diff --git a/rocolib/builders/BoatBaseWithDCMount.py b/rocolib/builders/BoatBaseWithDCMount.py
deleted file mode 100644
index 994e8b4767e18c0627f3d5fb7fe54bd91d26e03f..0000000000000000000000000000000000000000
--- a/rocolib/builders/BoatBaseWithDCMount.py
+++ /dev/null
@@ -1,25 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addSubcomponent("boat", "BoatBase", inherit=("depth", "length","width"))
-c.addSubcomponent("dcMount", "DCMotorMount", inherit=("supportLength", "mountWidth"))
-
-c.addConstraint(("dcMount", "mountWidth"), ("boat", "width"))
-c.addConstraint(("dcMount", "supportLength"), ("boat", "depth"))
-
-for i in range(2):
-    c.addSubcomponent("split%d" %i, "SplitEdge")
-    c.addConstraint(("split%d" %i, "toplength"), "length", "(x,)")
-
-c.addConstraint(("split0", "botlength"), "length", "(1/3*x-10, 10, 2/3*x)")
-c.addConstraint(("split1", "botlength"), "length", "(2/3*x,10, 1/3*x-10)")
-
-c.addConnection(("boat", "redge"), ("split0", "topedge0"))
-c.addConnection(("boat", "ledge"), ("split1", "topedge0"))
-
-c.addConnection(("rightArm", "l"), ("split0", "botedge1"), angle=-180)
-c.addConnection(("leftArm", "l"), ("split1", "botedge1"), tabWidth=5)
-
-c.toLibrary("BoatBaseFlat")
diff --git a/rocolib/builders/BoatWithDCMountBuilder.py b/rocolib/builders/BoatWithDCMountBuilder.py
new file mode 100644
index 0000000000000000000000000000000000000000..ed7e4223e6c04bf6db5130ace14ee7ead84642dd
--- /dev/null
+++ b/rocolib/builders/BoatWithDCMountBuilder.py
@@ -0,0 +1,29 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+c = Component()
+
+c.addSubcomponent("boat", "BoatBase", inherit=True, prefix=None)
+c.inheritAllInterfaces("boat")
+c.addSubcomponent("dcMount", "DCMotorMount", inherit=True)
+
+c.addConstraint(("dcMount", "mountWidth"), "boat.width")
+c.addConstraint(("dcMount", "supportLength"), "boat.depth")
+
+c.addParameter("topDistance", 50, paramType="length") #@ankur make this half the boat.length
+c.addParameter("botDistance", 50, paramType="length")
+
+for i in range(2):
+    c.addSubcomponent("split%d" %i, "SplitEdge")
+    c.addConstraint(("split%d" %i, "toplength"), "boat.length", "(x,)")
+
+c.addConstraint(("split0", "botlength"), ("topDistance", "botDistance"), "(x[0]-5, 10, x[1]-5)")
+c.addConstraint(("split1", "botlength"), ("topDistance", "botDistance"), "(x[1]-5, 10, x[0]-5)")
+
+c.addConnection(("boat", "portedge"), ("split0", "topedge0"))
+c.addConnection(("boat", "staredge"), ("split1", "topedge0"))
+
+c.addConnection(("dcMount","rightArmInterface"), ("split0", "botedge1"), angle=-180)
+c.addConnection(("dcMount","rightArmInterface"), ("split1", "botedge1"), tabWidth=5)
+
+c.toLibrary("BoatWithDCMount")
diff --git a/rocolib/builders/DCMotorMountBuilder.py b/rocolib/builders/DCMotorMountBuilder.py
index a9e65245835ba7cc15f6b04653834965cebc55b7..1394269c5bb9b2d77a5d2af874a0b849d9ec5d37 100644
--- a/rocolib/builders/DCMotorMountBuilder.py
+++ b/rocolib/builders/DCMotorMountBuilder.py
@@ -42,4 +42,7 @@ c.addConstConstraint(("dcMount", "depth"), 10)
 c.join(("dcMount", "topedge1"), ("leftArm", "r")) #l/r, not t/b
 c.join(("dcMount", "botedge1"), ("rightArm", "r"))
 
+c.inheritInterface("leftArmInterface", ("leftArm", "l"))
+c.inheritInterface("rightArmInterface", ("rightArm", "l"))
+
 c.toLibrary("DCMotorMount")
diff --git a/rocolib/library/BoatWithDCMount.yaml b/rocolib/library/BoatWithDCMount.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d26e88d4697adb215189f60fcc8e3aacea7cf50
--- /dev/null
+++ b/rocolib/library/BoatWithDCMount.yaml
@@ -0,0 +1,133 @@
+connections:
+  connection0:
+  - - boat
+    - portedge
+  - - split0
+    - topedge0
+  - {}
+  connection1:
+  - - boat
+    - staredge
+  - - split1
+    - topedge0
+  - {}
+  connection2:
+  - &id001
+    - dcMount
+    - rightArmInterface
+  - - split0
+    - botedge1
+  - angle: -180
+  connection3:
+  - *id001
+  - - split1
+    - botedge1
+  - tabWidth: 5
+interfaces:
+  boat.portedge:
+    interface: portedge
+    subcomponent: boat
+  boat.staredge:
+    interface: staredge
+    subcomponent: boat
+parameters:
+  boat.depth:
+    defaultValue: 20
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  boat.length:
+    defaultValue: 100
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  boat.width:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  botDistance:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  bow.point:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  dcMount.motorHeight:
+    defaultValue: 8
+    spec:
+      parameterType: length
+  dcMount.motorWidth:
+    defaultValue: 8
+    spec:
+      parameterType: length
+  stern.point:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  topDistance:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+source: ../builders/BoatWithDCMountBuilder.py
+subcomponents:
+  boat:
+    classname: BoatBase
+    kwargs: {}
+    parameters:
+      boat.depth:
+        parameter: boat.depth
+      boat.length:
+        parameter: boat.length
+      boat.width:
+        parameter: boat.width
+      bow.point:
+        parameter: bow.point
+      stern.point:
+        parameter: stern.point
+  dcMount:
+    classname: DCMotorMount
+    kwargs: {}
+    parameters:
+      motorHeight:
+        parameter: dcMount.motorHeight
+      motorWidth:
+        parameter: dcMount.motorWidth
+      mountWidth:
+        parameter: boat.width
+      supportLength:
+        parameter: boat.depth
+  split0:
+    classname: SplitEdge
+    kwargs: {}
+    parameters:
+      botlength:
+        function: (x[0]-5, 10, x[1]-5)
+        parameter: &id002
+        - topDistance
+        - botDistance
+      toplength:
+        function: (x,)
+        parameter: boat.length
+  split1:
+    classname: SplitEdge
+    kwargs: {}
+    parameters:
+      botlength:
+        function: (x[1]-5, 10, x[0]-5)
+        parameter: *id002
+      toplength:
+        function: (x,)
+        parameter: boat.length
diff --git a/rocolib/library/DCMotorMount.yaml b/rocolib/library/DCMotorMount.yaml
index 0eee26346ad513da44410c8fded177b5db28aa8f..bb8982d0e17690089e8d42f1951446b5255a0fdb 100644
--- a/rocolib/library/DCMotorMount.yaml
+++ b/rocolib/library/DCMotorMount.yaml
@@ -29,7 +29,13 @@ connections:
   - - rightArm
     - r
   - {}
-interfaces: {}
+interfaces:
+  leftArmInterface:
+    interface: l
+    subcomponent: leftArm
+  rightArmInterface:
+    interface: l
+    subcomponent: rightArm
 parameters:
   motorHeight:
     defaultValue: 8
diff --git a/rocolib/output/BoatWithDCMount/graph-anim.svg b/rocolib/output/BoatWithDCMount/graph-anim.svg
new file mode 100644
index 0000000000000000000000000000000000000000..0f09577f03fab17fb8b8e9f71206838651d81a9e
--- /dev/null
+++ b/rocolib/output/BoatWithDCMount/graph-anim.svg
@@ -0,0 +1,128 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:ev="http://www.w3.org/2001/xml-events" xmlns:xlink="http://www.w3.org/1999/xlink" baseProfile="full" height="207.703296mm" version="1.1" viewBox="0.000000 0.000000 242.733402 207.703296" width="242.733402mm">
+  <defs/>
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diff --git a/rocolib/output/BoatWithDCMount/tree.png b/rocolib/output/BoatWithDCMount/tree.png
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