diff --git a/rocolib/builders/boat/BoatWithServoMountAndStack.py b/rocolib/builders/boat/BoatWithServoMountAndStack.py
index 1d3416317e52abba1aa5738ae366c05ee5459914..974a3189aab33f084123ae641b3069803e953b65 100644
--- a/rocolib/builders/boat/BoatWithServoMountAndStack.py
+++ b/rocolib/builders/boat/BoatWithServoMountAndStack.py
@@ -7,6 +7,8 @@ c.addSubcomponent("boatwithservo", "BoatWithServoMount", inherit=True, prefix=No
 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,)")
diff --git a/rocolib/builders/boat/BoatWithServoStackBattery.py b/rocolib/builders/boat/BoatWithServoStackBattery.py
deleted file mode 100644
index 40f5b76d8d57913dcec8c9301a330a46ddfaf866..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatWithServoStackBattery.py
+++ /dev/null
@@ -1,12 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addSubcomponent("boatwithservostack", "BoatWithServoMountAndStack", inherit=True, prefix=None)
-c.inheritAllInterfaces("boatwithservostack")
-
-c.addSubcomponent("batterystackmount", "BatteryStackMount")
-c.inheritAllInterfaces("batterystackmount")
-
-c.toLibrary("BoatWithServoStackBattery")
diff --git a/rocolib/builders/boat/HouseboatWithServoMountAndStack.py b/rocolib/builders/boat/HouseboatWithServoMountAndStack.py
index 1d3416317e52abba1aa5738ae366c05ee5459914..9f4a97f124a9b439b002b84bcf469b6bc4aab068 100644
--- a/rocolib/builders/boat/HouseboatWithServoMountAndStack.py
+++ b/rocolib/builders/boat/HouseboatWithServoMountAndStack.py
@@ -3,21 +3,21 @@ 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("houseboat", "Tug", inherit=True)
+c.inheritAllInterfaces("houseboat")
+c.addSubcomponent("servosandstack", "ServoMountAndStack", inherit=True)
+c.inheritAllInterfaces("servosandstack")
 
-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("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.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")
+c.toLibrary("HouseboatWithServoMountAndStack")
diff --git a/rocolib/builders/boat/ServoStackBatteryMount.py b/rocolib/builders/boat/ServoStackBatteryMount.py
new file mode 100644
index 0000000000000000000000000000000000000000..3eea7831c9ab43829a85585c61ddb6869e9b4a01
--- /dev/null
+++ b/rocolib/builders/boat/ServoStackBatteryMount.py
@@ -0,0 +1,28 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+c = Component()
+
+c.addSubcomponent("servosandstack", "ServoMountAndStack", inherit=True)
+c.inheritAllInterfaces("servosandstack")
+
+c.addSubcomponent("batterystackmount", "BatteryStackMount")
+c.inheritAllInterfaces("batterystackmount")
+
+c.addSubcomponent("lfullsplit", "SplitEdge", inherit=True)
+c.inheritAllInterfaces("lfullsplit")
+c.addConstConstraint(("lfullsplit", "toplength"), (228,))
+c.addConstConstraint(("lfullsplit", "botlength"), (168, 60)) #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(("lfullsplit", "botedge0"), ("batterystackmount", "leftArmInterface"))
+#c.addConnection(("lfullsplit", "botedge1"), ("servosandstack", "botedge0"))
+
+c.addSubcomponent("rfullsplit", "SplitEdge", inherit=True)
+c.inheritAllInterfaces("rfullsplit")
+c.addConstConstraint(("rfullsplit", "toplength"), (228,))
+c.addConstConstraint(("rfullsplit", "botlength"), (60, 168)) #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(("rfullsplit", "botedge0"), ("batterystackmount", "rightArmInterface"), tabWidth=10)
+#c.addConnection(("rfullsplit", "botedge1"), ("servosandstack", "botedge0"))
+
+c.toLibrary("ServoStackBatteryMount")
diff --git a/rocolib/library/HouseboatWithServoMountAndStack.yaml b/rocolib/library/HouseboatWithServoMountAndStack.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6e47990ce1906ec6a241b8f19e16e5a50100658c
--- /dev/null
+++ b/rocolib/library/HouseboatWithServoMountAndStack.yaml
@@ -0,0 +1,1459 @@
+connections: {}
+interfaces:
+  servosandstack.doubleServoMount.lServoInterface:
+    interface: doubleServoMount.lServoInterface
+    subcomponent: servosandstack
+  servosandstack.doubleServoMount.lServoMount.leftInterface:
+    interface: doubleServoMount.lServoMount.leftInterface
+    subcomponent: servosandstack
+  servosandstack.doubleServoMount.lServoMount.rightInterface:
+    interface: doubleServoMount.lServoMount.rightInterface
+    subcomponent: servosandstack
+  servosandstack.doubleServoMount.rServoInterface:
+    interface: doubleServoMount.rServoInterface
+    subcomponent: servosandstack
+  servosandstack.doubleServoMount.rServoMount.leftInterface:
+    interface: doubleServoMount.rServoMount.leftInterface
+    subcomponent: servosandstack
+  servosandstack.doubleServoMount.rServoMount.rightInterface:
+    interface: doubleServoMount.rServoMount.rightInterface
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge0:
+    interface: portsplit.botedge0
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge1:
+    interface: portsplit.botedge1
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge10:
+    interface: portsplit.botedge10
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge11:
+    interface: portsplit.botedge11
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge12:
+    interface: portsplit.botedge12
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge13:
+    interface: portsplit.botedge13
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge14:
+    interface: portsplit.botedge14
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge15:
+    interface: portsplit.botedge15
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge16:
+    interface: portsplit.botedge16
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge17:
+    interface: portsplit.botedge17
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge18:
+    interface: portsplit.botedge18
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge19:
+    interface: portsplit.botedge19
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge2:
+    interface: portsplit.botedge2
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge20:
+    interface: portsplit.botedge20
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge21:
+    interface: portsplit.botedge21
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge22:
+    interface: portsplit.botedge22
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge23:
+    interface: portsplit.botedge23
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge24:
+    interface: portsplit.botedge24
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge25:
+    interface: portsplit.botedge25
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge26:
+    interface: portsplit.botedge26
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge27:
+    interface: portsplit.botedge27
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge28:
+    interface: portsplit.botedge28
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge29:
+    interface: portsplit.botedge29
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge3:
+    interface: portsplit.botedge3
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge30:
+    interface: portsplit.botedge30
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge31:
+    interface: portsplit.botedge31
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge32:
+    interface: portsplit.botedge32
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge33:
+    interface: portsplit.botedge33
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge34:
+    interface: portsplit.botedge34
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge35:
+    interface: portsplit.botedge35
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge36:
+    interface: portsplit.botedge36
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge37:
+    interface: portsplit.botedge37
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge38:
+    interface: portsplit.botedge38
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge39:
+    interface: portsplit.botedge39
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge4:
+    interface: portsplit.botedge4
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge40:
+    interface: portsplit.botedge40
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge41:
+    interface: portsplit.botedge41
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge42:
+    interface: portsplit.botedge42
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge43:
+    interface: portsplit.botedge43
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge44:
+    interface: portsplit.botedge44
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge45:
+    interface: portsplit.botedge45
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge46:
+    interface: portsplit.botedge46
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge47:
+    interface: portsplit.botedge47
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge48:
+    interface: portsplit.botedge48
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge49:
+    interface: portsplit.botedge49
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge5:
+    interface: portsplit.botedge5
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge50:
+    interface: portsplit.botedge50
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge51:
+    interface: portsplit.botedge51
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge52:
+    interface: portsplit.botedge52
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge53:
+    interface: portsplit.botedge53
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge54:
+    interface: portsplit.botedge54
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge55:
+    interface: portsplit.botedge55
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge56:
+    interface: portsplit.botedge56
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge57:
+    interface: portsplit.botedge57
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge58:
+    interface: portsplit.botedge58
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge59:
+    interface: portsplit.botedge59
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge6:
+    interface: portsplit.botedge6
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge60:
+    interface: portsplit.botedge60
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge61:
+    interface: portsplit.botedge61
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge62:
+    interface: portsplit.botedge62
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge63:
+    interface: portsplit.botedge63
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge64:
+    interface: portsplit.botedge64
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge65:
+    interface: portsplit.botedge65
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge66:
+    interface: portsplit.botedge66
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge67:
+    interface: portsplit.botedge67
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge68:
+    interface: portsplit.botedge68
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge69:
+    interface: portsplit.botedge69
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge7:
+    interface: portsplit.botedge7
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge70:
+    interface: portsplit.botedge70
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge71:
+    interface: portsplit.botedge71
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge72:
+    interface: portsplit.botedge72
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge73:
+    interface: portsplit.botedge73
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge74:
+    interface: portsplit.botedge74
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge75:
+    interface: portsplit.botedge75
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge76:
+    interface: portsplit.botedge76
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge77:
+    interface: portsplit.botedge77
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge78:
+    interface: portsplit.botedge78
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge79:
+    interface: portsplit.botedge79
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge8:
+    interface: portsplit.botedge8
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge80:
+    interface: portsplit.botedge80
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge81:
+    interface: portsplit.botedge81
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge82:
+    interface: portsplit.botedge82
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge83:
+    interface: portsplit.botedge83
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge84:
+    interface: portsplit.botedge84
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge85:
+    interface: portsplit.botedge85
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge86:
+    interface: portsplit.botedge86
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge87:
+    interface: portsplit.botedge87
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge88:
+    interface: portsplit.botedge88
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge89:
+    interface: portsplit.botedge89
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge9:
+    interface: portsplit.botedge9
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge90:
+    interface: portsplit.botedge90
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge91:
+    interface: portsplit.botedge91
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge92:
+    interface: portsplit.botedge92
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge93:
+    interface: portsplit.botedge93
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge94:
+    interface: portsplit.botedge94
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge95:
+    interface: portsplit.botedge95
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge96:
+    interface: portsplit.botedge96
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge97:
+    interface: portsplit.botedge97
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge98:
+    interface: portsplit.botedge98
+    subcomponent: servosandstack
+  servosandstack.portsplit.botedge99:
+    interface: portsplit.botedge99
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge0:
+    interface: portsplit.topedge0
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge1:
+    interface: portsplit.topedge1
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge10:
+    interface: portsplit.topedge10
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge11:
+    interface: portsplit.topedge11
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge12:
+    interface: portsplit.topedge12
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge13:
+    interface: portsplit.topedge13
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge14:
+    interface: portsplit.topedge14
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge15:
+    interface: portsplit.topedge15
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge16:
+    interface: portsplit.topedge16
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge17:
+    interface: portsplit.topedge17
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge18:
+    interface: portsplit.topedge18
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge19:
+    interface: portsplit.topedge19
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge2:
+    interface: portsplit.topedge2
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge20:
+    interface: portsplit.topedge20
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge21:
+    interface: portsplit.topedge21
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge22:
+    interface: portsplit.topedge22
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge23:
+    interface: portsplit.topedge23
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge24:
+    interface: portsplit.topedge24
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge25:
+    interface: portsplit.topedge25
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge26:
+    interface: portsplit.topedge26
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge27:
+    interface: portsplit.topedge27
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge28:
+    interface: portsplit.topedge28
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge29:
+    interface: portsplit.topedge29
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge3:
+    interface: portsplit.topedge3
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge30:
+    interface: portsplit.topedge30
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge31:
+    interface: portsplit.topedge31
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge32:
+    interface: portsplit.topedge32
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge33:
+    interface: portsplit.topedge33
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge34:
+    interface: portsplit.topedge34
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge35:
+    interface: portsplit.topedge35
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge36:
+    interface: portsplit.topedge36
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge37:
+    interface: portsplit.topedge37
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge38:
+    interface: portsplit.topedge38
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge39:
+    interface: portsplit.topedge39
+    subcomponent: servosandstack
+  servosandstack.portsplit.topedge4:
+    interface: portsplit.topedge4
+    subcomponent: servosandstack
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+  servosandstack.starsplit.topedge44:
+    interface: starsplit.topedge44
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge45:
+    interface: starsplit.topedge45
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge46:
+    interface: starsplit.topedge46
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge47:
+    interface: starsplit.topedge47
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge48:
+    interface: starsplit.topedge48
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge49:
+    interface: starsplit.topedge49
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge5:
+    interface: starsplit.topedge5
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge50:
+    interface: starsplit.topedge50
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge51:
+    interface: starsplit.topedge51
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge52:
+    interface: starsplit.topedge52
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge53:
+    interface: starsplit.topedge53
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge54:
+    interface: starsplit.topedge54
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge55:
+    interface: starsplit.topedge55
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge56:
+    interface: starsplit.topedge56
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge57:
+    interface: starsplit.topedge57
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge58:
+    interface: starsplit.topedge58
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge59:
+    interface: starsplit.topedge59
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge6:
+    interface: starsplit.topedge6
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge60:
+    interface: starsplit.topedge60
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge61:
+    interface: starsplit.topedge61
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge62:
+    interface: starsplit.topedge62
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge63:
+    interface: starsplit.topedge63
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge64:
+    interface: starsplit.topedge64
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge65:
+    interface: starsplit.topedge65
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge66:
+    interface: starsplit.topedge66
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge67:
+    interface: starsplit.topedge67
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge68:
+    interface: starsplit.topedge68
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge69:
+    interface: starsplit.topedge69
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge7:
+    interface: starsplit.topedge7
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge70:
+    interface: starsplit.topedge70
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge71:
+    interface: starsplit.topedge71
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge72:
+    interface: starsplit.topedge72
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge73:
+    interface: starsplit.topedge73
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge74:
+    interface: starsplit.topedge74
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge75:
+    interface: starsplit.topedge75
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge76:
+    interface: starsplit.topedge76
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge77:
+    interface: starsplit.topedge77
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge78:
+    interface: starsplit.topedge78
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge79:
+    interface: starsplit.topedge79
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge8:
+    interface: starsplit.topedge8
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge80:
+    interface: starsplit.topedge80
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge81:
+    interface: starsplit.topedge81
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge82:
+    interface: starsplit.topedge82
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge83:
+    interface: starsplit.topedge83
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge84:
+    interface: starsplit.topedge84
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge85:
+    interface: starsplit.topedge85
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge86:
+    interface: starsplit.topedge86
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge87:
+    interface: starsplit.topedge87
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge88:
+    interface: starsplit.topedge88
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge89:
+    interface: starsplit.topedge89
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge9:
+    interface: starsplit.topedge9
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge90:
+    interface: starsplit.topedge90
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge91:
+    interface: starsplit.topedge91
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge92:
+    interface: starsplit.topedge92
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge93:
+    interface: starsplit.topedge93
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge94:
+    interface: starsplit.topedge94
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge95:
+    interface: starsplit.topedge95
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge96:
+    interface: starsplit.topedge96
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge97:
+    interface: starsplit.topedge97
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge98:
+    interface: starsplit.topedge98
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge99:
+    interface: starsplit.topedge99
+    subcomponent: servosandstack
+parameters:
+  houseboat.depth:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  houseboat.height:
+    defaultValue: 30
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  houseboat.length:
+    defaultValue: 200
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  houseboat.width:
+    defaultValue: 60
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.depth:
+    defaultValue: 70
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.depth:
+    defaultValue: 70
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.lArm._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.lArm._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.lArm._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.lArm._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.lArm._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.lArm._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.lArm._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.rArm._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.rArm._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.rArm._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.rArm._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.rArm._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.rArm._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.rArm._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.stack.brains:
+    defaultValue: esp32stack
+    spec:
+      valueType: str
+  servosandstack.espStack.stack.dy1:
+    defaultValue: 18
+    spec:
+      parameterType: length
+  servosandstack.espStack.stack.length:
+    defaultValue: 61
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.width:
+    defaultValue: 70
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.lServoMount.depth:
+    defaultValue: 24
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.lServoMount.length:
+    defaultValue: 34
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.rServoMount.depth:
+    defaultValue: 24
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.rServoMount.length:
+    defaultValue: 34
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.width:
+    defaultValue: 90
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+source: ../builders/boat/HouseboatWithServoMountAndStack.py
+subcomponents:
+  houseboat:
+    classname: Tug
+    kwargs: {}
+    parameters:
+      depth:
+        parameter: houseboat.depth
+      height:
+        parameter: houseboat.height
+      length:
+        parameter: houseboat.length
+      width:
+        parameter: houseboat.width
+  servosandstack:
+    classname: ServoMountAndStack
+    kwargs: {}
+    parameters:
+      depth:
+        parameter: servosandstack.depth
+      espStack.depth:
+        parameter: servosandstack.espStack.depth
+      espStack.lArm._dx:
+        parameter: servosandstack.espStack.lArm._dx
+      espStack.lArm._dy:
+        parameter: servosandstack.espStack.lArm._dy
+      espStack.lArm._dz:
+        parameter: servosandstack.espStack.lArm._dz
+      espStack.lArm._q_a:
+        parameter: servosandstack.espStack.lArm._q_a
+      espStack.lArm._q_i:
+        parameter: servosandstack.espStack.lArm._q_i
+      espStack.lArm._q_j:
+        parameter: servosandstack.espStack.lArm._q_j
+      espStack.lArm._q_k:
+        parameter: servosandstack.espStack.lArm._q_k
+      espStack.rArm._dx:
+        parameter: servosandstack.espStack.rArm._dx
+      espStack.rArm._dy:
+        parameter: servosandstack.espStack.rArm._dy
+      espStack.rArm._dz:
+        parameter: servosandstack.espStack.rArm._dz
+      espStack.rArm._q_a:
+        parameter: servosandstack.espStack.rArm._q_a
+      espStack.rArm._q_i:
+        parameter: servosandstack.espStack.rArm._q_i
+      espStack.rArm._q_j:
+        parameter: servosandstack.espStack.rArm._q_j
+      espStack.rArm._q_k:
+        parameter: servosandstack.espStack.rArm._q_k
+      espStack.stack.brains:
+        parameter: servosandstack.espStack.stack.brains
+      espStack.stack.dy1:
+        parameter: servosandstack.espStack.stack.dy1
+      espStack.stack.length:
+        parameter: servosandstack.espStack.stack.length
+      espStack.width:
+        parameter: servosandstack.espStack.width
+      lServoMount.depth:
+        parameter: servosandstack.lServoMount.depth
+      lServoMount.length:
+        parameter: servosandstack.lServoMount.length
+      rServoMount.depth:
+        parameter: servosandstack.rServoMount.depth
+      rServoMount.length:
+        parameter: servosandstack.rServoMount.length
+      width:
+        parameter: servosandstack.width
diff --git a/rocolib/library/ServoStackBatteryMount.yaml b/rocolib/library/ServoStackBatteryMount.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b1f3aef0a283f812e3a76fcb82383db948e039cf
--- /dev/null
+++ b/rocolib/library/ServoStackBatteryMount.yaml
@@ -0,0 +1,2784 @@
+connections:
+  connection0:
+  - - lfullsplit
+    - botedge0
+  - - batterystackmount
+    - leftArmInterface
+  - {}
+  connection1:
+  - - rfullsplit
+    - botedge0
+  - - batterystackmount
+    - rightArmInterface
+  - tabWidth: 10
+interfaces:
+  batterystackmount.leftArmInterface:
+    interface: leftArmInterface
+    subcomponent: batterystackmount
+  batterystackmount.rightArmInterface:
+    interface: rightArmInterface
+    subcomponent: batterystackmount
+  lfullsplit.botedge0:
+    interface: botedge0
+    subcomponent: lfullsplit
+  lfullsplit.botedge1:
+    interface: botedge1
+    subcomponent: lfullsplit
+  lfullsplit.botedge10:
+    interface: botedge10
+    subcomponent: lfullsplit
+  lfullsplit.botedge11:
+    interface: botedge11
+    subcomponent: lfullsplit
+  lfullsplit.botedge12:
+    interface: botedge12
+    subcomponent: lfullsplit
+  lfullsplit.botedge13:
+    interface: botedge13
+    subcomponent: lfullsplit
+  lfullsplit.botedge14:
+    interface: botedge14
+    subcomponent: lfullsplit
+  lfullsplit.botedge15:
+    interface: botedge15
+    subcomponent: lfullsplit
+  lfullsplit.botedge16:
+    interface: botedge16
+    subcomponent: lfullsplit
+  lfullsplit.botedge17:
+    interface: botedge17
+    subcomponent: lfullsplit
+  lfullsplit.botedge18:
+    interface: botedge18
+    subcomponent: lfullsplit
+  lfullsplit.botedge19:
+    interface: botedge19
+    subcomponent: lfullsplit
+  lfullsplit.botedge2:
+    interface: botedge2
+    subcomponent: lfullsplit
+  lfullsplit.botedge20:
+    interface: botedge20
+    subcomponent: lfullsplit
+  lfullsplit.botedge21:
+    interface: botedge21
+    subcomponent: lfullsplit
+  lfullsplit.botedge22:
+    interface: botedge22
+    subcomponent: lfullsplit
+  lfullsplit.botedge23:
+    interface: botedge23
+    subcomponent: lfullsplit
+  lfullsplit.botedge24:
+    interface: botedge24
+    subcomponent: lfullsplit
+  lfullsplit.botedge25:
+    interface: botedge25
+    subcomponent: lfullsplit
+  lfullsplit.botedge26:
+    interface: botedge26
+    subcomponent: lfullsplit
+  lfullsplit.botedge27:
+    interface: botedge27
+    subcomponent: lfullsplit
+  lfullsplit.botedge28:
+    interface: botedge28
+    subcomponent: lfullsplit
+  lfullsplit.botedge29:
+    interface: botedge29
+    subcomponent: lfullsplit
+  lfullsplit.botedge3:
+    interface: botedge3
+    subcomponent: lfullsplit
+  lfullsplit.botedge30:
+    interface: botedge30
+    subcomponent: lfullsplit
+  lfullsplit.botedge31:
+    interface: botedge31
+    subcomponent: lfullsplit
+  lfullsplit.botedge32:
+    interface: botedge32
+    subcomponent: lfullsplit
+  lfullsplit.botedge33:
+    interface: botedge33
+    subcomponent: lfullsplit
+  lfullsplit.botedge34:
+    interface: botedge34
+    subcomponent: lfullsplit
+  lfullsplit.botedge35:
+    interface: botedge35
+    subcomponent: lfullsplit
+  lfullsplit.botedge36:
+    interface: botedge36
+    subcomponent: lfullsplit
+  lfullsplit.botedge37:
+    interface: botedge37
+    subcomponent: lfullsplit
+  lfullsplit.botedge38:
+    interface: botedge38
+    subcomponent: lfullsplit
+  lfullsplit.botedge39:
+    interface: botedge39
+    subcomponent: lfullsplit
+  lfullsplit.botedge4:
+    interface: botedge4
+    subcomponent: lfullsplit
+  lfullsplit.botedge40:
+    interface: botedge40
+    subcomponent: lfullsplit
+  lfullsplit.botedge41:
+    interface: botedge41
+    subcomponent: lfullsplit
+  lfullsplit.botedge42:
+    interface: botedge42
+    subcomponent: lfullsplit
+  lfullsplit.botedge43:
+    interface: botedge43
+    subcomponent: lfullsplit
+  lfullsplit.botedge44:
+    interface: botedge44
+    subcomponent: lfullsplit
+  lfullsplit.botedge45:
+    interface: botedge45
+    subcomponent: lfullsplit
+  lfullsplit.botedge46:
+    interface: botedge46
+    subcomponent: lfullsplit
+  lfullsplit.botedge47:
+    interface: botedge47
+    subcomponent: lfullsplit
+  lfullsplit.botedge48:
+    interface: botedge48
+    subcomponent: lfullsplit
+  lfullsplit.botedge49:
+    interface: botedge49
+    subcomponent: lfullsplit
+  lfullsplit.botedge5:
+    interface: botedge5
+    subcomponent: lfullsplit
+  lfullsplit.botedge50:
+    interface: botedge50
+    subcomponent: lfullsplit
+  lfullsplit.botedge51:
+    interface: botedge51
+    subcomponent: lfullsplit
+  lfullsplit.botedge52:
+    interface: botedge52
+    subcomponent: lfullsplit
+  lfullsplit.botedge53:
+    interface: botedge53
+    subcomponent: lfullsplit
+  lfullsplit.botedge54:
+    interface: botedge54
+    subcomponent: lfullsplit
+  lfullsplit.botedge55:
+    interface: botedge55
+    subcomponent: lfullsplit
+  lfullsplit.botedge56:
+    interface: botedge56
+    subcomponent: lfullsplit
+  lfullsplit.botedge57:
+    interface: botedge57
+    subcomponent: lfullsplit
+  lfullsplit.botedge58:
+    interface: botedge58
+    subcomponent: lfullsplit
+  lfullsplit.botedge59:
+    interface: botedge59
+    subcomponent: lfullsplit
+  lfullsplit.botedge6:
+    interface: botedge6
+    subcomponent: lfullsplit
+  lfullsplit.botedge60:
+    interface: botedge60
+    subcomponent: lfullsplit
+  lfullsplit.botedge61:
+    interface: botedge61
+    subcomponent: lfullsplit
+  lfullsplit.botedge62:
+    interface: botedge62
+    subcomponent: lfullsplit
+  lfullsplit.botedge63:
+    interface: botedge63
+    subcomponent: lfullsplit
+  lfullsplit.botedge64:
+    interface: botedge64
+    subcomponent: lfullsplit
+  lfullsplit.botedge65:
+    interface: botedge65
+    subcomponent: lfullsplit
+  lfullsplit.botedge66:
+    interface: botedge66
+    subcomponent: lfullsplit
+  lfullsplit.botedge67:
+    interface: botedge67
+    subcomponent: lfullsplit
+  lfullsplit.botedge68:
+    interface: botedge68
+    subcomponent: lfullsplit
+  lfullsplit.botedge69:
+    interface: botedge69
+    subcomponent: lfullsplit
+  lfullsplit.botedge7:
+    interface: botedge7
+    subcomponent: lfullsplit
+  lfullsplit.botedge70:
+    interface: botedge70
+    subcomponent: lfullsplit
+  lfullsplit.botedge71:
+    interface: botedge71
+    subcomponent: lfullsplit
+  lfullsplit.botedge72:
+    interface: botedge72
+    subcomponent: lfullsplit
+  lfullsplit.botedge73:
+    interface: botedge73
+    subcomponent: lfullsplit
+  lfullsplit.botedge74:
+    interface: botedge74
+    subcomponent: lfullsplit
+  lfullsplit.botedge75:
+    interface: botedge75
+    subcomponent: lfullsplit
+  lfullsplit.botedge76:
+    interface: botedge76
+    subcomponent: lfullsplit
+  lfullsplit.botedge77:
+    interface: botedge77
+    subcomponent: lfullsplit
+  lfullsplit.botedge78:
+    interface: botedge78
+    subcomponent: lfullsplit
+  lfullsplit.botedge79:
+    interface: botedge79
+    subcomponent: lfullsplit
+  lfullsplit.botedge8:
+    interface: botedge8
+    subcomponent: lfullsplit
+  lfullsplit.botedge80:
+    interface: botedge80
+    subcomponent: lfullsplit
+  lfullsplit.botedge81:
+    interface: botedge81
+    subcomponent: lfullsplit
+  lfullsplit.botedge82:
+    interface: botedge82
+    subcomponent: lfullsplit
+  lfullsplit.botedge83:
+    interface: botedge83
+    subcomponent: lfullsplit
+  lfullsplit.botedge84:
+    interface: botedge84
+    subcomponent: lfullsplit
+  lfullsplit.botedge85:
+    interface: botedge85
+    subcomponent: lfullsplit
+  lfullsplit.botedge86:
+    interface: botedge86
+    subcomponent: lfullsplit
+  lfullsplit.botedge87:
+    interface: botedge87
+    subcomponent: lfullsplit
+  lfullsplit.botedge88:
+    interface: botedge88
+    subcomponent: lfullsplit
+  lfullsplit.botedge89:
+    interface: botedge89
+    subcomponent: lfullsplit
+  lfullsplit.botedge9:
+    interface: botedge9
+    subcomponent: lfullsplit
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+  servosandstack.starsplit.topedge61:
+    interface: starsplit.topedge61
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge62:
+    interface: starsplit.topedge62
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge63:
+    interface: starsplit.topedge63
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge64:
+    interface: starsplit.topedge64
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge65:
+    interface: starsplit.topedge65
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge66:
+    interface: starsplit.topedge66
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge67:
+    interface: starsplit.topedge67
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge68:
+    interface: starsplit.topedge68
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge69:
+    interface: starsplit.topedge69
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge7:
+    interface: starsplit.topedge7
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge70:
+    interface: starsplit.topedge70
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge71:
+    interface: starsplit.topedge71
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge72:
+    interface: starsplit.topedge72
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge73:
+    interface: starsplit.topedge73
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge74:
+    interface: starsplit.topedge74
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge75:
+    interface: starsplit.topedge75
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge76:
+    interface: starsplit.topedge76
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge77:
+    interface: starsplit.topedge77
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge78:
+    interface: starsplit.topedge78
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge79:
+    interface: starsplit.topedge79
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge8:
+    interface: starsplit.topedge8
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge80:
+    interface: starsplit.topedge80
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge81:
+    interface: starsplit.topedge81
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge82:
+    interface: starsplit.topedge82
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge83:
+    interface: starsplit.topedge83
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge84:
+    interface: starsplit.topedge84
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge85:
+    interface: starsplit.topedge85
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge86:
+    interface: starsplit.topedge86
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge87:
+    interface: starsplit.topedge87
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge88:
+    interface: starsplit.topedge88
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge89:
+    interface: starsplit.topedge89
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge9:
+    interface: starsplit.topedge9
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge90:
+    interface: starsplit.topedge90
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge91:
+    interface: starsplit.topedge91
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge92:
+    interface: starsplit.topedge92
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge93:
+    interface: starsplit.topedge93
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge94:
+    interface: starsplit.topedge94
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge95:
+    interface: starsplit.topedge95
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge96:
+    interface: starsplit.topedge96
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge97:
+    interface: starsplit.topedge97
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge98:
+    interface: starsplit.topedge98
+    subcomponent: servosandstack
+  servosandstack.starsplit.topedge99:
+    interface: starsplit.topedge99
+    subcomponent: servosandstack
+parameters:
+  lfullsplit._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  lfullsplit._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  lfullsplit._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  lfullsplit._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  lfullsplit._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  lfullsplit._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  lfullsplit._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  lfullsplit.width:
+    defaultValue: 0
+    spec: {}
+  rfullsplit._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  rfullsplit._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  rfullsplit._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  rfullsplit._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  rfullsplit._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  rfullsplit._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  rfullsplit._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  rfullsplit.width:
+    defaultValue: 0
+    spec: {}
+  servosandstack.depth:
+    defaultValue: 70
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.depth:
+    defaultValue: 70
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.lArm._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.lArm._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.lArm._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.lArm._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.lArm._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.lArm._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.lArm._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.rArm._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.rArm._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.rArm._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.rArm._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.rArm._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.rArm._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.rArm._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  servosandstack.espStack.stack.brains:
+    defaultValue: esp32stack
+    spec:
+      valueType: str
+  servosandstack.espStack.stack.dy1:
+    defaultValue: 18
+    spec:
+      parameterType: length
+  servosandstack.espStack.stack.length:
+    defaultValue: 61
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.espStack.width:
+    defaultValue: 70
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.lServoMount.depth:
+    defaultValue: 24
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.lServoMount.length:
+    defaultValue: 34
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.rServoMount.depth:
+    defaultValue: 24
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.rServoMount.length:
+    defaultValue: 34
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  servosandstack.width:
+    defaultValue: 90
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+source: ../builders/boat/ServoStackBatteryMount.py
+subcomponents:
+  batterystackmount:
+    classname: BatteryStackMount
+    kwargs: {}
+    parameters: {}
+  lfullsplit:
+    classname: SplitEdge
+    kwargs: {}
+    parameters:
+      _dx:
+        parameter: lfullsplit._dx
+      _dy:
+        parameter: lfullsplit._dy
+      _dz:
+        parameter: lfullsplit._dz
+      _q_a:
+        parameter: lfullsplit._q_a
+      _q_i:
+        parameter: lfullsplit._q_i
+      _q_j:
+        parameter: lfullsplit._q_j
+      _q_k:
+        parameter: lfullsplit._q_k
+      botlength:
+      - 168
+      - 60
+      toplength: &id001
+      - 228
+      width:
+        parameter: lfullsplit.width
+  rfullsplit:
+    classname: SplitEdge
+    kwargs: {}
+    parameters:
+      _dx:
+        parameter: rfullsplit._dx
+      _dy:
+        parameter: rfullsplit._dy
+      _dz:
+        parameter: rfullsplit._dz
+      _q_a:
+        parameter: rfullsplit._q_a
+      _q_i:
+        parameter: rfullsplit._q_i
+      _q_j:
+        parameter: rfullsplit._q_j
+      _q_k:
+        parameter: rfullsplit._q_k
+      botlength:
+      - 60
+      - 168
+      toplength: *id001
+      width:
+        parameter: rfullsplit.width
+  servosandstack:
+    classname: ServoMountAndStack
+    kwargs: {}
+    parameters:
+      depth:
+        parameter: servosandstack.depth
+      espStack.depth:
+        parameter: servosandstack.espStack.depth
+      espStack.lArm._dx:
+        parameter: servosandstack.espStack.lArm._dx
+      espStack.lArm._dy:
+        parameter: servosandstack.espStack.lArm._dy
+      espStack.lArm._dz:
+        parameter: servosandstack.espStack.lArm._dz
+      espStack.lArm._q_a:
+        parameter: servosandstack.espStack.lArm._q_a
+      espStack.lArm._q_i:
+        parameter: servosandstack.espStack.lArm._q_i
+      espStack.lArm._q_j:
+        parameter: servosandstack.espStack.lArm._q_j
+      espStack.lArm._q_k:
+        parameter: servosandstack.espStack.lArm._q_k
+      espStack.rArm._dx:
+        parameter: servosandstack.espStack.rArm._dx
+      espStack.rArm._dy:
+        parameter: servosandstack.espStack.rArm._dy
+      espStack.rArm._dz:
+        parameter: servosandstack.espStack.rArm._dz
+      espStack.rArm._q_a:
+        parameter: servosandstack.espStack.rArm._q_a
+      espStack.rArm._q_i:
+        parameter: servosandstack.espStack.rArm._q_i
+      espStack.rArm._q_j:
+        parameter: servosandstack.espStack.rArm._q_j
+      espStack.rArm._q_k:
+        parameter: servosandstack.espStack.rArm._q_k
+      espStack.stack.brains:
+        parameter: servosandstack.espStack.stack.brains
+      espStack.stack.dy1:
+        parameter: servosandstack.espStack.stack.dy1
+      espStack.stack.length:
+        parameter: servosandstack.espStack.stack.length
+      espStack.width:
+        parameter: servosandstack.espStack.width
+      lServoMount.depth:
+        parameter: servosandstack.lServoMount.depth
+      lServoMount.length:
+        parameter: servosandstack.lServoMount.length
+      rServoMount.depth:
+        parameter: servosandstack.rServoMount.depth
+      rServoMount.length:
+        parameter: servosandstack.rServoMount.length
+      width:
+        parameter: servosandstack.width
diff --git a/rocolib/output/HouseboatWithServoMountAndStack/graph-anim.svg b/rocolib/output/HouseboatWithServoMountAndStack/graph-anim.svg
new file mode 100644
index 0000000000000000000000000000000000000000..8380f50a907a9bad17a4988358263cab396205b2
--- /dev/null
+++ b/rocolib/output/HouseboatWithServoMountAndStack/graph-anim.svg
@@ -0,0 +1,691 @@
+<?xml version="1.0" encoding="utf-8" ?>
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+  <defs/>
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diff --git a/rocolib/output/HouseboatWithServoMountAndStack/tree.png b/rocolib/output/HouseboatWithServoMountAndStack/tree.png
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diff --git a/rocolib/output/ServoStackBatteryMount/tree.png b/rocolib/output/ServoStackBatteryMount/tree.png
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