diff --git a/y2018/analysis/arm b/y2018/analysis/arm
index 3aa101d..2e99daa 100644
--- a/y2018/analysis/arm
+++ b/y2018/analysis/arm
@@ -2,6 +2,8 @@
 superstructure.stripped output voltage_proximal
 
 superstructure.stripped status arm path_distance_to_go
+superstructure.stripped goal arm_goal_position
+superstructure.stripped status arm current_node
 
 superstructure.stripped status arm proximal_estimator_state position
 superstructure.stripped status arm goal_theta0
diff --git a/y2018/control_loops/python/graph_edit.py b/y2018/control_loops/python/graph_edit.py
index fbf5f8b..0694ae0 100644
--- a/y2018/control_loops/python/graph_edit.py
+++ b/y2018/control_loops/python/graph_edit.py
@@ -172,7 +172,7 @@
     def __init__(self):
         super(Silly, self).__init__()
 
-        self.theta_version = True
+        self.theta_version = False
         self.reinit_extents()
 
         self.last_pos = (numpy.pi / 2.0, 1.0)
@@ -421,6 +421,11 @@
                   (self.last_pos[0], self.last_pos[1],
                    self.circular_index_select))
 
+        print('c1: numpy.array([%f, %f])' % (self.segments[0].control1[0],
+                                             self.segments[0].control1[1]))
+        print('c2: numpy.array([%f, %f])' % (self.segments[0].control2[0],
+                                             self.segments[0].control2[1]))
+
         self.redraw()
 
 
diff --git a/y2018/control_loops/python/graph_generate.py b/y2018/control_loops/python/graph_generate.py
index 642a006..dae7caa 100644
--- a/y2018/control_loops/python/graph_generate.py
+++ b/y2018/control_loops/python/graph_generate.py
@@ -531,7 +531,7 @@
 self_hang = numpy.array(
     [numpy.pi / 2.0 - 0.191611, numpy.pi / 2.0])
 partner_hang = numpy.array(
-    [numpy.pi / 2.0 - (-0.25), numpy.pi / 2.0])
+    [numpy.pi / 2.0 - (-0.30), numpy.pi / 2.0])
 
 above_hang = numpy.array(
     [numpy.pi / 2.0 - 0.14, numpy.pi / 2.0 - (-0.165)])
@@ -663,11 +663,17 @@
 tall_to_back_high_c2 = numpy.array([1.508610, 0.946147])
 
 # If true, only plot the first named segment
-isolate = 0
+isolate = False
 
 long_alpha_unitizer = numpy.matrix([[1.0 / 17.0, 0.0], [0.0, 1.0 / 17.0]])
 
+neutral_to_back_c1 = numpy.array([0.702527, -2.618276])
+neutral_to_back_c2 = numpy.array([0.526914, -3.109691])
+
+
 named_segments = [
+    ThetaSplineSegment(neutral, neutral_to_back_c1, neutral_to_back_c2, back_switch, "BackSwitch"),
+
     ThetaSplineSegment(neutral, neutral_to_back_low_c1, tall_to_back_high_c2, back_high_box, "NeutralBoxToHigh", alpha_unitizer=long_alpha_unitizer),
     ThetaSplineSegment(neutral, neutral_to_back_low_c1, tall_to_back_high_c2, back_middle2_box, "NeutralBoxToMiddle2", long_alpha_unitizer),
     ThetaSplineSegment(neutral, neutral_to_back_low_c1, tall_to_back_low_c2, back_middle1_box, "NeutralBoxToMiddle1", long_alpha_unitizer),
@@ -713,7 +719,6 @@
     SplineSegment(ready_above_box, ready_to_up_c1, ready_to_up_c2, up),
     ThetaSplineSegment(duck, duck_c1, duck_c2, neutral),
     SplineSegment(neutral, front_switch_c1, front_switch_c2, front_switch),
-    AngleSegment(neutral, back_switch),
 
     XYSegment(ready_above_box, front_low_box),
     XYSegment(ready_above_box, front_switch),