConeUp'],
         control_alpha_rolls=[(0.40, 0.0), (.95, -np.pi / 2.0)],
     ))
 
@@ -137,19 +251,6 @@
         control_alpha_rolls=[(0.4, 0.0), (.9, np.pi / 2.0)],
     ))
 
-points['ScoreBackLowCube'] = to_theta_with_circular_index_and_roll(
-    -1.102, 0.30, -np.pi / 2.0, circular_index=1)
-
-named_segments.append(
-    ThetaSplineSegment(
-        name="NeutralToScoreLowBackCube",
-        start=points['Neutral'],
-        control1=np.array([3.153228, -0.497009]),
-        control2=np.array([2.972776, -1.026820]),
-        end=points['ScoreBackLowCube'],
-        control_alpha_rolls=[(0.7, 0.0), (.9, -np.pi / 2.0)],
-    ))
-
 points['ScoreFrontMidCube'] = to_theta_with_circular_index_and_roll(
     0.517846, 0.87, np.pi / 2.0, circular_index=0)
 
@@ -163,6 +264,16 @@
         control_alpha_rolls=[(0.4, np.pi * 0.0), (0.95, np.pi * 0.5)],
     ))
 
+named_segments.append(
+    ThetaSplineSegment(
+        name="ScoreFrontLowCubeToScoreFrontMidCube",
+        start=points["ScoreFrontLowCube"],
+        control1=np.array([3.8237323383577078, 1.2979562720646056]),
+        control2=np.array([3.63484177908944, 1.008850428344438]),
+        end=points["ScoreFrontMidCube"],
+        control_alpha_rolls=[],
+    ))
+
 points['ScoreFrontHighCube'] = to_theta_with_circular_index_and_roll(
     0.901437, 1.16, np.pi / 2.0, circular_index=0)
 
@@ -176,6 +287,29 @@
         control_alpha_rolls=[(0.4, np.pi * 0.0), (0.95, np.pi * 0.5)],
     ))
 
+named_segments.append(
+    ThetaSplineSegment(
+        name="ScoreFrontMidCubeToScoreFrontHighCube",
+        start=points["ScoreFrontMidCube"],
+        control1=np.array([2.9229652375897004, 0.7771801809056819]),
+        control2=np.array([2.634276444896239, 0.5696525540129302]),
+        end=points["ScoreFrontHighCube"],
+        control_alpha_rolls=[],
+    ))
+
+points['ScoreBackLowCube'] = to_theta_with_circular_index_and_roll(
+    -1.102, 0.30, -np.pi / 2.0, circular_index=1)
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="NeutralToScoreLowBackCube",
+        start=points['Neutral'],
+        control1=np.array([3.153228, -0.497009]),
+        control2=np.array([2.972776, -1.026820]),
+        end=points['ScoreBackLowCube'],
+        control_alpha_rolls=[(0.7, 0.0), (.9, -np.pi / 2.0)],
+    ))
+
 points['ScoreBackMidCube'] = to_theta_with_circular_index_and_roll(
     -1.27896, 0.84, -np.pi / 2.0, circular_index=1)
 
@@ -189,6 +323,16 @@
         control_alpha_rolls=[(0.3, -np.pi * 0.0), (0.95, -np.pi * 0.5)],
     ))
 
+named_segments.append(
+    ThetaSplineSegment(
+        name="ScoreBackLowCubeToScoreBackMidCube",
+        start=points["ScoreBackLowCube"],
+        control1=np.array([3.1075630474968694, -1.1675095818664531]),
+        control2=np.array([3.3377520447373232, -1.1054408842366303]),
+        end=points["ScoreBackMidCube"],
+        control_alpha_rolls=[],
+    ))
+
 # TODO(austin): This doesn't produce the next line...
 #points['ScoreBackHighCube'] = to_theta_with_circular_index_and_roll(
 #    -1.60932, 1.16839, np.pi / 2.0, circular_index=0)
@@ -205,18 +349,70 @@
         control_alpha_rolls=[(0.3, -np.pi * 0.0), (0.95, -np.pi * 0.5)],
     ))
 
-points['ConeDownPos'] = to_theta_with_circular_index_and_roll(0.7,
-                                                              0.11,
-                                                              np.pi / 2.0,
-                                                              circular_index=0)
 named_segments.append(
     ThetaSplineSegment(
-        name="NeutralToConeDown",
+        name="ScoreBackMidCubeToScoreBackHighCube",
+        start=points["ScoreBackMidCube"],
+        control1=np.array([4.03651864313893, -0.919229198708873]),
+        control2=np.array([4.377346803653962, -1.0167608157302999]),
+        end=points["ScoreBackHighCube"],
+        control_alpha_rolls=[],
+    ))
+
+points['GroundPickupFrontConeUp'] = to_theta_with_circular_index_and_roll(
+    0.313099, 0.380, -np.pi / 2.0, circular_index=0)
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="NeutralToGroundPickupFrontConeUp",
         start=points['Neutral'],
-        control1=np.array([2.396694, 0.508020]),
-        control2=np.array([2.874513, 0.933160]),
-        end=points['ConeDownPos'],
-        control_alpha_rolls=[(0.30, 0.0), (.95, np.pi / 2.0)],
+        control1=np.array([3.153481004695907, 0.4827717171390571]),
+        control2=np.array([4.107487625131798, 0.9935705415901082]),
+        end=points['GroundPickupFrontConeUp'],
+        control_alpha_rolls=[(0.30, 0.0), (.95, -np.pi / 2.0)],
+    ))
+
+points['ScoreFrontLowConeUp'] = to_theta_with_circular_index_and_roll(
+    0.349687, 0.468804, -np.pi / 2.0, circular_index=0)
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="NeutralToScoreFrontLowConeUp",
+        start=points['Neutral'],
+        control1=np.array([3.153481004695907, 0.4827717171390571]),
+        control2=np.array([4.107487625131798, 0.9935705415901082]),
+        end=points['ScoreFrontLowConeUp'],
+        control_alpha_rolls=[(0.30, 0.0), (.95, -np.pi / 2.0)],
+    ))
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="GroundPickupFrontConeUpToScoreFrontLowConeUp",
+        start=points['GroundPickupFrontConeUp'],
+        control1=np.array([4.14454438793702, 1.680256664914554]),
+        control2=np.array([4.159014136030164, 1.6617266432775355]),
+        end=points['ScoreFrontLowConeUp'],
+        control_alpha_rolls=[],
+    ))
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="ScoreFrontLowConeUpToScoreFrontMidConeUp",
+        start=points['ScoreFrontLowConeUp'],
+        control1=np.array([4.144103145250675, 1.3519566301042056]),
+        control2=np.array([3.5357641970552223, 0.8105698293886593]),
+        end=points['ScoreFrontMidConeUp'],
+        control_alpha_rolls=[],
+    ))
+
+named_segments.append(
+    ThetaSplineSegment(
+        name="ScoreFrontMidConeUpToScoreFrontHighConeUp",
+        start=points['ScoreFrontMidConeUp'],
+        control1=np.array([2.417981958011055, 0.48234108399079134]),
+        control2=np.array([2.1651435746478045, 0.4937628492739232]),
+        end=points['ScoreFrontHighConeUp'],
+        control_alpha_rolls=[],
     ))
 
 front_points = []
diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index 220f3d8..3252030 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -765,7 +765,7 @@
     auto builder = superstructure_goal_sender_.MakeBuilder();
 
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
-    goal_builder.add_arm_goal_position(arm::ScoreBackMidConeUpPosIndex());
+    goal_builder.add_arm_goal_position(arm::ScoreBackMidConeUpIndex());
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
@@ -791,7 +791,7 @@
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
-    goal_builder.add_arm_goal_position(arm::ScoreBackMidConeUpPosIndex());
+    goal_builder.add_arm_goal_position(arm::ScoreBackMidConeUpIndex());
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
@@ -808,7 +808,7 @@
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
-    goal_builder.add_arm_goal_position(arm::ScoreBackMidConeUpPosIndex());
+    goal_builder.add_arm_goal_position(arm::ScoreBackMidConeUpIndex());
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }
 
@@ -819,7 +819,7 @@
   {
     auto builder = superstructure_goal_sender_.MakeBuilder();
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
-    goal_builder.add_arm_goal_position(arm::ConeDownPosIndex());
+    goal_builder.add_arm_goal_position(arm::ScoreFrontLowConeUpIndex());
     ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
   }