diff --git a/rocolib/builders/BoatPointFlatBuilder.py b/rocolib/builders/BoatPointFlatBuilder.py
index de9f16529d0353dd793230f98554090171708440..954af142e19de120f2db8e34c3dd4a3b19e16d4b 100644
--- a/rocolib/builders/BoatPointFlatBuilder.py
+++ b/rocolib/builders/BoatPointFlatBuilder.py
@@ -6,7 +6,7 @@ c.addParameter("length", 130, paramType="length")
 c.addParameter("width", 50, paramType="length")
 c.addParameter("depth", 40, paramType="length")
 
-c.addSubcomponent("boat","SimpleUChannel", inherit=True, prefix=None)
+c.addSubcomponent("boat","SimpleUChannel", inherit=True)
 c.addSubcomponent("bow","BoatPoint")
 c.addSubcomponent("stern","BoatPoint")
 
diff --git a/rocolib/builders/ESP32StackBoatBuilder.py b/rocolib/builders/ESP32StackBoatBuilder.py
index f4c36a1e936d00d59aa0145115232e30994ff8df..3cf90fc712827760fbef4c9d4a91c8351c9ca980 100644
--- a/rocolib/builders/ESP32StackBoatBuilder.py
+++ b/rocolib/builders/ESP32StackBoatBuilder.py
@@ -3,7 +3,7 @@ from rocolib.api.components.Component import Component
 #ESP3 STACK WITH PWM SERVO FEATHERWING
 c = Component()
 
-c.addSubcomponent("boat", "BoatBase")
+c.addSubcomponent("boat", "BoatBaseFlat", inherit=True)
 
 #the length of the both should always be a multiple of the width of the motor
 #as of now i will be setting the length to 117 (so that means 9 * width of the motor which is 13)
@@ -11,10 +11,10 @@ c.addParameter("length", 130, paramType="length")
 c.addParameter("width", 50, paramType="length")
 c.addParameter("depth", 40, paramType="length")
 c.addParameter("brains", "esp32stack", paramType="dimension")
-
-c.addConstraint(("boat", "boat.length"), "length")
-c.addConstraint(("boat", "boat.width"), "width")
-c.addConstraint(("boat", "boat.depth"), "depth")
+#
+# c.addConstraint(("boat", "boat.length"), "length")
+# c.addConstraint(("boat", "boat.width"), "width")
+# c.addConstraint(("boat", "boat.depth"), "depth")
 
 
 for i in range(2):
@@ -52,4 +52,4 @@ c.addConnection(("support2", "r"), ("splitside1", "botedge5"), tabWidth=5)
 c.addConnection(("support3", "r"), ("splitside1", "botedge6"), tabWidth=5)
 
 
-c.toLibrary("ESP32StackBoat")
\ No newline at end of file
+c.toLibrary("ESP32StackBoat")
diff --git a/rocolib/library/BoatBaseFlat.yaml b/rocolib/library/BoatBaseFlat.yaml
index 49e0d9aa7d9010e3029281360b8bfbabb3f3b479..eec1ca2631fbd9324d88a605e4bd3ebf245cd8c0 100644
--- a/rocolib/library/BoatBaseFlat.yaml
+++ b/rocolib/library/BoatBaseFlat.yaml
@@ -67,43 +67,43 @@ interfaces:
     interface: redge
     subcomponent: boat
 parameters:
-  _dx:
+  boat._dx:
     defaultValue: 0
     spec:
       minValue: null
       units: mm
       valueType: (float, int)
-  _dy:
+  boat._dy:
     defaultValue: 0
     spec:
       minValue: null
       units: mm
       valueType: (float, int)
-  _dz:
+  boat._dz:
     defaultValue: 0
     spec:
       minValue: null
       units: mm
       valueType: (float, int)
-  _q_a:
+  boat._q_a:
     defaultValue: 1
     spec:
       maxValue: 1
       minValue: -1
       valueType: (int, float)
-  _q_i:
+  boat._q_i:
     defaultValue: 0
     spec:
       maxValue: 1
       minValue: -1
       valueType: (int, float)
-  _q_j:
+  boat._q_j:
     defaultValue: 0
     spec:
       maxValue: 1
       minValue: -1
       valueType: (int, float)
-  _q_k:
+  boat._q_k:
     defaultValue: 0
     spec:
       maxValue: 1
@@ -142,19 +142,19 @@ subcomponents:
     kwargs: {}
     parameters:
       _dx:
-        parameter: _dx
+        parameter: boat._dx
       _dy:
-        parameter: _dy
+        parameter: boat._dy
       _dz:
-        parameter: _dz
+        parameter: boat._dz
       _q_a:
-        parameter: _q_a
+        parameter: boat._q_a
       _q_i:
-        parameter: _q_i
+        parameter: boat._q_i
       _q_j:
-        parameter: _q_j
+        parameter: boat._q_j
       _q_k:
-        parameter: _q_k
+        parameter: boat._q_k
       depth:
         parameter: depth
       length:
diff --git a/rocolib/library/ESP32StackBoat.yaml b/rocolib/library/ESP32StackBoat.yaml
index 5005c167fb3332768ec02ed4ddbb8ee2a9f28cd5..875518782afd13292ea5f9f1dfaaa9677e582069 100644
--- a/rocolib/library/ESP32StackBoat.yaml
+++ b/rocolib/library/ESP32StackBoat.yaml
@@ -73,6 +73,74 @@ connections:
   - tabWidth: 5
 interfaces: {}
 parameters:
+  boat.boat._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.boat._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.boat._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat.boat._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.boat._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.boat._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.boat._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat.depth:
+    defaultValue: 40
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  boat.dx1:
+    defaultValue: 10
+    spec:
+      parameterType: length
+  boat.dy1:
+    defaultValue: 10
+    spec:
+      parameterType: length
+  boat.length:
+    defaultValue: 130
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  boat.width:
+    defaultValue: 50
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
   brains:
     defaultValue: esp32stack
     spec:
@@ -95,18 +163,36 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
-source: ..\builders\ESP32StackBoatBuilder.py
+source: ../builders/ESP32StackBoatBuilder.py
 subcomponents:
   boat:
-    classname: BoatBase
+    classname: BoatBaseFlat
     kwargs: {}
     parameters:
-      boat.depth:
-        parameter: depth
-      boat.length:
-        parameter: length
-      boat.width:
-        parameter: width
+      boat._dx:
+        parameter: boat.boat._dx
+      boat._dy:
+        parameter: boat.boat._dy
+      boat._dz:
+        parameter: boat.boat._dz
+      boat._q_a:
+        parameter: boat.boat._q_a
+      boat._q_i:
+        parameter: boat.boat._q_i
+      boat._q_j:
+        parameter: boat.boat._q_j
+      boat._q_k:
+        parameter: boat.boat._q_k
+      depth:
+        parameter: boat.depth
+      dx1:
+        parameter: boat.dx1
+      dy1:
+        parameter: boat.dy1
+      length:
+        parameter: boat.length
+      width:
+        parameter: boat.width
   split0:
     classname: SplitEdge
     kwargs: {}
diff --git a/rocolib/output/ESP32StackBoat/graph-anim.svg b/rocolib/output/ESP32StackBoat/graph-anim.svg
new file mode 100644
index 0000000000000000000000000000000000000000..63d1ade2a943dd68f022433d3b2c48af1c64dcf4
--- /dev/null
+++ b/rocolib/output/ESP32StackBoat/graph-anim.svg
@@ -0,0 +1,258 @@
+<?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="268.833333mm" version="1.1" viewBox="0.000000 0.000000 654.031242 268.833333" width="654.031242mm">
+  <defs/>
+  <line opacity="0.5" stroke="#0000ff" x1="34.0" x2="34.0" y1="45.0" y2="96.00000000000001"/>
+  <line opacity="0.5" stroke="#0000ff" x1="10.000000000000002" x2="10.000000000000002" y1="96.00000000000001" y2="45.0"/>
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+  <line opacity="0.5" stroke="#0000ff" x1="22.000000000000004" x2="34.0" y1="45.0" y2="45.0"/>
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diff --git a/rocolib/output/ESP32StackBoat/tree.png b/rocolib/output/ESP32StackBoat/tree.png
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