diff --git a/rocolib/builders/boat/BatteryStackHolder.py b/rocolib/builders/boat/BatteryStackHolderBuilder.py
similarity index 100%
rename from rocolib/builders/boat/BatteryStackHolder.py
rename to rocolib/builders/boat/BatteryStackHolderBuilder.py
diff --git a/rocolib/builders/boat/BoatWithServoMountAndStack.py b/rocolib/builders/boat/BoatWithServoMountAndStack.py
deleted file mode 100644
index 974a3189aab33f084123ae641b3069803e953b65..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatWithServoMountAndStack.py
+++ /dev/null
@@ -1,25 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addSubcomponent("boatwithservo", "BoatWithServoMount", inherit=True, prefix=None)
-c.inheritAllInterfaces("boatwithservo")
-c.addSubcomponent("espStack", "StackMount", inherit=True)
-c.inheritAllInterfaces("espStack")
-c.addSubcomponent("batterystackmount", "BatteryStackMount")
-c.inheritAllInterfaces("batterystackmount")
-
-c.addSubcomponent("topPortSplit", "SplitEdge")
-c.addConstraint(("topPortSplit", "toplength"), ("topDistance"), "(x,)")
-c.addConstraint(("topPortSplit", "botlength"), ("topDistance", "espStack.stack.length"), "(x[1], x[0] - x[1])") #but the value of the new component's boat.length parameter is completely disconnected from the value of the boat component's boat.length parameter
-c.addConnection(("topPortSplit", "topedge0"), ("boatwithservo", "topPort")) #both face the same direction
-c.addConnection(("topPortSplit", "botedge0"), ("espStack", "leftArmInterface"), angle=45)
-
-c.addSubcomponent("topStarSplit", "SplitEdge")
-c.addConstraint(("topStarSplit", "toplength"), ("topDistance"), "(x,)")
-c.addConstraint(("topStarSplit", "botlength"), ("topDistance", "espStack.stack.length"), "(x[0]-x[1], x[1])") #but the value of the new component's boat.length parameter is completely disconnected from the value of the boat component's boat.length parameter
-c.addConnection(("topStarSplit", "topedge0"), ("boatwithservo", "topStar")) #both face the same direction
-c.addConnection(("topStarSplit", "botedge1"), ("espStack", "rightArmInterface"), tabWidth=10)
-
-c.toLibrary("BoatWithServoMountAndStack")
diff --git a/rocolib/builders/boat/BoatWithServoStackBatteryBuilder.py b/rocolib/builders/boat/BoatWithServoStackBatteryBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..f5ade31f68a9c3f8298c85a1687d881f07f10ee0
--- /dev/null
+++ b/rocolib/builders/boat/BoatWithServoStackBatteryBuilder.py
@@ -0,0 +1,12 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+c = Component()
+
+c.addSubcomponent("boat", "BoatBase", inherit=True, prefix=None)
+c.inheritAllInterfaces("boat")
+
+c.addSubcomponent("servostackbattery", "ServoStackBatteryMount")
+# c.inheritAllInterfaces("servostackbattery")
+
+c.toLibrary("BoatWithServoStackBattery")
diff --git a/rocolib/builders/boat/HouseboatWithServoMountAndStack.py b/rocolib/builders/boat/HouseboatWithServoMountAndStackBuilder.py
similarity index 94%
rename from rocolib/builders/boat/HouseboatWithServoMountAndStack.py
rename to rocolib/builders/boat/HouseboatWithServoMountAndStackBuilder.py
index 9f4a97f124a9b439b002b84bcf469b6bc4aab068..50b47595478542affcb46c95933adbc7a2d13834 100644
--- a/rocolib/builders/boat/HouseboatWithServoMountAndStack.py
+++ b/rocolib/builders/boat/HouseboatWithServoMountAndStackBuilder.py
@@ -5,7 +5,7 @@ c = Component()
 
 c.addSubcomponent("houseboat", "Tug", inherit=True)
 c.inheritAllInterfaces("houseboat")
-c.addSubcomponent("servosandstack", "ServoMountAndStack", inherit=True)
+c.addSubcomponent("servostackbattery", "ServoStackBatteryMount", inherit=True)
 c.inheritAllInterfaces("servosandstack")
 
 # c.addSubcomponent("topPortSplit", "SplitEdge")
diff --git a/rocolib/builders/boat/ServoStackBatteryMount.py b/rocolib/builders/boat/ServoStackBatteryMountBuilder.py
similarity index 100%
rename from rocolib/builders/boat/ServoStackBatteryMount.py
rename to rocolib/builders/boat/ServoStackBatteryMountBuilder.py
diff --git a/rocolib/library/BoatWithServoStackBattery.yaml b/rocolib/library/BoatWithServoStackBattery.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e2e495b288057e55bd205dddbb5f3ad610b2ed3a
--- /dev/null
+++ b/rocolib/library/BoatWithServoStackBattery.yaml
@@ -0,0 +1,59 @@
+connections: {}
+interfaces:
+  boat.portedge:
+    interface: portedge
+    subcomponent: boat
+  boat.staredge:
+    interface: staredge
+    subcomponent: boat
+parameters:
+  boat.depth:
+    defaultValue: 20
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  boat.length:
+    defaultValue: 100
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  boat.width:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  bow.point:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  stern.point:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+source: ../builders/boat/BoatWithServoStackBatteryBuilder.py
+subcomponents:
+  boat:
+    classname: BoatBase
+    kwargs: {}
+    parameters:
+      boat.depth:
+        parameter: boat.depth
+      boat.length:
+        parameter: boat.length
+      boat.width:
+        parameter: boat.width
+      bow.point:
+        parameter: bow.point
+      stern.point:
+        parameter: stern.point
+  servostackbattery:
+    classname: ServoStackBatteryMount
+    kwargs: {}
+    parameters: {}
diff --git a/rocolib/library/ServoStackBatteryMount.yaml b/rocolib/library/ServoStackBatteryMount.yaml
index 74ae443db92b86d10a06961a4b04c2fe8fdd80ef..691c397df3ae4c7a8cc3290e3e441ab74097bef8 100644
--- a/rocolib/library/ServoStackBatteryMount.yaml
+++ b/rocolib/library/ServoStackBatteryMount.yaml
@@ -2697,7 +2697,7 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
-source: ../builders/boat/ServoStackBatteryMount.py
+source: ../builders/boat/ServoStackBatteryMountBuilder.py
 subcomponents:
   batterystackmount:
     classname: BatteryStackMount
diff --git a/rocolib/output/BoatWithServoStackBattery/graph-anim.svg b/rocolib/output/BoatWithServoStackBattery/graph-anim.svg
new file mode 100644
index 0000000000000000000000000000000000000000..641cf119a706dd51b7adf10f01d5273f24384a17
--- /dev/null
+++ b/rocolib/output/BoatWithServoStackBattery/graph-anim.svg
@@ -0,0 +1,634 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:ev="http://www.w3.org/2001/xml-events" xmlns:xlink="http://www.w3.org/1999/xlink" baseProfile="full" height="254.160204mm" version="1.1" viewBox="0.000000 0.000000 873.466804 254.160204" width="873.466804mm">
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diff --git a/rocolib/output/BoatWithServoStackBattery/graph-lasercutter.svg b/rocolib/output/BoatWithServoStackBattery/graph-lasercutter.svg
new file mode 100644
index 0000000000000000000000000000000000000000..f0bd6d27a98c2275d4f0f8126a7ef2cf6b3159b5
--- /dev/null
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diff --git a/rocolib/output/BoatWithServoStackBattery/tree.png b/rocolib/output/BoatWithServoStackBattery/tree.png
new file mode 100644
index 0000000000000000000000000000000000000000..c721c3e07badc5055fe700c424da10de2d5b9124
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