diff --git a/rocolib/builders/CabinBuilder.py b/rocolib/builders/CabinBuilder.py
index 0d4a19d79947b189caa5e251a67e47d922442908..952edba3c4fd831b3fa74e2a369f865acae4f41f 100644
--- a/rocolib/builders/CabinBuilder.py
+++ b/rocolib/builders/CabinBuilder.py
@@ -39,23 +39,23 @@ c.addConnection(("star", "b"), ("rear", "r"), angle=90, tabWidth=10)
c.addConnection(("port", "b"), ("rear", "l"), angle=90, tabWidth=10)
# Interface to floats
-
-c.addParameter("length", 200, paramType="length")
-
-c.addSubcomponent("portsplit","SplitEdge")
-c.addSubcomponent("starsplit","SplitEdge")
-
-c.addConstraint(("portsplit","botlength"), ("length", "depth"), "[sum(x)]")
-c.addConstraint(("portsplit","toplength"), ("length", "depth"), "[x[0]/2., x[1], x[0]/2.]")
-c.addConnection(("portsplit", "topedge1"), ("port", "l"))
-
-c.addConstraint(("starsplit","botlength"), ("length", "depth"), "[sum(x)]")
-c.addConstraint(("starsplit","toplength"), ("length", "depth"), "[x[0]/2., x[1], x[0]/2.]")
-c.addConnection(("starsplit", "topedge1"), ("star", "r"))
-
-c.inheritInterface("portedge", ("portsplit", "botedge0"))
-c.inheritInterface("staredge", ("starsplit", "botedge0"))
-c.inheritInterface("foreedge", ("fore", "t"))
-c.inheritInterface("rearedge", ("rear", "b"))
+#
+# c.addParameter("length", 200, paramType="length")
+#
+# c.addSubcomponent("portsplit","SplitEdge")
+# c.addSubcomponent("starsplit","SplitEdge")
+#
+# c.addConstraint(("portsplit","botlength"), ("length", "depth"), "[sum(x)]")
+# c.addConstraint(("portsplit","toplength"), ("length", "depth"), "[x[0]/2., x[1], x[0]/2.]")
+# c.addConnection(("portsplit", "topedge1"), ("port", "l"))
+#
+# c.addConstraint(("starsplit","botlength"), ("length", "depth"), "[sum(x)]")
+# c.addConstraint(("starsplit","toplength"), ("length", "depth"), "[x[0]/2., x[1], x[0]/2.]")
+# c.addConnection(("starsplit", "topedge1"), ("star", "r"))
+
+# c.inheritInterface("portedge", ("portsplit", "botedge0"))
+# c.inheritInterface("staredge", ("starsplit", "botedge0"))
+c.inheritInterface("foreedge", ("port", "l"))
+c.inheritInterface("rearedge", ("star", "r"))
c.toLibrary("Cabin")
diff --git a/rocolib/builders/TugBuilder.py b/rocolib/builders/TugBuilder.py
index 8e20af34235ba2645383c68d66eaea87a14db581..a0925a040a2749c89347f6ebb644ce57dc39b01f 100644
--- a/rocolib/builders/TugBuilder.py
+++ b/rocolib/builders/TugBuilder.py
@@ -2,19 +2,35 @@ from rocolib.api.components.Component import Component
c = Component()
-# BOX
+c.addParameter("tlength", 156, paramType="length")
+c.addParameter("twidth", 90, paramType="length")
+c.addParameter("tdepth", 70, paramType="length")
+
+c.addSubcomponent("cabin","Cabin", inherit="depth")
+c.addConstraint(("cabin","width"), "twidth") #cabin depth and length can be anything
-c.addSubcomponent("cabin","Cabin", inherit=True, prefix=None)
c.addSubcomponent("boat","BoatBase", root=True, inherit=True)
+c.addConstraint(("boat","boat.length"), "tlength")
+c.addConstraint(("boat","boat.width"), "twidth")
+c.addConstraint(("boat","boat.depth"), "tdepth")
+c.addConstraint(("boat","bow.point"), "tlength", "x/2.")
+c.addConstraint(("boat","stern.point"), "tlength", "x/8.")
+
+c.addSubcomponent("portsplit", "SplitEdge")
+c.addConstraint(("portsplit", "toplength"), ("tlength"), "(x,)")
+c.addConstraint(("portsplit", "botlength"), ("tlength", "cabin.depth"), "(0.5 * x[0] - 0.5 * x[1], x[1], 0.5 * x[0] - 0.5 * x[1])")
+
+c.addConnection(("cabin", "foreedge"), ("portsplit", "botedge1"))
+c.addConnection(("boat", "portedge"), ("portsplit", "topedge0"))
-c.addConstraint(("boat","boat.length"), ("length", "depth"), "sum(x)")
-c.addConstraint(("boat","boat.width"), "width")
-c.addConstraint(("boat","boat.depth"), "width", "x/3.")
-c.addConstraint(("boat","bow.point"), "length", "x/2.")
-c.addConstraint(("boat","stern.point"), "length", "x/8.")
+#
+c.addSubcomponent("starsplit", "SplitEdge")
+c.addConstraint(("starsplit", "toplength"), ("tlength"), "(x,)")
+c.addConstraint(("starsplit", "botlength"), ("tlength", "cabin.depth"), "(0.5 * x[0] - 0.5 * x[1], x[1], 0.5 * x[0] - 0.5 * x[1])")
-c.addConnection(("cabin", "portedge"), ("boat", "portedge"), angle=0)
-c.addConnection(("cabin", "staredge"), ("boat", "staredge"), angle=0, tabWidth=10)
+c.addConnection(("cabin", "rearedge"), ("starsplit", "botedge1"), tabWidth=10)
+c.addConnection(("boat", "staredge"), ("starsplit", "topedge0"))
+#
c.inheritInterface(("portedge"), ("boat", "portedge"))
c.inheritInterface(("staredge"), ("boat", "staredge"))
diff --git a/rocolib/builders/boat/HouseboatWithServoMountAndStackBuilder.py b/rocolib/builders/boat/HouseboatWithServoMountAndStackBuilder.py
deleted file mode 100644
index 86867ca3f1aac644cfc1750b93f6c70e89b9c9d2..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/HouseboatWithServoMountAndStackBuilder.py
+++ /dev/null
@@ -1,19 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addSubcomponent("boat", "Tug", inherit=True, prefix=None)
-c.inheritAllInterfaces("boat")
-
-c.addConstConstraint(("boat", "length"), 156)
-c.addConstConstraint(("boat", "width"), 90)
-c.addConstConstraint(("boat", "depth"), 70)
-
-c.addSubcomponent("servostackbattery", "ServoStackBatteryMount")
-c.inheritAllInterfaces("servostackbattery")
-
-c.addConnection(("boat", "portedge"), ("servostackbattery", "lTopSplit")) #both face the same direction
-c.addConnection(("boat", "staredge"), ("servostackbattery", "rTopSplit"))
-
-c.toLibrary("HouseboatWithServoMountAndStack")
diff --git a/rocolib/builders/boat/HouseboatWithServoStackBattery.py b/rocolib/builders/boat/HouseboatWithServoStackBattery.py
new file mode 100644
index 0000000000000000000000000000000000000000..a46679ee9b76538e7e691bf6a08be72da86ad076
--- /dev/null
+++ b/rocolib/builders/boat/HouseboatWithServoStackBattery.py
@@ -0,0 +1,44 @@
+from rocolib.api.components.Component import Component
+from rocolib.api.Function import Function
+
+c = Component()
+
+c.addSubcomponent("boat", "Tug", inherit=True)
+c.inheritAllInterfaces("boat")
+
+c.addConstConstraint(("boat", "length"), 156)
+c.addConstConstraint(("boat", "width"), 90)
+c.addConstConstraint(("boat", "depth"), 70)
+
+c.addSubcomponent("servostack", "ServoStackMount")
+c.inheritAllInterfaces("servostack")
+
+# c.addConnection(("boat", "portedge"), ("servostack", "lTopSplit")) #both face the same direction
+# c.addConnection(("boat", "staredge"), ("servostack", "rTopSplit"))
+
+c.addSubcomponent("batterymount", "BatteryMount")
+c.inheritAllInterfaces("batterymount")
+#
+c.addSubcomponent("portsplit", "SplitEdge")
+c.inheritAllInterfaces("portsplit")
+c.addConstConstraint(("portsplit", "toplength"), (156,)) #156-61
+c.addConstConstraint(("portsplit", "botlength"), (61, 10, 24, 61))
+
+c.addConnection(("portsplit", "topedge0"), ("boat", "portedge"))
+
+c.addConnection(("portsplit", "botedge0"), ("servostack", "lstacksplit"))
+c.addConnection(("portsplit", "botedge2"), ("servostack", "lservosplit"))
+c.addConnection(("batterymount", "leftArmInterface"),("portsplit", "botedge3"), tabWidth=10)
+
+c.addSubcomponent("starsplit", "SplitEdge")
+c.inheritAllInterfaces("starsplit")
+c.addConstConstraint(("starsplit", "toplength"), (156,))
+c.addConstConstraint(("starsplit", "botlength"), (61, 24, 10, 61))
+
+c.addConnection(("starsplit", "topedge0"), ("boat", "staredge"))
+
+c.addConnection(("starsplit", "botedge3"), ("servostack", "rstacksplit"))
+c.addConnection(("starsplit", "botedge1"), ("servostack", "rservosplit"))
+c.addConnection(("batterymount", "rightArmInterface"),("starsplit", "botedge0"), tabWidth=10)
+
+c.toLibrary("HouseboatWithServoStackBattery")
diff --git a/rocolib/builders/output/Cabin/graph-anim.svg b/rocolib/builders/output/Cabin/graph-anim.svg
new file mode 100644
index 0000000000000000000000000000000000000000..f42a30a36de36df1292c90ef5800afd570ddfe8d
--- /dev/null
+++ b/rocolib/builders/output/Cabin/graph-anim.svg
@@ -0,0 +1,60 @@
+<?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="110.000000mm" version="1.1" viewBox="0.000000 0.000000 120.000000 110.000000" width="120.000000mm">
+ <defs/>
+ <line opacity="0.5" stroke="#0000ff" x1="30.000000000000004" x2="90.0" y1="30.000000000000004" y2="30.000000000000004"/>
+ <line opacity="0.5" stroke="#0000ff" x1="90.0" x2="90.0" y1="30.000000000000004" y2="80.00000000000001"/>
+ <line opacity="0.5" stroke="#0000ff" x1="90.0" x2="30.000000000000004" y1="80.00000000000001" y2="80.00000000000001"/>
+ <line opacity="0.5" stroke="#0000ff" x1="30.000000000000004" x2="30.000000000000004" y1="80.00000000000001" y2="30.000000000000004"/>
+ <line stroke="#000000" x1="90.0" x2="30.000000000000004" y1="0.0" y2="0.0"/>
+ <line stroke="#000000" x1="90.0" x2="90.0" y1="30.000000000000004" y2="0.0"/>
+ <line stroke="#000000" x1="30.000000000000004" x2="30.000000000000004" y1="0.0" y2="30.000000000000004"/>
+ <line opacity="0.5" stroke="#0000ff" x1="90.0" x2="120.00000000000001" y1="30.000000000000004" y2="30.000000000000004"/>
+ <line stroke="#000000" x1="120.00000000000001" x2="120.00000000000001" y1="80.00000000000001" y2="30.000000000000004"/>
+ <line stroke="#000000" x1="90.0" x2="120.00000000000001" y1="80.00000000000001" y2="80.00000000000001"/>
+ <line stroke="#000000" x1="90.0" x2="90.0" y1="20.000000000000004" y2="30.000000000000004"/>
+ <line stroke="#000000" x1="120.00000000000001" x2="90.0" y1="20.000000000000004" y2="20.000000000000004"/>
+ <line stroke="#000000" x1="120.00000000000001" x2="120.00000000000001" y1="30.000000000000004" y2="20.000000000000004"/>
+ <line opacity="0.5" stroke="#0000ff" x1="90.0" x2="90.0" y1="80.00000000000001" y2="110.00000000000001"/>
+ <line stroke="#000000" x1="30.000000000000004" x2="90.0" y1="110.00000000000001" y2="110.00000000000001"/>
+ <line stroke="#000000" x1="30.000000000000004" x2="30.000000000000004" y1="80.00000000000001" y2="110.00000000000001"/>
+ <line stroke="#000000" x1="100.0" x2="90.0" y1="80.00000000000001" y2="80.00000000000001"/>
+ <line stroke="#000000" x1="100.0" x2="100.0" y1="110.00000000000001" y2="80.00000000000001"/>
+ <line stroke="#000000" x1="90.0" x2="100.0" y1="110.00000000000001" y2="110.00000000000001"/>
+ <line opacity="0.5" stroke="#0000ff" x1="0.0" x2="30.000000000000004" y1="30.000000000000004" y2="30.000000000000004"/>
+ <line opacity="0.5" stroke="#0000ff" x1="30.000000000000004" x2="0.0" y1="80.00000000000001" y2="80.00000000000001"/>
+ <line stroke="#000000" x1="0.0" x2="0.0" y1="30.000000000000004" y2="80.00000000000001"/>
+ <line stroke="#000000" x1="0.0" x2="0.0" y1="20.000000000000004" y2="30.000000000000004"/>
+ <line stroke="#000000" x1="30.000000000000004" x2="0.0" y1="20.000000000000004" y2="20.000000000000004"/>
+ <line stroke="#000000" x1="30.000000000000004" x2="30.000000000000004" y1="30.000000000000004" y2="20.000000000000004"/>
+ <line stroke="#000000" x1="30.000000000000004" x2="30.000000000000004" y1="90.0" y2="80.00000000000001"/>
+ <line stroke="#000000" x1="0.0" x2="30.000000000000004" y1="90.0" y2="90.0"/>
+ <line stroke="#000000" x1="0.0" x2="0.0" y1="80.00000000000001" y2="90.0"/>
+ <line stroke="#888888" x1="82.25000000000001" x2="82.25000000000001" y1="20.250000000000004" y2="9.750000000000002"/>
+ <line stroke="#888888" x1="82.25000000000001" x2="82.75000000000001" y1="9.750000000000002" y2="9.750000000000002"/>
+ <line stroke="#888888" x1="82.75000000000001" x2="82.75000000000001" y1="9.750000000000002" y2="20.250000000000004"/>
+ <line stroke="#888888" x1="82.75000000000001" x2="82.25000000000001" y1="20.250000000000004" y2="20.250000000000004"/>
+ <line stroke="#888888" x1="37.75000000000001" x2="37.75000000000001" y1="9.750000000000002" y2="20.250000000000004"/>
+ <line stroke="#888888" x1="37.75000000000001" x2="37.25000000000001" y1="20.250000000000004" y2="20.250000000000004"/>
+ <line stroke="#888888" x1="37.25000000000001" x2="37.25000000000001" y1="20.250000000000004" y2="9.750000000000002"/>
+ <line stroke="#888888" x1="37.25000000000001" x2="37.75000000000001" y1="9.750000000000002" y2="9.750000000000002"/>
+ <line stroke="#888888" x1="99.75000000000001" x2="110.25000000000001" y1="72.25000000000001" y2="72.25000000000001"/>
+ <line stroke="#888888" x1="110.25000000000001" x2="110.25000000000001" y1="72.25000000000001" y2="72.75"/>
+ <line stroke="#888888" x1="110.25000000000001" x2="99.75000000000001" y1="72.75" y2="72.75"/>
+ <line stroke="#888888" x1="99.75000000000001" x2="99.75000000000001" y1="72.75" y2="72.25000000000001"/>
+ <line stroke="#888888" x1="110.00000000000001" x2="110.00000000000001" y1="22.5" y2="27.500000000000004"/>
+ <line stroke="#888888" x1="110.00000000000001" x2="100.0" y1="27.500000000000004" y2="27.500000000000004"/>
+ <line stroke="#888888" x1="100.0" x2="100.0" y1="27.500000000000004" y2="22.5"/>
+ <line stroke="#888888" x1="37.75000000000001" x2="37.75000000000001" y1="89.75" y2="100.25000000000001"/>
+ <line stroke="#888888" x1="37.75000000000001" x2="37.25000000000001" y1="100.25000000000001" y2="100.25000000000001"/>
+ <line stroke="#888888" x1="37.25000000000001" x2="37.25000000000001" y1="100.25000000000001" y2="89.75"/>
+ <line stroke="#888888" x1="37.25000000000001" x2="37.75000000000001" y1="89.75" y2="89.75"/>
+ <line stroke="#888888" x1="97.50000000000001" x2="92.50000000000001" y1="100.0" y2="100.0"/>
+ <line stroke="#888888" x1="92.50000000000001" x2="92.50000000000001" y1="100.0" y2="90.0"/>
+ <line stroke="#888888" x1="92.50000000000001" x2="97.50000000000001" y1="90.0" y2="90.0"/>
+ <line stroke="#888888" x1="20.000000000000004" x2="20.000000000000004" y1="22.5" y2="27.500000000000004"/>
+ <line stroke="#888888" x1="20.000000000000004" x2="10.000000000000002" y1="27.500000000000004" y2="27.500000000000004"/>
+ <line stroke="#888888" x1="10.000000000000002" x2="10.000000000000002" y1="27.500000000000004" y2="22.5"/>
+ <line stroke="#888888" x1="10.000000000000002" x2="10.000000000000002" y1="87.5" y2="82.50000000000001"/>
+ <line stroke="#888888" x1="10.000000000000002" x2="20.000000000000004" y1="82.50000000000001" y2="82.50000000000001"/>
+ <line stroke="#888888" x1="20.000000000000004" x2="20.000000000000004" y1="82.50000000000001" y2="87.5"/>
+</svg>
diff --git a/rocolib/builders/output/Cabin/graph-autofold-default.dxf b/rocolib/builders/output/Cabin/graph-autofold-default.dxf
new file mode 100644
index 0000000000000000000000000000000000000000..05c2e4db40c7ac3479551b26a5ea428a6af1a9c9
--- /dev/null
+++ b/rocolib/builders/output/Cabin/graph-autofold-default.dxf
@@ -0,0 +1,1986 @@
+ 0
+SECTION
+ 2
+HEADER
+ 9
+$ACADVER
+ 1
+AC1009
+ 9
+$INSBASE
+ 10
+0.0
+ 20
+0.0
+ 30
+0.0
+ 9
+$EXTMIN
+ 10
+0.0
+ 20
+0.0
+ 30
+0.0
+ 9
+$EXTMAX
+ 10
+100.0
+ 20
+100.0
+ 30
+0.0
+ 9
+$UNITMODE
+ 70
+0
+ 9
+$AUNITS
+ 70
+0
+ 9
+$ANGBASE
+ 50
+0.0
+ 9
+$ANGDIR
+ 70
+0
+ 0
+ENDSEC
+ 0
+SECTION
+ 2
+TABLES
+ 0
+TABLE
+ 2
+LTYPE
+ 70
+20
+ 0
+LTYPE
+ 2
+CONTINUOUS
+ 70
+0
+ 3
+Solid
+ 72
+65
+ 73
+0
+ 40
+0.0
+ 0
+LTYPE
+ 2
+CENTER
+ 70
+0
+ 3
+Center ____ _ ____ _ ____ _ ____ _ ____ _ ____
+ 72
+65
+ 73
+4
+ 40
+2.0
+ 49
+1.25
+ 49
+-0.25
+ 49
+0.25
+ 49
+-0.25
+ 0
+LTYPE
+ 2
+CENTERX2
+ 70
+0
+ 3
+Center (2x) ________ __ ________ __ ________
+ 72
+65
+ 73
+4
+ 40
+3.5
+ 49
+2.5
+ 49
+-0.25
+ 49
+0.5
+ 49
+-0.25
+ 0
+LTYPE
+ 2
+CENTER2
+ 70
+0
+ 3
+Center (.5x) ____ _ ____ _ ____ _ ____ _ ____
+ 72
+65
+ 73
+4
+ 40
+1.0
+ 49
+0.625
+ 49
+-0.125
+ 49
+0.125
+ 49
+-0.125
+ 0
+LTYPE
+ 2
+DASHED
+ 70
+0
+ 3
+Dashed __ __ __ __ __ __ __ __ __ __ __ __ __ _
+ 72
+65
+ 73
+2
+ 40
+0.6
+ 49
+0.5
+ 49
+-0.1
+ 0
+LTYPE
+ 2
+DASHEDX2
+ 70
+0
+ 3
+Dashed (2x) ____ ____ ____ ____ ____ ____
+ 72
+65
+ 73
+2
+ 40
+1.2
+ 49
+1.0
+ 49
+-0.2
+ 0
+LTYPE
+ 2
+DASHED2
+ 70
+0
+ 3
+Dashed (.5x) _ _ _ _ _ _ _ _ _ _ _ _ _ _
+ 72
+65
+ 73
+2
+ 40
+0.3
+ 49
+0.25
+ 49
+-0.05
+ 0
+LTYPE
+ 2
+PHANTOM
+ 70
+0
+ 3
+Phantom ______ __ __ ______ __ __ ______
+ 72
+65
+ 73
+6
+ 40
+2.5
+ 49
+1.25
+ 49
+-0.25
+ 49
+0.25
+ 49
+-0.25
+ 49
+0.25
+ 49
+-0.25
+ 0
+LTYPE
+ 2
+PHANTOMX2
+ 70
+0
+ 3
+Phantom (2x)____________ ____ ____ ____________
+ 72
+65
+ 73
+6
+ 40
+4.25
+ 49
+2.5
+ 49
+-0.25
+ 49
+0.5
+ 49
+-0.25
+ 49
+0.5
+ 49
+-0.25
+ 0
+LTYPE
+ 2
+PHANTOM2
+ 70
+0
+ 3
+Phantom (.5x) ___ _ _ ___ _ _ ___ _ _ ___ _ _ ___
+ 72
+65
+ 73
+6
+ 40
+1.25
+ 49
+0.625
+ 49
+-0.125
+ 49
+0.125
+ 49
+-0.125
+ 49
+0.125
+ 49
+-0.125
+ 0
+LTYPE
+ 2
+DASHDOT
+ 70
+0
+ 3
+Dash dot __ . __ . __ . __ . __ . __ . __ . __
+ 72
+65
+ 73
+4
+ 40
+1.4
+ 49
+1.0
+ 49
+-0.2
+ 49
+0.0
+ 49
+-0.2
+ 0
+LTYPE
+ 2
+DASHDOTX2
+ 70
+0
+ 3
+Dash dot (2x) ____ . ____ . ____ . ____
+ 72
+65
+ 73
+4
+ 40
+2.4
+ 49
+2.0
+ 49
+-0.2
+ 49
+0.0
+ 49
+-0.2
+ 0
+LTYPE
+ 2
+DASHDOT2
+ 70
+0
+ 3
+Dash dot (.5x) _ . _ . _ . _ . _ . _ . _ . _
+ 72
+65
+ 73
+4
+ 40
+0.7
+ 49
+0.5
+ 49
+-0.1
+ 49
+0.0
+ 49
+-0.1
+ 0
+LTYPE
+ 2
+DOT
+ 70
+0
+ 3
+Dot . . . . . . . . . . . . . . . .
+ 72
+65
+ 73
+2
+ 40
+0.2
+ 49
+0.0
+ 49
+-0.2
+ 0
+LTYPE
+ 2
+DOTX2
+ 70
+0
+ 3
+Dot (2x) . . . . . . . .
+ 72
+65
+ 73
+2
+ 40
+0.4
+ 49
+0.0
+ 49
+-0.4
+ 0
+LTYPE
+ 2
+DOT2
+ 70
+0
+ 3
+Dot (.5) . . . . . . . . . . . . . . . . . . .
+ 72
+65
+ 73
+2
+ 40
+0.1
+ 49
+0.0
+ 49
+-0.1
+ 0
+LTYPE
+ 2
+DIVIDE
+ 70
+0
+ 3
+Divide __ . . __ . . __ . . __ . . __ . . __
+ 72
+65
+ 73
+6
+ 40
+1.6
+ 49
+1.0
+ 49
+-0.2
+ 49
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+ 49
+0.0
+ 49
+-0.2
+ 0
+LTYPE
+ 2
+DIVIDEX2
+ 70
+0
+ 3
+Divide (2x) ____ . . ____ . . ____ . . ____
+ 72
+65
+ 73
+6
+ 40
+2.6
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diff --git a/rocolib/builders/output/Cabin/graph-autofold-graph.dxf b/rocolib/builders/output/Cabin/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/Tug/tree.png b/rocolib/builders/output/Tug/tree.png
new file mode 100644
index 0000000000000000000000000000000000000000..648a1927dfada1cf89ae7226a17352d04f89cf3d
Binary files /dev/null and b/rocolib/builders/output/Tug/tree.png differ
diff --git a/rocolib/library/Cabin.yaml b/rocolib/library/Cabin.yaml
index 48fb07675b68338bbde94ccf4ffa2544da985275..6f3fbe467a5146b3d34f59879dfa31035b61f1ec 100644
--- a/rocolib/library/Cabin.yaml
+++ b/rocolib/library/Cabin.yaml
@@ -51,31 +51,13 @@ connections:
- l
- angle: 90
tabWidth: 10
- connection8:
- - - portsplit
- - topedge1
- - - port
- - l
- - {}
- connection9:
- - - starsplit
- - topedge1
- - - star
- - r
- - {}
interfaces:
foreedge:
- interface: t
- subcomponent: fore
- portedge:
- interface: botedge0
- subcomponent: portsplit
+ interface: l
+ subcomponent: port
rearedge:
- interface: b
- subcomponent: rear
- staredge:
- interface: botedge0
- subcomponent: starsplit
+ interface: r
+ subcomponent: star
parameters:
depth:
defaultValue: 50
@@ -89,12 +71,6 @@ parameters:
minValue: 0
units: mm
valueType: (float, int)
- length:
- defaultValue: 200
- spec:
- minValue: 0
- units: mm
- valueType: (float, int)
width:
defaultValue: 60
spec:
@@ -119,18 +95,6 @@ subcomponents:
parameter: height
w:
parameter: depth
- portsplit:
- classname: SplitEdge
- kwargs: {}
- parameters:
- botlength:
- function: '[sum(x)]'
- parameter: &id001
- - length
- - depth
- toplength:
- function: '[x[0]/2., x[1], x[0]/2.]'
- parameter: *id001
rear:
classname: Rectangle
kwargs: {}
@@ -147,16 +111,6 @@ subcomponents:
parameter: height
w:
parameter: depth
- starsplit:
- classname: SplitEdge
- kwargs: {}
- parameters:
- botlength:
- function: '[sum(x)]'
- parameter: *id001
- toplength:
- function: '[x[0]/2., x[1], x[0]/2.]'
- parameter: *id001
top:
classname: Rectangle
kwargs: {}
diff --git a/rocolib/library/HouseboatWithServoStackBattery.yaml b/rocolib/library/HouseboatWithServoStackBattery.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bd202122a0c3f67b10852ccf0d95276d00f943fd
--- /dev/null
+++ b/rocolib/library/HouseboatWithServoStackBattery.yaml
@@ -0,0 +1,2569 @@
+connections:
+ connection0:
+ - - portsplit
+ - topedge0
+ - - boat
+ - portedge
+ - {}
+ connection1:
+ - - portsplit
+ - botedge0
+ - - servostack
+ - lstacksplit
+ - {}
+ connection2:
+ - - portsplit
+ - botedge2
+ - - servostack
+ - lservosplit
+ - {}
+ connection3:
+ - - batterymount
+ - leftArmInterface
+ - - portsplit
+ - botedge3
+ - tabWidth: 10
+ connection4:
+ - - starsplit
+ - topedge0
+ - - boat
+ - staredge
+ - {}
+ connection5:
+ - - starsplit
+ - botedge3
+ - - servostack
+ - rstacksplit
+ - {}
+ connection6:
+ - - starsplit
+ - botedge1
+ - - servostack
+ - rservosplit
+ - {}
+ connection7:
+ - - batterymount
+ - rightArmInterface
+ - - starsplit
+ - botedge0
+ - tabWidth: 10
+interfaces:
+ batterymount.leftArmInterface:
+ interface: leftArmInterface
+ subcomponent: batterymount
+ batterymount.rightArmInterface:
+ interface: rightArmInterface
+ subcomponent: batterymount
+ boat.portedge:
+ interface: portedge
+ subcomponent: boat
+ boat.staredge:
+ interface: staredge
+ subcomponent: boat
+ 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
+ portsplit.botedge41:
+ interface: botedge41
+ subcomponent: portsplit
+ portsplit.botedge42:
+ interface: botedge42
+ subcomponent: portsplit
+ portsplit.botedge43:
+ interface: botedge43
+ subcomponent: portsplit
+ portsplit.botedge44:
+ interface: botedge44
+ subcomponent: portsplit
+ portsplit.botedge45:
+ interface: botedge45
+ subcomponent: portsplit
+ portsplit.botedge46:
+ interface: botedge46
+ subcomponent: portsplit
+ portsplit.botedge47:
+ interface: botedge47
+ subcomponent: portsplit
+ portsplit.botedge48:
+ interface: botedge48
+ subcomponent: portsplit
+ portsplit.botedge49:
+ interface: botedge49
+ subcomponent: portsplit
+ portsplit.botedge5:
+ interface: botedge5
+ subcomponent: portsplit
+ portsplit.botedge50:
+ interface: botedge50
+ subcomponent: portsplit
+ portsplit.botedge51:
+ interface: botedge51
+ subcomponent: portsplit
+ portsplit.botedge52:
+ interface: botedge52
+ subcomponent: portsplit
+ portsplit.botedge53:
+ interface: botedge53
+ subcomponent: portsplit
+ portsplit.botedge54:
+ interface: botedge54
+ subcomponent: portsplit
+ portsplit.botedge55:
+ interface: botedge55
+ subcomponent: portsplit
+ portsplit.botedge56:
+ interface: botedge56
+ subcomponent: portsplit
+ portsplit.botedge57:
+ interface: botedge57
+ subcomponent: portsplit
+ portsplit.botedge58:
+ interface: botedge58
+ subcomponent: portsplit
+ portsplit.botedge59:
+ interface: botedge59
+ subcomponent: portsplit
+ portsplit.botedge6:
+ interface: botedge6
+ subcomponent: portsplit
+ portsplit.botedge60:
+ interface: botedge60
+ subcomponent: portsplit
+ portsplit.botedge61:
+ interface: botedge61
+ subcomponent: portsplit
+ portsplit.botedge62:
+ interface: botedge62
+ subcomponent: portsplit
+ portsplit.botedge63:
+ interface: botedge63
+ subcomponent: portsplit
+ portsplit.botedge64:
+ interface: botedge64
+ subcomponent: portsplit
+ portsplit.botedge65:
+ interface: botedge65
+ subcomponent: portsplit
+ portsplit.botedge66:
+ interface: botedge66
+ subcomponent: portsplit
+ portsplit.botedge67:
+ interface: botedge67
+ subcomponent: portsplit
+ portsplit.botedge68:
+ interface: botedge68
+ subcomponent: portsplit
+ portsplit.botedge69:
+ interface: botedge69
+ subcomponent: portsplit
+ portsplit.botedge7:
+ interface: botedge7
+ subcomponent: portsplit
+ portsplit.botedge70:
+ interface: botedge70
+ subcomponent: portsplit
+ portsplit.botedge71:
+ interface: botedge71
+ subcomponent: portsplit
+ portsplit.botedge72:
+ interface: botedge72
+ subcomponent: portsplit
+ portsplit.botedge73:
+ interface: botedge73
+ subcomponent: portsplit
+ portsplit.botedge74:
+ interface: botedge74
+ subcomponent: portsplit
+ portsplit.botedge75:
+ interface: botedge75
+ subcomponent: portsplit
+ portsplit.botedge76:
+ interface: botedge76
+ subcomponent: portsplit
+ portsplit.botedge77:
+ interface: botedge77
+ subcomponent: portsplit
+ portsplit.botedge78:
+ interface: botedge78
+ subcomponent: portsplit
+ portsplit.botedge79:
+ interface: botedge79
+ subcomponent: portsplit
+ portsplit.botedge8:
+ interface: botedge8
+ subcomponent: portsplit
+ portsplit.botedge80:
+ interface: botedge80
+ subcomponent: portsplit
+ portsplit.botedge81:
+ interface: botedge81
+ subcomponent: portsplit
+ portsplit.botedge82:
+ interface: botedge82
+ subcomponent: portsplit
+ portsplit.botedge83:
+ interface: botedge83
+ subcomponent: portsplit
+ portsplit.botedge84:
+ interface: botedge84
+ subcomponent: portsplit
+ portsplit.botedge85:
+ interface: botedge85
+ subcomponent: portsplit
+ portsplit.botedge86:
+ interface: botedge86
+ subcomponent: portsplit
+ portsplit.botedge87:
+ interface: botedge87
+ subcomponent: portsplit
+ portsplit.botedge88:
+ interface: botedge88
+ subcomponent: portsplit
+ portsplit.botedge89:
+ interface: botedge89
+ subcomponent: portsplit
+ portsplit.botedge9:
+ interface: botedge9
+ subcomponent: portsplit
+ portsplit.botedge90:
+ interface: botedge90
+ subcomponent: portsplit
+ portsplit.botedge91:
+ interface: botedge91
+ subcomponent: portsplit
+ portsplit.botedge92:
+ interface: botedge92
+ subcomponent: portsplit
+ portsplit.botedge93:
+ interface: botedge93
+ subcomponent: portsplit
+ portsplit.botedge94:
+ interface: botedge94
+ subcomponent: portsplit
+ portsplit.botedge95:
+ interface: botedge95
+ subcomponent: portsplit
+ portsplit.botedge96:
+ interface: botedge96
+ subcomponent: portsplit
+ portsplit.botedge97:
+ interface: botedge97
+ subcomponent: portsplit
+ portsplit.botedge98:
+ interface: botedge98
+ subcomponent: portsplit
+ portsplit.botedge99:
+ interface: botedge99
+ subcomponent: portsplit
+ portsplit.topedge0:
+ interface: topedge0
+ subcomponent: portsplit
+ portsplit.topedge1:
+ interface: topedge1
+ subcomponent: portsplit
+ portsplit.topedge10:
+ interface: topedge10
+ subcomponent: portsplit
+ portsplit.topedge11:
+ interface: topedge11
+ subcomponent: portsplit
+ portsplit.topedge12:
+ interface: topedge12
+ subcomponent: portsplit
+ portsplit.topedge13:
+ interface: topedge13
+ subcomponent: portsplit
+ portsplit.topedge14:
+ interface: topedge14
+ subcomponent: portsplit
+ portsplit.topedge15:
+ interface: topedge15
+ subcomponent: portsplit
+ portsplit.topedge16:
+ interface: topedge16
+ subcomponent: portsplit
+ portsplit.topedge17:
+ interface: topedge17
+ subcomponent: portsplit
+ portsplit.topedge18:
+ interface: topedge18
+ subcomponent: portsplit
+ portsplit.topedge19:
+ interface: topedge19
+ subcomponent: portsplit
+ portsplit.topedge2:
+ interface: topedge2
+ subcomponent: portsplit
+ portsplit.topedge20:
+ interface: topedge20
+ subcomponent: portsplit
+ portsplit.topedge21:
+ interface: topedge21
+ subcomponent: portsplit
+ portsplit.topedge22:
+ interface: topedge22
+ subcomponent: portsplit
+ portsplit.topedge23:
+ interface: topedge23
+ subcomponent: portsplit
+ portsplit.topedge24:
+ interface: topedge24
+ subcomponent: portsplit
+ portsplit.topedge25:
+ interface: topedge25
+ subcomponent: portsplit
+ portsplit.topedge26:
+ interface: topedge26
+ subcomponent: portsplit
+ portsplit.topedge27:
+ interface: topedge27
+ subcomponent: portsplit
+ portsplit.topedge28:
+ interface: topedge28
+ subcomponent: portsplit
+ portsplit.topedge29:
+ interface: topedge29
+ subcomponent: portsplit
+ portsplit.topedge3:
+ interface: topedge3
+ subcomponent: portsplit
+ portsplit.topedge30:
+ interface: topedge30
+ subcomponent: portsplit
+ portsplit.topedge31:
+ interface: topedge31
+ subcomponent: portsplit
+ portsplit.topedge32:
+ interface: topedge32
+ subcomponent: portsplit
+ portsplit.topedge33:
+ interface: topedge33
+ subcomponent: portsplit
+ portsplit.topedge34:
+ interface: topedge34
+ subcomponent: portsplit
+ portsplit.topedge35:
+ interface: topedge35
+ subcomponent: portsplit
+ portsplit.topedge36:
+ interface: topedge36
+ subcomponent: portsplit
+ portsplit.topedge37:
+ interface: topedge37
+ subcomponent: portsplit
+ portsplit.topedge38:
+ interface: topedge38
+ subcomponent: portsplit
+ portsplit.topedge39:
+ interface: topedge39
+ subcomponent: portsplit
+ portsplit.topedge4:
+ interface: topedge4
+ subcomponent: portsplit
+ portsplit.topedge40:
+ interface: topedge40
+ subcomponent: portsplit
+ portsplit.topedge41:
+ interface: topedge41
+ subcomponent: portsplit
+ portsplit.topedge42:
+ interface: topedge42
+ subcomponent: portsplit
+ portsplit.topedge43:
+ interface: topedge43
+ subcomponent: portsplit
+ portsplit.topedge44:
+ interface: topedge44
+ subcomponent: portsplit
+ portsplit.topedge45:
+ interface: topedge45
+ subcomponent: portsplit
+ portsplit.topedge46:
+ interface: topedge46
+ subcomponent: portsplit
+ portsplit.topedge47:
+ interface: topedge47
+ subcomponent: portsplit
+ portsplit.topedge48:
+ interface: topedge48
+ subcomponent: portsplit
+ portsplit.topedge49:
+ interface: topedge49
+ subcomponent: portsplit
+ portsplit.topedge5:
+ interface: topedge5
+ subcomponent: portsplit
+ portsplit.topedge50:
+ interface: topedge50
+ subcomponent: portsplit
+ portsplit.topedge51:
+ interface: topedge51
+ subcomponent: portsplit
+ portsplit.topedge52:
+ interface: topedge52
+ subcomponent: portsplit
+ portsplit.topedge53:
+ interface: topedge53
+ subcomponent: portsplit
+ portsplit.topedge54:
+ interface: topedge54
+ subcomponent: portsplit
+ portsplit.topedge55:
+ interface: topedge55
+ subcomponent: portsplit
+ portsplit.topedge56:
+ interface: topedge56
+ subcomponent: portsplit
+ portsplit.topedge57:
+ interface: topedge57
+ subcomponent: portsplit
+ portsplit.topedge58:
+ interface: topedge58
+ subcomponent: portsplit
+ portsplit.topedge59:
+ interface: topedge59
+ subcomponent: portsplit
+ portsplit.topedge6:
+ interface: topedge6
+ subcomponent: portsplit
+ portsplit.topedge60:
+ interface: topedge60
+ subcomponent: portsplit
+ portsplit.topedge61:
+ interface: topedge61
+ subcomponent: portsplit
+ portsplit.topedge62:
+ interface: topedge62
+ subcomponent: portsplit
+ portsplit.topedge63:
+ interface: topedge63
+ subcomponent: portsplit
+ portsplit.topedge64:
+ interface: topedge64
+ subcomponent: portsplit
+ portsplit.topedge65:
+ interface: topedge65
+ subcomponent: portsplit
+ portsplit.topedge66:
+ interface: topedge66
+ subcomponent: portsplit
+ portsplit.topedge67:
+ interface: topedge67
+ subcomponent: portsplit
+ portsplit.topedge68:
+ interface: topedge68
+ subcomponent: portsplit
+ portsplit.topedge69:
+ interface: topedge69
+ subcomponent: portsplit
+ portsplit.topedge7:
+ interface: topedge7
+ subcomponent: portsplit
+ portsplit.topedge70:
+ interface: topedge70
+ subcomponent: portsplit
+ portsplit.topedge71:
+ interface: topedge71
+ subcomponent: portsplit
+ portsplit.topedge72:
+ interface: topedge72
+ subcomponent: portsplit
+ portsplit.topedge73:
+ interface: topedge73
+ subcomponent: portsplit
+ portsplit.topedge74:
+ interface: topedge74
+ subcomponent: portsplit
+ portsplit.topedge75:
+ interface: topedge75
+ subcomponent: portsplit
+ portsplit.topedge76:
+ interface: topedge76
+ subcomponent: portsplit
+ portsplit.topedge77:
+ interface: topedge77
+ subcomponent: portsplit
+ portsplit.topedge78:
+ interface: topedge78
+ subcomponent: portsplit
+ portsplit.topedge79:
+ interface: topedge79
+ subcomponent: portsplit
+ portsplit.topedge8:
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+ subcomponent: portsplit
+ portsplit.topedge80:
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+ subcomponent: portsplit
+ portsplit.topedge81:
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+ subcomponent: portsplit
+ portsplit.topedge82:
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+ subcomponent: portsplit
+ portsplit.topedge83:
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+ subcomponent: portsplit
+ portsplit.topedge84:
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+ portsplit.topedge85:
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+ subcomponent: portsplit
+ portsplit.topedge87:
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+ subcomponent: portsplit
+ portsplit.topedge88:
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+ subcomponent: portsplit
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+ subcomponent: portsplit
+ portsplit.topedge9:
+ interface: topedge9
+ subcomponent: portsplit
+ portsplit.topedge90:
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+ subcomponent: portsplit
+ portsplit.topedge91:
+ interface: topedge91
+ subcomponent: portsplit
+ portsplit.topedge92:
+ interface: topedge92
+ subcomponent: portsplit
+ portsplit.topedge93:
+ interface: topedge93
+ subcomponent: portsplit
+ portsplit.topedge94:
+ interface: topedge94
+ subcomponent: portsplit
+ portsplit.topedge95:
+ interface: topedge95
+ subcomponent: portsplit
+ portsplit.topedge96:
+ interface: topedge96
+ subcomponent: portsplit
+ portsplit.topedge97:
+ interface: topedge97
+ subcomponent: portsplit
+ portsplit.topedge98:
+ interface: topedge98
+ subcomponent: portsplit
+ portsplit.topedge99:
+ interface: topedge99
+ subcomponent: portsplit
+ servostack.doubleServoMount.lServoInterface:
+ interface: doubleServoMount.lServoInterface
+ subcomponent: servostack
+ servostack.doubleServoMount.lServoMount.leftInterface:
+ interface: doubleServoMount.lServoMount.leftInterface
+ subcomponent: servostack
+ servostack.doubleServoMount.lServoMount.rightInterface:
+ interface: doubleServoMount.lServoMount.rightInterface
+ subcomponent: servostack
+ servostack.doubleServoMount.rServoInterface:
+ interface: doubleServoMount.rServoInterface
+ subcomponent: servostack
+ servostack.doubleServoMount.rServoMount.leftInterface:
+ interface: doubleServoMount.rServoMount.leftInterface
+ subcomponent: servostack
+ servostack.doubleServoMount.rServoMount.rightInterface:
+ interface: doubleServoMount.rServoMount.rightInterface
+ subcomponent: servostack
+ servostack.espStack.leftArmInterface:
+ interface: espStack.leftArmInterface
+ subcomponent: servostack
+ servostack.espStack.rightArmInterface:
+ interface: espStack.rightArmInterface
+ subcomponent: servostack
+ servostack.lservosplit:
+ interface: lservosplit
+ subcomponent: servostack
+ servostack.lstacksplit:
+ interface: lstacksplit
+ subcomponent: servostack
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+ interface: portsplit.botedge0
+ subcomponent: servostack
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+ subcomponent: servostack
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+ interface: portsplit.botedge12
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+ interface: portsplit.botedge13
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+ interface: portsplit.botedge14
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+ interface: topedge67
+ subcomponent: starsplit
+ starsplit.topedge68:
+ interface: topedge68
+ subcomponent: starsplit
+ starsplit.topedge69:
+ interface: topedge69
+ subcomponent: starsplit
+ starsplit.topedge7:
+ interface: topedge7
+ subcomponent: starsplit
+ starsplit.topedge70:
+ interface: topedge70
+ subcomponent: starsplit
+ starsplit.topedge71:
+ interface: topedge71
+ subcomponent: starsplit
+ starsplit.topedge72:
+ interface: topedge72
+ subcomponent: starsplit
+ starsplit.topedge73:
+ interface: topedge73
+ subcomponent: starsplit
+ starsplit.topedge74:
+ interface: topedge74
+ subcomponent: starsplit
+ starsplit.topedge75:
+ interface: topedge75
+ subcomponent: starsplit
+ starsplit.topedge76:
+ interface: topedge76
+ subcomponent: starsplit
+ starsplit.topedge77:
+ interface: topedge77
+ subcomponent: starsplit
+ starsplit.topedge78:
+ interface: topedge78
+ subcomponent: starsplit
+ starsplit.topedge79:
+ interface: topedge79
+ subcomponent: starsplit
+ starsplit.topedge8:
+ interface: topedge8
+ subcomponent: starsplit
+ starsplit.topedge80:
+ interface: topedge80
+ subcomponent: starsplit
+ starsplit.topedge81:
+ interface: topedge81
+ subcomponent: starsplit
+ starsplit.topedge82:
+ 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:
+ boat.depth:
+ defaultValue: 50
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ boat.height:
+ defaultValue: 30
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ boat.length:
+ defaultValue: 200
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+ boat.width:
+ defaultValue: 60
+ spec:
+ minValue: 0
+ units: mm
+ valueType: (float, int)
+source: ../builders/boat/HouseboatWithServoStackBattery.py
+subcomponents:
+ batterymount:
+ classname: BatteryMount
+ kwargs: {}
+ parameters: {}
+ boat:
+ classname: Tug
+ kwargs: {}
+ parameters:
+ boat.depth: 70
+ boat.length: 156
+ boat.width: 90
+ depth:
+ parameter: boat.depth
+ height:
+ parameter: boat.height
+ length:
+ parameter: boat.length
+ width:
+ parameter: boat.width
+ portsplit:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ - 61
+ - 10
+ - 24
+ - 61
+ toplength: &id001
+ - 156
+ servostack:
+ classname: ServoStackMount
+ kwargs: {}
+ parameters: {}
+ starsplit:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ - 61
+ - 24
+ - 10
+ - 61
+ toplength: *id001
diff --git a/rocolib/library/Tug.yaml b/rocolib/library/Tug.yaml
index 7bdf7adcb4a938344492deed122efdcefa35e799..2d0fe2db83070fb06ea28fde149d74b094627074 100644
--- a/rocolib/library/Tug.yaml
+++ b/rocolib/library/Tug.yaml
@@ -1,17 +1,28 @@
connections:
connection0:
- - cabin
- - portedge
+ - foreedge
+ - - portsplit
+ - botedge1
+ - {}
+ connection1:
- - boat
- portedge
- - angle: 0
- connection1:
+ - - portsplit
+ - topedge0
+ - {}
+ connection2:
- - cabin
- - staredge
+ - rearedge
+ - - starsplit
+ - botedge1
+ - tabWidth: 10
+ connection3:
- - boat
- staredge
- - angle: 0
- tabWidth: 10
+ - - starsplit
+ - topedge0
+ - {}
interfaces:
portedge:
interface: portedge
@@ -20,26 +31,26 @@ interfaces:
interface: staredge
subcomponent: boat
parameters:
- depth:
+ cabin.depth:
defaultValue: 50
spec:
minValue: 0
units: mm
valueType: (float, int)
- height:
- defaultValue: 30
+ tdepth:
+ defaultValue: 70
spec:
minValue: 0
units: mm
valueType: (float, int)
- length:
- defaultValue: 200
+ tlength:
+ defaultValue: 156
spec:
minValue: 0
units: mm
valueType: (float, int)
- width:
- defaultValue: 60
+ twidth:
+ defaultValue: 90
spec:
minValue: 0
units: mm
@@ -52,30 +63,44 @@ subcomponents:
root: true
parameters:
boat.depth:
- function: x/3.
- parameter: width
+ parameter: tdepth
boat.length:
- function: sum(x)
- parameter:
- - length
- - depth
+ parameter: tlength
boat.width:
- parameter: width
+ parameter: twidth
bow.point:
function: x/2.
- parameter: length
+ parameter: tlength
stern.point:
function: x/8.
- parameter: length
+ parameter: tlength
cabin:
classname: Cabin
kwargs: {}
parameters:
depth:
- parameter: depth
- height:
- parameter: height
- length:
- parameter: length
+ parameter: cabin.depth
width:
- parameter: width
+ parameter: twidth
+ portsplit:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (0.5 * x[0] - 0.5 * x[1], x[1], 0.5 * x[0] - 0.5 * x[1])
+ parameter: &id001
+ - tlength
+ - cabin.depth
+ toplength:
+ function: (x,)
+ parameter: tlength
+ starsplit:
+ classname: SplitEdge
+ kwargs: {}
+ parameters:
+ botlength:
+ function: (0.5 * x[0] - 0.5 * x[1], x[1], 0.5 * x[0] - 0.5 * x[1])
+ parameter: *id001
+ toplength:
+ function: (x,)
+ parameter: tlength