diff --git a/rocolib/builders/boat/mounts/ServoStackBatteryMountBuilder.py b/rocolib/builders/boat/mounts/ServoStackBatteryMountBuilder.py
index 73ec99673dbb57892d5530fcb33e13e5b43b27f1..a8589130888628b1c9d1bee09240f6e11d19d814 100644
--- a/rocolib/builders/boat/mounts/ServoStackBatteryMountBuilder.py
+++ b/rocolib/builders/boat/mounts/ServoStackBatteryMountBuilder.py
@@ -6,26 +6,26 @@ c = Component()
 c.addSubcomponent("servosandstack", "ServoStackMount", inherit=("lServoMount.depth", "lServoMount.width", "stack.length"), prefix=None)
 c.inheritAllInterfaces("servosandstack")
 
-c.addSubcomponent("batterymount", "BatteryMount")
+c.addSubcomponent("batterymount", "BatteryMount", inherit="batterylength")
 c.inheritAllInterfaces("batterymount")
 
 c.addSubcomponent("lfullsplit", "SplitEdge", inherit=True)
 c.inheritAllInterfaces("lfullsplit")
-c.addConstraint(("lfullsplit", "toplength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[0]*2+x[1]*2+10*2+x[2],)")
-c.addConstraint(("lfullsplit", "botlength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[0]*2+x[1]*2+10*2, x[2])")
-
-c.addConnection(("lfullsplit", "topedge0"), ("servosandstack", "lservostacksplit"))
-c.addConnection(("batterymount", "rightArmInterface"), ("lfullsplit", "botedge1"), tabWidth=10) #first interface gets the tab, second interface gets the slot
+c.addConstraint(("lfullsplit", "toplength"), ("lServoMount.depth", "lServoMount.width", "stack.length", "batterymount.batterylength"), "(x[0]*2+x[1]*2+10*2+x[2]+x[3],)")
+c.addConstraint(("lfullsplit", "botlength"), ("lServoMount.depth", "lServoMount.width", "stack.length", "batterymount.batterylength"), "(x[0]*2+x[1]*2+10*2+x[2], x[3])")
+#
+c.addConnection(("lfullsplit", "botedge1"), ("batterymount", "rightArmInterface"), tabWidth=10)
+c.addConnection(("lfullsplit", "botedge0"), ("servosandstack", "lservostacksplit"))
 
 c.addSubcomponent("rfullsplit", "SplitEdge", inherit=True)
 c.inheritAllInterfaces("rfullsplit")
-c.addConstraint(("rfullsplit", "toplength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[0]*2+x[1]*2+10*2+x[2],)")
-c.addConstraint(("rfullsplit", "botlength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[2], x[0]*2+x[1]*2+10*2)")
-
-c.addConnection(("rfullsplit", "topedge0"), ("servosandstack", "rservostacksplit"))
-c.addConnection(("batterymount", "leftArmInterface"), ("rfullsplit", "botedge0"), tabWidth=10)
-
-c.inheritInterface("lservostackbatterysplit", ("lfullsplit", "botedge0")) #everything besides the battery + stack section of the split
-c.inheritInterface("rservostackbatterysplit", ("rfullsplit", "botedge1"))
+c.addConstraint(("rfullsplit", "toplength"), ("lServoMount.depth", "lServoMount.width", "stack.length", "batterymount.batterylength"), "(x[0]*2+x[1]*2+10*2+x[2]+x[3],)")
+c.addConstraint(("rfullsplit", "botlength"), ("lServoMount.depth", "lServoMount.width", "stack.length", "batterymount.batterylength"), "(x[3], x[0]*2+x[1]*2+10*2+x[2])")
+#
+c.addConnection(("rfullsplit", "botedge0"), ("batterymount", "leftArmInterface"))
+c.addConnection(("rfullsplit", "botedge1"), ("servosandstack", "rservostacksplit"))
+
+c.inheritInterface("lTopSplit", ("lfullsplit", "topedge0"))
+c.inheritInterface("rTopSplit", ("rfullsplit", "topedge0"))
 
 c.toLibrary("ServoStackBatteryMount")
diff --git a/rocolib/library/BatteryStackHolder.yaml b/rocolib/library/BatteryStackHolder.yaml
deleted file mode 100644
index dd4bc3add430a05357fcc507d085c096abba0637..0000000000000000000000000000000000000000
--- a/rocolib/library/BatteryStackHolder.yaml
+++ /dev/null
@@ -1,214 +0,0 @@
-connections:
-  connection0:
-  - - bottom
-    - t
-  - - holder
-    - botedge0
-  - angle: 90
-  connection1:
-  - - bottom
-    - l
-  - - holder
-    - botedge1
-  - angle: 90
-    tabWidth: 5
-  connection2:
-  - - bottom
-    - r
-  - - holder
-    - botedge3
-  - angle: 90
-    tabWidth: 5
-  connection3:
-  - - bottom
-    - b
-  - - holder
-    - botedge2
-  - angle: 90
-    tabWidth: 5
-interfaces: {}
-parameters:
-  _dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  _dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  _dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  _q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  _q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  _q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  _q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  addTabs:
-    defaultValue: true
-    spec:
-      valueType: bool
-  batterydepth:
-    defaultValue: 9
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  batterylength:
-    defaultValue: 60
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  batterywidth:
-    defaultValue: 17
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  bottom._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  bottom._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  bottom._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  bottom._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  bottom._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  bottom._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  bottom._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  depth:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 100
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  numBatteries:
-    defaultValue: 3
-    spec:
-      maxValue: 10
-      minValue: 1
-      valueType: int
-  width:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/BatteryStackHolderBuilder.py
-subcomponents:
-  bottom:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: bottom._dx
-      _dy:
-        parameter: bottom._dy
-      _dz:
-        parameter: bottom._dz
-      _q_a:
-        parameter: bottom._q_a
-      _q_i:
-        parameter: bottom._q_i
-      _q_j:
-        parameter: bottom._q_j
-      _q_k:
-        parameter: bottom._q_k
-      l:
-        function: x[0] * x[1]
-        parameter: &id001
-        - numBatteries
-        - batterydepth
-      w:
-        parameter: batterywidth
-  holder:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: _dx
-      _dy:
-        parameter: _dy
-      _dz:
-        parameter: _dz
-      _q_a:
-        parameter: _q_a
-      _q_i:
-        parameter: _q_i
-      _q_j:
-        parameter: _q_j
-      _q_k:
-        parameter: _q_k
-      addTabs:
-        parameter: addTabs
-      depth:
-        parameter: batterywidth
-      length:
-        parameter: batterylength
-      width:
-        function: x[0] * x[1]
-        parameter: *id001
diff --git a/rocolib/library/BatteryStackMount.yaml b/rocolib/library/BatteryStackMount.yaml
deleted file mode 100644
index e8bc375c16dfe286a1283f06112a215b6b37b4dc..0000000000000000000000000000000000000000
--- a/rocolib/library/BatteryStackMount.yaml
+++ /dev/null
@@ -1,306 +0,0 @@
-connections:
-  connection0:
-  - - larm
-    - l
-  - - holder
-    - topedge3
-  - angle: -45
-  connection1:
-  - - rarm
-    - l
-  - - holder
-    - botedge3
-  - angle: -45
-  connection2:
-  - - holder
-    - face3
-  - - terminals1
-    - decoration
-  - mode: hole
-    offset:
-      function: (-30, 0)
-      parameter: batterylength
-interfaces:
-  leftArmInterface:
-    interface: r
-    subcomponent: larm
-  rightArmInterface:
-    interface: r
-    subcomponent: rarm
-parameters:
-  _dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  _dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  _dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  _q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  _q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  _q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  _q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  addTabs:
-    defaultValue: true
-    spec:
-      valueType: bool
-  batterydepth:
-    defaultValue: 9
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  batterylength:
-    defaultValue: 60
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  batterywidth:
-    defaultValue: 17
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boatdepth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boatwidth:
-    defaultValue: 90
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  depth:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  larm._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  larm._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  larm._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  larm._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  larm._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  larm._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  larm._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  length:
-    defaultValue: 100
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  numBatteries:
-    defaultValue: 3
-    spec:
-      maxValue: 10
-      minValue: 1
-      valueType: int
-  rarm._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  rarm._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  rarm._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  rarm._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  rarm._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  rarm._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  rarm._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  width:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/BatteryStackMountBuilder.py
-subcomponents:
-  holder:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: _dx
-      _dy:
-        parameter: _dy
-      _dz:
-        parameter: _dz
-      _q_a:
-        parameter: _q_a
-      _q_i:
-        parameter: _q_i
-      _q_j:
-        parameter: _q_j
-      _q_k:
-        parameter: _q_k
-      addTabs:
-        parameter: addTabs
-      depth:
-        parameter: batterylength
-      length:
-        function: x[1] * x[0]
-        parameter:
-        - numBatteries
-        - batterydepth
-      width:
-        parameter: batterywidth
-  larm:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: larm._dx
-      _dy:
-        parameter: larm._dy
-      _dz:
-        parameter: larm._dz
-      _q_a:
-        parameter: larm._q_a
-      _q_i:
-        parameter: larm._q_i
-      _q_j:
-        parameter: larm._q_j
-      _q_k:
-        parameter: larm._q_k
-      l:
-        function: ((0.5 * x[1] - 0.5 * (x[4] * x[0])) ** 2 + (x[2] - x[3]) ** 2) **
-          0.5
-        parameter: &id001
-        - numBatteries
-        - boatwidth
-        - boatdepth
-        - batterywidth
-        - batterydepth
-      w:
-        parameter: batterylength
-  rarm:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: rarm._dx
-      _dy:
-        parameter: rarm._dy
-      _dz:
-        parameter: rarm._dz
-      _q_a:
-        parameter: rarm._q_a
-      _q_i:
-        parameter: rarm._q_i
-      _q_j:
-        parameter: rarm._q_j
-      _q_k:
-        parameter: rarm._q_k
-      l:
-        function: ((0.5 * x[1] - 0.5 * (x[4] * x[0])) ** 2 + (x[2] - x[3]) ** 2) **
-          0.5
-        parameter: *id001
-      w:
-        parameter: batterylength
-  terminals1:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx: 6
-      dy:
-        function: x * 6
-        parameter: numBatteries
diff --git a/rocolib/library/BoatBaseFlat.yaml b/rocolib/library/BoatBaseFlat.yaml
deleted file mode 100644
index 7c1cdbbb1883b30fa65a4517e4ef66a4436e298f..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatBaseFlat.yaml
+++ /dev/null
@@ -1,79 +0,0 @@
-connections:
-  connection0:
-  - - dcMount
-    - face0
-  - - cutout1
-    - decoration
-  - mode: hole
-    offset:
-      function: (-10, 0)
-      parameter: dy1
-  connection1:
-  - - dcMount
-    - face2
-  - - cutout2
-    - decoration
-  - mode: hole
-    offset:
-      function: (10, 0)
-      parameter: dy1
-interfaces: {}
-parameters:
-  dx1:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  dy1:
-    defaultValue: 8
-    spec:
-      parameterType: length
-source: ../builders/DCMotorMountBuilder.py
-subcomponents:
-  cutout1:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        parameter: dx1
-      dy:
-        parameter: dy1
-  cutout2:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        parameter: dx1
-      dy:
-        parameter: dy1
-  dcMount:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        function: '10'
-        parameter: depth
-      length:
-        parameter: width
-      width:
-        function: '30'
-        parameter: width
-  leftArm:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: '37'
-        parameter: width
-      w:
-        function: '10'
-        parameter: width
-  rightArm:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: '40'
-        parameter: width
-      w:
-        function: '10'
-        parameter: width
diff --git a/rocolib/library/Boat_StackMount.yaml b/rocolib/library/Boat_StackMount.yaml
deleted file mode 100644
index 069be14476391155ae41e91d375fcab0a5938567..0000000000000000000000000000000000000000
--- a/rocolib/library/Boat_StackMount.yaml
+++ /dev/null
@@ -1,286 +0,0 @@
-connections:
-  connection0:
-  - - botCover
-    - l
-  - - stack
-    - topedge0
-  - angle: 90
-    tabWidth: 10
-  connection1:
-  - - topCover
-    - r
-  - - stack
-    - botedge0
-  - angle: 90
-    tabWidth: 7
-  connection2:
-  - - topCover
-    - t
-  - - stack
-    - topedge1
-  - angle: 90
-  connection3:
-  - - botCover
-    - r
-  - - stack
-    - topedge2
-  - angle: 90
-    tabWidth: 10
-  connection4:
-  - - topCover
-    - l
-  - - stack
-    - botedge2
-  - angle: 90
-    tabWidth: 7
-  connection5:
-  - - topCover
-    - b
-  - - stack
-    - topedge3
-  - angle: 90
-    tabWidth: 7
-  connection6:
-  - &id001
-    - botCover
-    - face
-  - - servoPins
-    - decoration
-  - mode: hole
-    offset:
-      function: (-7, 0)
-      parameter: depth
-  connection7:
-  - *id001
-  - - microUSB
-    - decoration
-  - mode: hole
-    offset:
-      function: (22, 0)
-      parameter: depth
-  connection8:
-  - - lArm
-    - b
-  - - botCover
-    - t
-  - angle: 45
-  connection9:
-  - - rArm
-    - b
-  - - botCover
-    - b
-  - angle: 45
-interfaces: {}
-parameters:
-  brains:
-    defaultValue: esp32stack
-    spec:
-      valueType: str
-  depth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  dy1:
-    defaultValue: 18
-    spec:
-      parameterType: length
-  lArm._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  lArm._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  lArm._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  lArm._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  lArm._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  lArm._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  lArm._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  rArm._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  rArm._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  rArm._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  rArm._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  rArm._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  rArm._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  rArm._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  width:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/Boat_StackMountBuilder.py
-subcomponents:
-  botCover:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: '60'
-        parameter: depth
-      w:
-        function: getDim(x, 'width')
-        parameter: brains
-  lArm:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: lArm._dx
-      _dy:
-        parameter: lArm._dy
-      _dz:
-        parameter: lArm._dz
-      _q_a:
-        parameter: lArm._q_a
-      _q_i:
-        parameter: lArm._q_i
-      _q_j:
-        parameter: lArm._q_j
-      _q_k:
-        parameter: lArm._q_k
-      l:
-        function: '60'
-        parameter: depth
-      w:
-        function: ((0.5 * x[0]) ** 2 + (60 - x[1]) ** 2) ** 0.5
-        parameter: &id002
-        - depth
-        - width
-  microUSB:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: '6'
-        parameter: depth
-      dy:
-        function: '10'
-        parameter: depth
-  rArm:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: rArm._dx
-      _dy:
-        parameter: rArm._dy
-      _dz:
-        parameter: rArm._dz
-      _q_a:
-        parameter: rArm._q_a
-      _q_i:
-        parameter: rArm._q_i
-      _q_j:
-        parameter: rArm._q_j
-      _q_k:
-        parameter: rArm._q_k
-      l:
-        function: '60'
-        parameter: depth
-      w:
-        function: ((0.5 * x[0]) ** 2 + (60 - x[1]) ** 2) ** 0.5
-        parameter: *id002
-  servoPins:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: '11'
-        parameter: depth
-      dy:
-        function: '13'
-        parameter: depth
-  stack:
-    classname: SubESP32Stack
-    kwargs: {}
-    parameters:
-      brains:
-        parameter: brains
-      dy1:
-        parameter: dy1
-      length:
-        parameter: length
-  topCover:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: '60'
-        parameter: depth
-      w:
-        function: getDim(x, 'width')
-        parameter: brains
diff --git a/rocolib/library/ServoMountAndStack.yaml b/rocolib/library/ServoMountAndStack.yaml
deleted file mode 100644
index 0b35228c8afeb3175475c4db1604526c1a86b64e..0000000000000000000000000000000000000000
--- a/rocolib/library/ServoMountAndStack.yaml
+++ /dev/null
@@ -1,1314 +0,0 @@
-connections:
-  connection0:
-  - - doubleServoMount
-    - lServoInterface
-  - - portsplit
-    - botedge2
-  - {}
-  connection1:
-  - - espStack
-    - leftArmInterface
-  - - portsplit
-    - botedge0
-  - {}
-  connection2:
-  - - doubleServoMount
-    - rServoInterface
-  - - starsplit
-    - botedge1
-  - {}
-  connection3:
-  - - espStack
-    - rightArmInterface
-  - - starsplit
-    - botedge3
-  - tabWidth: 10
-interfaces:
-  doubleServoMount.lServoInterface:
-    interface: lServoInterface
-    subcomponent: doubleServoMount
-  doubleServoMount.lServoMount.leftInterface:
-    interface: lServoMount.leftInterface
-    subcomponent: doubleServoMount
-  doubleServoMount.lServoMount.rightInterface:
-    interface: lServoMount.rightInterface
-    subcomponent: doubleServoMount
-  doubleServoMount.rServoInterface:
-    interface: rServoInterface
-    subcomponent: doubleServoMount
-  doubleServoMount.rServoMount.leftInterface:
-    interface: rServoMount.leftInterface
-    subcomponent: doubleServoMount
-  doubleServoMount.rServoMount.rightInterface:
-    interface: rServoMount.rightInterface
-    subcomponent: doubleServoMount
-  espStack.leftArmInterface:
-    interface: leftArmInterface
-    subcomponent: espStack
-  espStack.rightArmInterface:
-    interface: rightArmInterface
-    subcomponent: espStack
-  lmountandservosplit:
-    interface: topedge0
-    subcomponent: portsplit
-  portsplit.botedge0:
-    interface: botedge0
-    subcomponent: portsplit
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-    interface: botedge1
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-    interface: botedge10
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-    interface: botedge11
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-    interface: botedge73
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-    interface: botedge75
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-    interface: botedge76
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-    interface: botedge77
-    subcomponent: starsplit
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-    interface: botedge78
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-    interface: botedge79
-    subcomponent: starsplit
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-    interface: botedge8
-    subcomponent: starsplit
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-    interface: botedge80
-    subcomponent: starsplit
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-    interface: botedge81
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-    interface: botedge9
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-    interface: botedge90
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-    interface: botedge91
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-    interface: botedge95
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-    interface: botedge96
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-    interface: botedge97
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-    interface: botedge98
-    subcomponent: starsplit
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-    interface: botedge99
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-    interface: topedge0
-    subcomponent: starsplit
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-    interface: topedge1
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-    interface: topedge10
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-    interface: topedge11
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-    interface: topedge12
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-    interface: topedge4
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-    interface: topedge49
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-    interface: topedge5
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-    interface: topedge56
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-    interface: topedge57
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-    interface: topedge67
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-    interface: topedge68
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-    interface: topedge69
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-    interface: topedge7
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-    interface: topedge70
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-    interface: topedge71
-    subcomponent: starsplit
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-    interface: topedge72
-    subcomponent: starsplit
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-    interface: topedge73
-    subcomponent: starsplit
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-    interface: topedge74
-    subcomponent: starsplit
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-    interface: topedge75
-    subcomponent: starsplit
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-    interface: topedge76
-    subcomponent: starsplit
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-    interface: topedge77
-    subcomponent: starsplit
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-    interface: topedge78
-    subcomponent: starsplit
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-    interface: topedge79
-    subcomponent: starsplit
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-    interface: topedge8
-    subcomponent: starsplit
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-    interface: topedge80
-    subcomponent: starsplit
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-    interface: topedge81
-    subcomponent: starsplit
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-    interface: topedge82
-    subcomponent: starsplit
-  starsplit.topedge83:
-    interface: topedge83
-    subcomponent: starsplit
-  starsplit.topedge84:
-    interface: topedge84
-    subcomponent: starsplit
-  starsplit.topedge85:
-    interface: topedge85
-    subcomponent: starsplit
-  starsplit.topedge86:
-    interface: topedge86
-    subcomponent: starsplit
-  starsplit.topedge87:
-    interface: topedge87
-    subcomponent: starsplit
-  starsplit.topedge88:
-    interface: topedge88
-    subcomponent: starsplit
-  starsplit.topedge89:
-    interface: topedge89
-    subcomponent: starsplit
-  starsplit.topedge9:
-    interface: topedge9
-    subcomponent: starsplit
-  starsplit.topedge90:
-    interface: topedge90
-    subcomponent: starsplit
-  starsplit.topedge91:
-    interface: topedge91
-    subcomponent: starsplit
-  starsplit.topedge92:
-    interface: topedge92
-    subcomponent: starsplit
-  starsplit.topedge93:
-    interface: topedge93
-    subcomponent: starsplit
-  starsplit.topedge94:
-    interface: topedge94
-    subcomponent: starsplit
-  starsplit.topedge95:
-    interface: topedge95
-    subcomponent: starsplit
-  starsplit.topedge96:
-    interface: topedge96
-    subcomponent: starsplit
-  starsplit.topedge97:
-    interface: topedge97
-    subcomponent: starsplit
-  starsplit.topedge98:
-    interface: topedge98
-    subcomponent: starsplit
-  starsplit.topedge99:
-    interface: topedge99
-    subcomponent: starsplit
-parameters:
-  lServoMount.depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  lServoMount.width:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  stack.length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/mounts/ServoMountAndStackBuilder.py
-subcomponents:
-  doubleServoMount:
-    classname: DoubleServoMount
-    kwargs: {}
-    parameters:
-      lServoMount.depth:
-        parameter: lServoMount.depth
-      lServoMount.width:
-        parameter: lServoMount.width
-  espStack:
-    classname: StackMount
-    kwargs: {}
-    parameters:
-      stack.length:
-        parameter: stack.length
-  portsplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[2], 10, x[0], x[0]+x[1]*2+10)
-        parameter: &id001
-        - lServoMount.depth
-        - lServoMount.width
-        - stack.length
-      toplength:
-        function: (x[0]*2+x[1]*2+10*2+x[2],)
-        parameter: *id001
-  starsplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[0]+x[1]*2+10, x[0], 10, x[2])
-        parameter: *id001
-      toplength:
-        function: (x[0] * 2 + x[1] * 2  + 10 * 2 + x[2],)
-        parameter: *id001
diff --git a/rocolib/library/ServoMountWithArms.yaml b/rocolib/library/ServoMountWithArms.yaml
deleted file mode 100644
index 865c3d1a402d37ffda42e350b0ea7718870501c2..0000000000000000000000000000000000000000
--- a/rocolib/library/ServoMountWithArms.yaml
+++ /dev/null
@@ -1,90 +0,0 @@
-connections:
-  connection0:
-  - - leftArmDown
-    - r
-  - - leftArmAcross
-    - r
-  - angle: -90
-  connection1:
-  - - rightArmDown
-    - r
-  - - rightArmAcross
-    - r
-  - angle: -90
-  connection2:
-  - - servoMount
-    - leftInterface
-  - - leftArmAcross
-    - l
-  - {}
-  connection3:
-  - - servoMount
-    - rightInterface
-  - - rightArmAcross
-    - l
-  - {}
-interfaces:
-  leftArmInterface:
-    interface: l
-    subcomponent: leftArmDown
-  rightArmInterface:
-    interface: l
-    subcomponent: rightArmDown
-parameters:
-  depth:
-    defaultValue: 60
-    spec:
-      parameterType: length
-  servoMount.depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 90
-    spec:
-      parameterType: length
-source: ../builders/boat/mounts/ServoMountWithArmsBuilder.py
-subcomponents:
-  leftArmAcross:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x[0]/2 - x[1]/2
-        parameter: &id001
-        - width
-        - servoMount.depth
-      w: 24
-  leftArmDown:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x-3
-        parameter: depth
-      w:
-        parameter: servoMount.depth
-  rightArmAcross:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x[0]/2 - x[1]/2
-        parameter: *id001
-      w: 24
-  rightArmDown:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x-3
-        parameter: depth
-      w: 24
-  servoMount:
-    classname: SideServoMount
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: servoMount.depth
diff --git a/rocolib/library/ServoStackBatteryMount.yaml b/rocolib/library/ServoStackBatteryMount.yaml
index c65cccc21d7c218c4058c843497180e4af747d9c..209732a3dd55f296fe7e39470f0d9709abf8cd4b 100644
--- a/rocolib/library/ServoStackBatteryMount.yaml
+++ b/rocolib/library/ServoStackBatteryMount.yaml
@@ -1,28 +1,28 @@
 connections:
   connection0:
   - - lfullsplit
-    - topedge0
-  - - servosandstack
-    - lservostacksplit
-  - {}
-  connection1:
+    - botedge1
   - - batterymount
     - rightArmInterface
-  - - lfullsplit
-    - botedge1
   - tabWidth: 10
-  connection2:
-  - - rfullsplit
-    - topedge0
+  connection1:
+  - - lfullsplit
+    - botedge0
   - - servosandstack
-    - rservostacksplit
+    - lservostacksplit
   - {}
-  connection3:
+  connection2:
+  - - rfullsplit
+    - botedge0
   - - batterymount
     - leftArmInterface
+  - {}
+  connection3:
   - - rfullsplit
-    - botedge0
-  - tabWidth: 10
+    - botedge1
+  - - servosandstack
+    - rservostacksplit
+  - {}
 interfaces:
   batterymount.leftArmInterface:
     interface: leftArmInterface
@@ -30,6 +30,9 @@ interfaces:
   batterymount.rightArmInterface:
     interface: rightArmInterface
     subcomponent: batterymount
+  lTopSplit:
+    interface: topedge0
+    subcomponent: lfullsplit
   lfullsplit.botedge0:
     interface: botedge0
     subcomponent: lfullsplit
@@ -630,9 +633,9 @@ interfaces:
   lfullsplit.topedge99:
     interface: topedge99
     subcomponent: lfullsplit
-  lservostackbatterysplit:
-    interface: botedge0
-    subcomponent: lfullsplit
+  rTopSplit:
+    interface: topedge0
+    subcomponent: rfullsplit
   rfullsplit.botedge0:
     interface: botedge0
     subcomponent: rfullsplit
@@ -1233,9 +1236,6 @@ interfaces:
   rfullsplit.topedge99:
     interface: topedge99
     subcomponent: rfullsplit
-  rservostackbatterysplit:
-    interface: botedge1
-    subcomponent: rfullsplit
   servosandstack.doubleServoMount.lServoInterface:
     interface: doubleServoMount.lServoInterface
     subcomponent: servosandstack
@@ -2467,6 +2467,18 @@ interfaces:
     interface: starsplit.topedge99
     subcomponent: servosandstack
 parameters:
+  batterymount.batterylength:
+    defaultValue: 61
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  batterymount.length:
+    defaultValue: 100
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
   lServoMount.depth:
     defaultValue: 24
     spec:
@@ -2580,7 +2592,11 @@ subcomponents:
   batterymount:
     classname: BatteryMount
     kwargs: {}
-    parameters: {}
+    parameters:
+      batterylength:
+        parameter: batterymount.batterylength
+      length:
+        parameter: batterymount.length
   lfullsplit:
     classname: SplitEdge
     kwargs: {}
@@ -2600,13 +2616,14 @@ subcomponents:
       _q_k:
         parameter: lfullsplit._q_k
       botlength:
-        function: (x[0]*2+x[1]*2+10*2, x[2])
+        function: (x[0]*2+x[1]*2+10*2+x[2], x[3])
         parameter: &id001
         - lServoMount.depth
         - lServoMount.width
         - stack.length
+        - batterymount.batterylength
       toplength:
-        function: (x[0]*2+x[1]*2+10*2+x[2],)
+        function: (x[0]*2+x[1]*2+10*2+x[2]+x[3],)
         parameter: *id001
       width:
         parameter: lfullsplit.width
@@ -2629,10 +2646,10 @@ subcomponents:
       _q_k:
         parameter: rfullsplit._q_k
       botlength:
-        function: (x[2], x[0]*2+x[1]*2+10*2)
+        function: (x[3], x[0]*2+x[1]*2+10*2+x[2])
         parameter: *id001
       toplength:
-        function: (x[0]*2+x[1]*2+10*2+x[2],)
+        function: (x[0]*2+x[1]*2+10*2+x[2]+x[3],)
         parameter: *id001
       width:
         parameter: rfullsplit.width
diff --git a/rocolib/library/ServoStackMountBuilder.yaml b/rocolib/library/ServoStackMountBuilder.yaml
deleted file mode 100644
index 8ecd52b9fe75ef1dd82f2c4a38e6ec597276cd44..0000000000000000000000000000000000000000
--- a/rocolib/library/ServoStackMountBuilder.yaml
+++ /dev/null
@@ -1,1314 +0,0 @@
-connections:
-  connection0:
-  - - doubleServoMount
-    - lServoInterface
-  - - portsplit
-    - botedge2
-  - {}
-  connection1:
-  - - espStack
-    - leftArmInterface
-  - - portsplit
-    - botedge0
-  - {}
-  connection2:
-  - - doubleServoMount
-    - rServoInterface
-  - - starsplit
-    - botedge1
-  - {}
-  connection3:
-  - - espStack
-    - rightArmInterface
-  - - starsplit
-    - botedge3
-  - tabWidth: 10
-interfaces:
-  doubleServoMount.lServoInterface:
-    interface: lServoInterface
-    subcomponent: doubleServoMount
-  doubleServoMount.lServoMount.leftInterface:
-    interface: lServoMount.leftInterface
-    subcomponent: doubleServoMount
-  doubleServoMount.lServoMount.rightInterface:
-    interface: lServoMount.rightInterface
-    subcomponent: doubleServoMount
-  doubleServoMount.rServoInterface:
-    interface: rServoInterface
-    subcomponent: doubleServoMount
-  doubleServoMount.rServoMount.leftInterface:
-    interface: rServoMount.leftInterface
-    subcomponent: doubleServoMount
-  doubleServoMount.rServoMount.rightInterface:
-    interface: rServoMount.rightInterface
-    subcomponent: doubleServoMount
-  espStack.leftArmInterface:
-    interface: leftArmInterface
-    subcomponent: espStack
-  espStack.rightArmInterface:
-    interface: rightArmInterface
-    subcomponent: espStack
-  lservostacksplit:
-    interface: topedge0
-    subcomponent: portsplit
-  portsplit.botedge0:
-    interface: botedge0
-    subcomponent: portsplit
-  portsplit.botedge1:
-    interface: botedge1
-    subcomponent: portsplit
-  portsplit.botedge10:
-    interface: botedge10
-    subcomponent: portsplit
-  portsplit.botedge11:
-    interface: botedge11
-    subcomponent: portsplit
-  portsplit.botedge12:
-    interface: botedge12
-    subcomponent: portsplit
-  portsplit.botedge13:
-    interface: botedge13
-    subcomponent: portsplit
-  portsplit.botedge14:
-    interface: botedge14
-    subcomponent: portsplit
-  portsplit.botedge15:
-    interface: botedge15
-    subcomponent: portsplit
-  portsplit.botedge16:
-    interface: botedge16
-    subcomponent: portsplit
-  portsplit.botedge17:
-    interface: botedge17
-    subcomponent: portsplit
-  portsplit.botedge18:
-    interface: botedge18
-    subcomponent: portsplit
-  portsplit.botedge19:
-    interface: botedge19
-    subcomponent: portsplit
-  portsplit.botedge2:
-    interface: botedge2
-    subcomponent: portsplit
-  portsplit.botedge20:
-    interface: botedge20
-    subcomponent: portsplit
-  portsplit.botedge21:
-    interface: botedge21
-    subcomponent: portsplit
-  portsplit.botedge22:
-    interface: botedge22
-    subcomponent: portsplit
-  portsplit.botedge23:
-    interface: botedge23
-    subcomponent: portsplit
-  portsplit.botedge24:
-    interface: botedge24
-    subcomponent: portsplit
-  portsplit.botedge25:
-    interface: botedge25
-    subcomponent: portsplit
-  portsplit.botedge26:
-    interface: botedge26
-    subcomponent: portsplit
-  portsplit.botedge27:
-    interface: botedge27
-    subcomponent: portsplit
-  portsplit.botedge28:
-    interface: botedge28
-    subcomponent: portsplit
-  portsplit.botedge29:
-    interface: botedge29
-    subcomponent: portsplit
-  portsplit.botedge3:
-    interface: botedge3
-    subcomponent: portsplit
-  portsplit.botedge30:
-    interface: botedge30
-    subcomponent: portsplit
-  portsplit.botedge31:
-    interface: botedge31
-    subcomponent: portsplit
-  portsplit.botedge32:
-    interface: botedge32
-    subcomponent: portsplit
-  portsplit.botedge33:
-    interface: botedge33
-    subcomponent: portsplit
-  portsplit.botedge34:
-    interface: botedge34
-    subcomponent: portsplit
-  portsplit.botedge35:
-    interface: botedge35
-    subcomponent: portsplit
-  portsplit.botedge36:
-    interface: botedge36
-    subcomponent: portsplit
-  portsplit.botedge37:
-    interface: botedge37
-    subcomponent: portsplit
-  portsplit.botedge38:
-    interface: botedge38
-    subcomponent: portsplit
-  portsplit.botedge39:
-    interface: botedge39
-    subcomponent: portsplit
-  portsplit.botedge4:
-    interface: botedge4
-    subcomponent: portsplit
-  portsplit.botedge40:
-    interface: botedge40
-    subcomponent: portsplit
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-    interface: botedge41
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-    interface: botedge42
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-    interface: botedge43
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-    interface: botedge44
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-    interface: botedge45
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-    interface: botedge46
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-    interface: botedge47
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-    interface: botedge48
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-    interface: botedge49
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-    interface: botedge5
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-    interface: botedge8
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-    interface: botedge80
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-    interface: topedge36
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-parameters:
-  lServoMount.depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  lServoMount.width:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  stack.length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/mounts/ServoStackMountBuilder.py
-subcomponents:
-  doubleServoMount:
-    classname: DoubleServoMount
-    kwargs: {}
-    parameters:
-      lServoMount.depth:
-        parameter: lServoMount.depth
-      lServoMount.width:
-        parameter: lServoMount.width
-  espStack:
-    classname: StackMount
-    kwargs: {}
-    parameters:
-      stack.length:
-        parameter: stack.length
-  portsplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[2], 10, x[0], x[0]+x[1]*2+10)
-        parameter: &id001
-        - lServoMount.depth
-        - lServoMount.width
-        - stack.length
-      toplength:
-        function: (x[0]*2+x[1]*2+10*2+x[2],)
-        parameter: *id001
-  starsplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[0]+x[1]*2+10, x[0], 10, x[2])
-        parameter: *id001
-      toplength:
-        function: (x[0] * 2 + x[1] * 2  + 10 * 2 + x[2],)
-        parameter: *id001
diff --git a/rocolib/output/ServoStackMount/graph-anim.svg b/rocolib/output/ServoStackMount/graph-anim.svg
new file mode 100644
index 0000000000000000000000000000000000000000..348e573eb97ae1669832d01249ca2f2231dcc183
--- /dev/null
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