diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index ed45b9a3c49a17e1c1ad6dfb9358325756cc0211..9c09bdfd97a5e2ebe9307f3eb22dc4e446c48d73 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,6 +1,33 @@
+stages:
+  - test
+  - deploy
+
+cache:
+  paths:
+    - ~/.cache/pip/
+
+.test: &test_template
+  stage: test
+  before_script:
+    - pip3 install .
+  script:
+    - python3 -m pytest
+
+test:PY3.7:
+  <<: *test_template
+  image: python:3.7
+
+test:PY3.8:
+  <<: *test_template
+  image: python:3.8
+
+test:PY3.9:
+  <<: *test_template
+  image: python:3.9
+
 build-package:
   stage: deploy
-  image: python:3
+  image: python:3.7
   script:
     - cat $PYPIRC > /tmp/.pypirc
     - pip3 install twine
diff --git a/rocolib/api/Parameterized.py b/rocolib/api/Parameterized.py
index a1ea6d6103f855645f600759f0edeb291315b35c..39803dfbecd42e54e7be53c8d7f0e9aee9920127 100644
--- a/rocolib/api/Parameterized.py
+++ b/rocolib/api/Parameterized.py
@@ -104,6 +104,14 @@ class Parameter:
         else:
             return self.symbol
 
+    def getInfo(self, keys=None):
+        if isinstance(keys, str):
+            return getattr(self, keys)
+        elif keys:
+            return {k: v for k, v in self.__dict__.items() if k[0] != '_' and k in keys}
+        else:
+            return {k: v for k, v in self.__dict__.items() if k[0] != '_'}
+
     def getSpec(self):
         return self.spec
 
@@ -159,11 +167,15 @@ class Parameterized(object):
         """
         return self.parameters[name].getValue()
 
-    def getParameterInfo(self):
+
+    def getParameterInfo(self, name=None, keys=None):
         """
         Retrieves the parameter metadata info
         """
-        return {k: v.__dict__ for k, v in self.parameters.items()}
+        if name:
+            return self.parameters[name].getInfo(keys)
+        else:
+            return {k: v.getInfo(keys) for k, v in self.parameters.items()}
 
 
     def hasParameter(self, name):
diff --git a/rocolib/api/components/Component.py b/rocolib/api/components/Component.py
index 39e2cead7599a798adc1379bfab69d97f41780e5..00c9ed3549362aa0fd5614d35052aa8854cacadc 100644
--- a/rocolib/api/components/Component.py
+++ b/rocolib/api/components/Component.py
@@ -1,5 +1,5 @@
 from collections import OrderedDict
-import os
+import os, posixpath
 import sys
 import yaml
 import logging
@@ -58,7 +58,6 @@ class Component(Parameterized):
                 pass
             if yamlFile:
                 raise ValueError(f"No suitable yamlfile found for {yamlFile}")
-
         self.predefine()
         self.define()
 
@@ -118,7 +117,7 @@ class Component(Parameterized):
     # DESIGN PHASE
     ###
 
-    def addSubcomponent(self, name, classname, inherit=False, prefix = "", **kwargs) -> object:
+    def addSubcomponent(self, name, classname, inherit=False, prefix = "", **kwargs):
         '''
 
         :param name: unique identifier to refer to this component by
@@ -136,11 +135,11 @@ class Component(Parameterized):
             if prefix == "":
                 prefix = name
 
-            for key, value in obj.parameters.items():
+            for key, value in obj.getParameterInfo().items():
                 # inherit = True : inherit all parameters
                 if inherit is True or key in inherit:
                     try:
-                        self.addParameter(prefixString(prefix, key), value.defaultValue, **value.spec)
+                        self.addParameter(prefixString(prefix, key), value["defaultValue"], **value["spec"])
                     except KeyError:
                         # It's ok if we try to add a parameter that already exists
                         pass
@@ -291,7 +290,7 @@ class Component(Parameterized):
 
     def toYaml(self, basedir, filename):
         filepath = os.path.join(basedir, filename)
-        source = os.path.relpath(sys.argv[0], basedir)
+        source = os.path.relpath(sys.argv[0], basedir).replace(os.sep, posixpath.sep)
 
         parameters = {}
         for k, v in self.parameters.items():
diff --git a/rocolib/api/components/DecorationComponent.py b/rocolib/api/components/DecorationComponent.py
index 2826d8b9bd57f29a52ec6e6e45ae7867b2bbd378..26aef28315317f071d9bd2f154854d58d1df8bbf 100644
--- a/rocolib/api/components/DecorationComponent.py
+++ b/rocolib/api/components/DecorationComponent.py
@@ -1,6 +1,6 @@
 from rocolib.api.components import MechanicalComponent
 from rocolib.api.composables.GraphComposable import DecorationComposable
-from rocolib.api.ports import MountPort
+from rocolib.api.ports import DecorationPort as DecoPort
 
 
 class DecorationComponent(MechanicalComponent):
@@ -9,7 +9,7 @@ class DecorationComponent(MechanicalComponent):
 
     self.graph = DecorationComposable()
     self.addFace = self.graph.addFace
-    self.addInterface("decoration", MountPort(self, self.graph))
+    self.addInterface("decoration", DecoPort(self, self.graph))
 
   def getGraph(self):
     return self.graph
diff --git a/rocolib/api/composables/Composable.py b/rocolib/api/composables/Composable.py
index 887fb99c2695735773d6c9ce6ffa7d97fc95100b..eaccb69277cd6d4e0f49294e355c63c8ee719dbc 100644
--- a/rocolib/api/composables/Composable.py
+++ b/rocolib/api/composables/Composable.py
@@ -18,9 +18,13 @@ class Composable:
       raise AttributeError("Number of ports in each interface don't match")
 
     for (port1, port2) in zip(interface1, interface2):
-      self.attach(port1, port2, kwargs)
+      self.attach(port1, port2, **kwargs)
+
+  def attach(self, fromPort, toPort, **kwargs):
+    fromPort.attachTo(toPort, self, **kwargs)
+    toPort.attachFrom(fromPort, self, **kwargs)
+
+
 
-  def attach(self, fromPort, toPort, kwargs):
-    raise NotImplementedError
   def makeOutput(self, filedir, **kwargs):
     raise NotImplementedError
diff --git a/rocolib/api/composables/GraphComposable.py b/rocolib/api/composables/GraphComposable.py
index 29818bdca6a7ddf5eb9c6e83524588dd4f7a6ea1..e7d79e401da6d62bcf76f8f3a97b709d29b72836 100644
--- a/rocolib/api/composables/GraphComposable.py
+++ b/rocolib/api/composables/GraphComposable.py
@@ -38,62 +38,6 @@ class GraphComposable(Composable, BaseGraph):
         self.faces.extend(g2.faces)
         self.edges.extend(g2.edges)
 
-  def attach(self, port1, port2, kwargs):
-    # Test whether ports are of right type --
-    # Attach if both ports contain edges to attach along
-    try:
-      label1 = port1.getEdges()
-      label2 = port2.getEdges()
-    except AttributeError:
-      pass
-    else:
-      # XXX associate ports with specific composables so this isn't necessary
-      for i in range(len(label1)):
-        if label1[i] not in (e.name for e in self.edges):
-          return
-        if label2[i] not in (e.name for e in self.edges):
-          return
-
-      for i in range(len(label1)):
-        newargs = {}
-        for key, value in kwargs.items():
-          if isinstance(value, (list, tuple)):
-            newargs[key] = value[i]
-          else:
-            newargs[key] = value
-        self.mergeEdge(label1[i], label2[i], **newargs)
-
-    # If the first port contains a Face and the second contains a Decoration:
-    #     Decorate the face with the decoration
-    try:
-      face = self.getFace(port1.getFaceName())
-      deco = port2.getDecoration()
-    except AttributeError:
-      pass
-    else:
-      # XXX associate ports with specific composables so this isn't necessary
-      if face is not None:
-        decorateGraph(face, decoration=deco, **kwargs)
-
-    # If the first port contains a Decoration and the second contains a Face
-    #     Attach a face to the decoration's face
-    try:
-      deco = port1.getDecoration().faces[0]
-      face = port2.getFaceName()
-    except AttributeError:
-      pass
-    else:
-      self.mergeFace(deco.joinedFaces[0][0].name, face, np.dot(port2.getTransform(), deco.transform2D))
-
-    # If the first port contains a Face and the second contains a Face
-    #     Attach the two faces
-    try:
-      face1 = self.getFace(port1.getFaceName())
-      face2 = self.getFace(port2.getFaceName())
-    except AttributeError:
-      pass
-    else:
-      self.mergeFace(face1.name, face2.name, np.eye(4))
 
   def makeOutput(self, filedir, **kwargs):
     if "displayOnly" in kwargs:
diff --git a/rocolib/api/ports/AnchorPort.py b/rocolib/api/ports/AnchorPort.py
deleted file mode 100644
index 632d5f9b74667757948bb0c3083a4e005453d084..0000000000000000000000000000000000000000
--- a/rocolib/api/ports/AnchorPort.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from rocolib.api.ports import Port
-from rocolib.utils.utils import prefix as prefixString
-
-class AnchorPort(Port):
-  def __init__(self, parent, graph, face, transform):
-    Port.__init__(self, parent, {})
-    self.graph = graph
-    self.face = face
-    self.transform = transform
-
-  def prefix(self, prefix=""):
-    self.face = prefixString(prefix, self.face)
-
-  def getFace(self):
-    return self.graph.getFace(self.face)
-
-  def getTransform(self):
-    return self.transform
-
-  def getFaceName(self):
-    return self.face
-
-  def toString(self):
-    return str(self.face.name)
-
-  def canMate(self, otherPort):
-    return False
diff --git a/rocolib/api/ports/EdgePort.py b/rocolib/api/ports/EdgePort.py
index 365cbe29c3c49d5d55a5c73f2e4dd2701a0dc20a..60c2c44a198b47b23ee1cc78fc1ebb33a8a5e0cd 100644
--- a/rocolib/api/ports/EdgePort.py
+++ b/rocolib/api/ports/EdgePort.py
@@ -30,3 +30,25 @@ class EdgePort(Port):
 
   def toString(self):
     return str(self.getEdges())
+
+
+  def attachTo(self, toPort, graph, **kwargs):
+    # if connecting from edge to edge, merge them in order
+    if isinstance(toPort, EdgePort):
+      label1 = self.getEdges()
+      label2 = toPort.getEdges()
+      # XXX associate ports with specific composables so this isn't necessary
+      for i in range(len(label1)):
+        if label1[i] not in (e.name for e in graph.edges):
+          return
+        if label2[i] not in (e.name for e in graph.edges):
+          return
+
+      for i in range(len(label1)):
+        newargs = {}
+        for key, value in kwargs.items():
+          if isinstance(value, (list, tuple)):
+            newargs[key] = value[i]
+          else:
+            newargs[key] = value
+        graph.mergeEdge(label1[i], label2[i], **newargs)
diff --git a/rocolib/api/ports/FacePort.py b/rocolib/api/ports/FacePort.py
index e95c00597b84f4e0426d2330c79b400a253b1e4f..3b3a162605a22763c9b63a5f931a7cf4ea380337 100644
--- a/rocolib/api/ports/FacePort.py
+++ b/rocolib/api/ports/FacePort.py
@@ -17,7 +17,7 @@ class FacePort(Port):
     return self.face
 
   def toString(self):
-    return str(self.face.name)
+    return str(self.face)
 
   def canMate(self, otherPort):
     try:
@@ -30,3 +30,10 @@ class FacePort(Port):
         return True
     except:
       pass
+
+  def attachTo(self, toPort, graph, **kwargs):
+    # if connecting from face to face, merge them in order
+    if isinstance(toPort, FacePort):
+      face1 = graph.getFace(self.getFaceName())
+      face2 = graph.getFace(toPort.getFaceName())
+      graph.mergeFace(face1.name, face2.name)
diff --git a/rocolib/api/ports/MountPort.py b/rocolib/api/ports/MountPort.py
deleted file mode 100644
index 179e2ab5aca837dcdac1a3d03eb43382eba967cc..0000000000000000000000000000000000000000
--- a/rocolib/api/ports/MountPort.py
+++ /dev/null
@@ -1,16 +0,0 @@
-from rocolib.api.ports import Port
-from rocolib.utils.utils import prefix as prefixString
-
-class MountPort(Port):
-  def __init__(self, parent, decoration):
-    Port.__init__(self, parent, {})
-    self.decoration = decoration
-
-  def getDecoration(self):
-    return self.decoration
-
-  def toString(self):
-    print("decoration")
-
-  def canMate(self, otherPort):
-    return (otherPort.getFaceName() is not None)
diff --git a/rocolib/api/ports/Port.py b/rocolib/api/ports/Port.py
index 6bc3e0ac4babe4afc1404f2d1c3046368b6df38a..838bd34af9025c7b0033d920935fe338208dfd48 100644
--- a/rocolib/api/ports/Port.py
+++ b/rocolib/api/ports/Port.py
@@ -17,17 +17,7 @@ class Port(Parameterized):
     :type kwargs: dict
     """
     super(Port, self).__init__()
-
-    # XXX TODO(mehtank): Figure out better default values
-    self.isInput = False # True if self.valueFunction can be set via a connection from a port of a different component 
-    self.isOutput = False # True if self.valueFunction can be completely determined by self.parent
-    self.valueFunction = None 
-    # self.inputFunction = None
-    # self.outputFunction = None
-
     self.parent = parent
-    self._allowableMates = []
-    self._recommendedMates = []
     self.setName(name)
 
     for key, value in params.items():
@@ -45,25 +35,6 @@ class Port(Parameterized):
     # Override to handle prefixing
     pass
 
-  def setInputValue(self, value):
-    self.isInput = True
-    self.isOutput = False
-    self.valueFunction = lambda : value
-
-  def setOutputFunction(self, fn):
-    self.isInput = False
-    self.isOutput = True
-    self.valueFunction = fn
-
-  def setDrivenFunction(self, fn):
-    self.isInput = False
-    self.isOutput = False
-    self.valueFunction = fn
-
-  def getValue(self, default=None):
-    if self.valueFunction is None:
-      return default
-    return self.valueFunction()
 
   def canMate(self, otherPort):
     """
@@ -82,79 +53,25 @@ class Port(Parameterized):
       return False
     return self.__class__ == otherPort.__class__
 
-
-  def shouldMate(self, otherPort):
-    # Override for better matching
-    if not self.canMate(otherPort):
-      return False
-    if len(self._recommendedMates) > 0:
-      for nextType in self._recommendedMates:
-        if isinstance(otherPort, nextType):
-          return True
-    return False
-
-
-  def addAllowableMate(self, mateType):
-    if not isinstance(mateType, (list, tuple)):
-      mateType = [mateType]
-    for newType in mateType:
-      # XXX what exactly does this check?
-      if not isinstance(newType, type(self.__class__)):
-          continue
-      # If already have one that is a subclass of the desired one, do nothing
-      for mate in self._allowableMates:
-        if issubclass(mate, newType):
-          # XXX why do we return instead of breaking and checking the rest?
-          return
-      # Remove any that are a superclass of the new one
-      for mate in self._allowableMates:
-        if issubclass(newType, mate):
-          self._allowableMates.remove(mate)
-      self._allowableMates.append(newType)
-
-
-  def addRecommendedMate(self, mateType):
-    if not isinstance(mateType, (list, tuple)):
-      mateType = [mateType]
-    for newType in mateType:
-      if not isinstance(newType, type(self.__class__)):
-          continue
-      # If already have one that is a subclass of the desired one, do nothing
-      for mate in self._recommendedMates:
-        if issubclass(mate, newType):
-          return None
-      # Remove any that are a superclass of the new one
-      for mate in self._recommendedMates:
-        if issubclass(newType, mate):
-          self._recommendedMates.remove(mate)
-      self._recommendedMates.append(newType)
-
-
   def setParent(self, newParent):
     self.parent = newParent
 
-
   def getParent(self):
     return self.parent
 
-
   def setName(self, name):
     self.name = str(name)
 
-
   def getName(self):
     return self.name
 
-
   def toString(self):
     return str(self.parent) + '.' + self.getName()
 
+  def attachTo(self, toPort, composable, **kwargs):
+    pass
+
+  def attachFrom(self, fromPort, composable, **kwargs):
+    pass
 
-  def getCompatiblePorts(self):
-    from rocolib.api.ports import all_ports
-    compat_ports = []
-    for port in all_ports:
-        if self.canMate(port(None)):
-            compat_ports.append(port)
-    return compat_ports
 
diff --git a/rocolib/api/ports/__init__.py b/rocolib/api/ports/__init__.py
index 125bbed2b297ebecbbca8633e41992a221fbcb0a..8373d64d813746eee49d388b7344319cea1b4261 100644
--- a/rocolib/api/ports/__init__.py
+++ b/rocolib/api/ports/__init__.py
@@ -1,6 +1,5 @@
 from .Port import Port
-
 from .EdgePort import EdgePort
 from .FacePort import FacePort
-from .MountPort import MountPort
-from .AnchorPort import AnchorPort
+from .DecorationPort import DecorationPort
+from .DecorationPort import AnchorPort
diff --git a/rocolib/builders/BlimpBatteryMount.py b/rocolib/builders/BlimpBatteryMount.py
deleted file mode 100644
index 32829952e970c7ce154819f1f3c700bf8bcea61a..0000000000000000000000000000000000000000
--- a/rocolib/builders/BlimpBatteryMount.py
+++ /dev/null
@@ -1,49 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-#A 10-sided rectangular beam enclosure
-
-c = Component()
-
-c.addParameter("batterylength", 35, paramType="length")
-c.addParameter("batterywidth", 55, paramType="length") #8
-c.addParameter("batterydepth", 31, paramType="length")
-
-c.addSubcomponent("holder", "SimpleRectBeam", inherit=True, prefix=None)
-c.addConstraint(("holder", "length"), "batterylength")
-c.addConstraint(("holder", "width"), "batterydepth")
-c.addConstraint(("holder", "depth"), "batterywidth")
-
-c.addSubcomponent("bottom", "Rectangle", inherit=True)
-c.addConstraint(("bottom", "l"), "batterydepth")
-c.addConstraint(("bottom", "w"), "batterywidth")
-#
-c.addConnection(("bottom", "l"), ("holder", "botedge3"), angle=90)
-# c.addConnection(("bottom", "l"), ("holder", "botedge1"), tabWidth=10, angle=90)
-c.addConnection(("bottom", "r"), ("holder", "botedge1"),tabWidth=15, angle=90)
-# c.addConnection(("bottom", "b"), ("holder", "botedge2"), tabWidth=10, angle=90)
-#
-c.addSubcomponent("top", "Rectangle", inherit=True)
-c.addConstraint(("top", "l"), "batterydepth")
-c.addConstraint(("top", "w"), "batterywidth")
-#
-c.addConnection(("top", "l"), ("holder", "topedge3"), angle=90)
-# c.addConnection(("top", "l"), ("holder", "topedge1"), tabWidth=10, angle=90)
-c.addConnection(("top", "r"), ("holder", "topedge1"),tabWidth=15, angle=90)
-# c.addConnection(("top", "b"), ("holder", "topedge2"), tabWidth=10, angle=90)
-
-c.addSubcomponent("cutoutbot", "Cutout")
-c.addConstConstraint(("cutoutbot", "dx"), 8)
-c.addConstConstraint(("cutoutbot", "dy"), 18)
-c.addConnection(("holder", "face0"),
-                ("cutoutbot", "decoration"),
-                mode="hole")
-
-c.addSubcomponent("cutouttop", "Cutout")
-c.addConstConstraint(("cutouttop", "dx"), 8)
-c.addConstConstraint(("cutouttop", "dy"), 18)
-c.addConnection(("holder", "face2"),
-                ("cutouttop", "decoration"),
-                mode="hole")
-
-c.toLibrary("BlimpBatteryMount")
diff --git a/rocolib/builders/BrainsTwoWheelsBuilder.py b/rocolib/builders/BrainsTwoWheelsBuilder.py
deleted file mode 100644
index 6d3c1a0bc5680736c20342b8f418ff2e662043e5..0000000000000000000000000000000000000000
--- a/rocolib/builders/BrainsTwoWheelsBuilder.py
+++ /dev/null
@@ -1,115 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-#Parameters for the sheath that would cover the wheels and the ESP32 Stack
-#Parameters that will change the dimension of the car
-c.addParameter("length", 65, paramType="length", minValue=65) #tested minValue
-c.addParameter("height", 36, paramType="length", minValue=36) #tested minValue
-c.addParameter("width", 60, paramType="length", minValue=60) #tested minValue
-
-#Holder for the ESP32 FeatherBoard and its Featherwings
-#If you have another "brain" or microcontroller or board change it here and adjust the parameters above to fit that "brain"
-c.addSubcomponent("holder", "SubESP32Stack")
-c.addConstraint(("holder", "length"), "width")
-
-#This car will use the customized ESP32 stack in dimensions.py and the FS90R servo
-#Change here if you have another board
-c.addParameter("driveservo", "fs90r", paramType="dimension")
-c.addParameter("brains", "esp32stack", paramType="dimension")
-
-#Four wheels using Wheel.yaml
-c.addSubcomponent("fright", "Wheel", invert=True, inherit="angle")
-c.addSubcomponent("bleft", "Wheel", invert=True, inherit="angle")
-
-#Setting the parameters for the Wheels
-for servo in ("fright", "bleft"):
-    c.addConstraint((servo, "servo"), "driveservo")
-    c.addConstraint((servo, "length"), ("length", "brains"), '((x[0] - getDim(x[1], "width")))')
-    c.addConstConstraint((servo, "center"), False)
-    c.addConstraint((servo, "radius"), "brains", '(getDim(x, "height") / 1.35)')
-
-#Sheath to cover the wheels and the ESP32 Stack
-c.addSubcomponent("sheath0", "SimpleRectBeam")
-c.addConstraint(("sheath0", "length"), "length")
-c.addConstraint(("sheath0", "depth"), "height")
-c.addConstraint(("sheath0", "width"), "width")
-
-#Support for the middle of the front and back wheels so that they won't collapse or wiggle
-c.addSubcomponent("between0", "SimpleRectBeam")
-c.addConstraint(("between0", "length"), ("width", "driveservo"), "x[0]- 2 * getDim(x[1], 'motorheight')")
-c.addConstraint(("between0", "depth"), "driveservo", "getDim(x, 'motorwidth')")
-c.addConstraint(("between0", "width"), "driveservo", "getDim(x, 'motorwidth')")
-
-#Front between support
-c.addConnection(("fright", "topedge2"), ("between0", "topedge1"), angle=90)
-c.addConnection(("between0", "botedge1"), ("bleft", "botedge2"), angle=90, tabWidth=10)
-
-#Flipping he front right wheels to match the orientation of the
-#bottom left
-c.addConstConstraint(("fright", "flip"), True)
-
-#Connecting the wheels to attach to the "holder" of the ESP32 stack
-for i in range(2):
-    c.addSubcomponent("split%d" %i, "SplitEdge")
-    c.addConstraint(("split%d" %i, "toplength"), "brains", '(getDim(x, "height"),)')
-
-c.addConstraint(("split0", "botlength"), ("brains", "driveservo"),
-                '(getDim(x[1], "motorwidth"), getDim(x[0], "height") - getDim(x[1], "motorwidth"))')
-
-c.addConstraint(("split1", "botlength"), ("brains", "driveservo"),
-                '(getDim(x[0], "height") - getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))')
-
-c.addConnection(("holder", "botedge1"), ("split0", "topedge0"))
-c.addConnection(("split0", "botedge0"), ("fright", "botedge0"), angle=-90)
-c.addConnection(("holder", "topedge1"), ("split1", "topedge0"))
-c.addConnection(("split1", "botedge1"), ("bleft", "topedge0"), angle=-90)
-
-#Connecting the sheath to the ESP32 stack and wheels
-c.addSubcomponent("sheathsplit0", "SplitEdge")
-c.addConstraint(("sheathsplit0", "toplength"), "width", "(x,)")
-c.addConstraint(("sheathsplit0", "botlength"), ("driveservo", "width"), "(x[1] - getDim(x[0],'motorheight'), \
-              getDim(x[0],'motorheight'))")
-
-c.addConnection(("bleft", "botedge1"), ("sheathsplit0", "botedge1"),angle=180)
-c.addConnection(("sheathsplit0", "topedge0"), ("sheath0", "topedge2"))
-
-#Creating the holes for the servo wires
-for i in range(2):
-    c.addSubcomponent("sidehole%d" %i, "Cutout")
-    c.addConstraint(("sidehole%d" %i, "dx"), "height", "x * 0.39")
-
-c.addConstraint(("sidehole0", "dy"), "height", "x * 0.7")
-c.addConstraint(("sidehole1", "dy"), "height", "x * 0.5")
-
-c.addConnection(("sheath0", "face1"),
-                   ("sidehole0", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("height", "brains"), fnstring="(x[0] * -0.10, getDim(x[1], 'width') - 3)"))
-c.addConnection(("sheath0", "face3"),
-                   ("sidehole1", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("height", "brains"), fnstring="(x[0] * -0.04, getDim(x[1], 'width') - 3)"))
-
-for i in range(4):
-    c.addSubcomponent("accessoryHole%d" % i, "Cutout")
-    c.addConstraint(("accessoryHole%d" % i, "dx"), "height", "x * 0.03")
-    c.addConstraint(("accessoryHole%d" % i, "dy"), "height", "x * 0.5")
-
-c.addConnection(("sheath0", "face1"),
-                   ("accessoryHole0", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("height", "length"), fnstring="(x[0] * -0.10, -x[1] * 0.45)"))
-c.addConnection(("sheath0", "face3"),
-                   ("accessoryHole1", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("height", "length"), fnstring="(x[0] * -0.04, -x[1] * 0.45)"))
-
-c.addConnection(("sheath0", "face1"),
-                   ("accessoryHole2", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("height", "length"), fnstring="(x[0] * -0.10, x[1] * 0.05)"))
-c.addConnection(("sheath0", "face3"),
-                   ("accessoryHole3", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("height", "length"), fnstring="(x[0] * -0.04, x[1] * 0.05)"))
-
-c.inheritAllInterfaces("sheathsplit0")
-c.inheritAllInterfaces("sheath0")
-
-c.toLibrary("NewBrainsTwoWheels")
\ No newline at end of file
diff --git a/rocolib/builders/CabinBuilder.py b/rocolib/builders/CabinBuilder.py
index 952edba3c4fd831b3fa74e2a369f865acae4f41f..0d4a19d79947b189caa5e251a67e47d922442908 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", ("port", "l"))
-c.inheritInterface("rearedge", ("star", "r"))
+
+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.toLibrary("Cabin")
diff --git a/rocolib/builders/CarForSteeringBuilder.py b/rocolib/builders/CarForSteeringBuilder.py
deleted file mode 100644
index f01e3ff70ad072cbeafb28e9f00cc115c1238814..0000000000000000000000000000000000000000
--- a/rocolib/builders/CarForSteeringBuilder.py
+++ /dev/null
@@ -1,35 +0,0 @@
-from rocolib.api.components.Component import Component
-
-c = Component()
-
-c.addSubcomponent("front", "NewBrainsTwoWheels")
-c.addSubcomponent("back", "TwoWheels")
-
-c.addParameter("length", 65, paramType="length", minValue=65) #tested minValue
-c.addParameter("height", 36, paramType="length", minValue=36) #tested minValue
-c.addParameter("width", 60, paramType="length", minValue=60) #tested minValue
-
-c.addConstraint(("front", "length"), "length")
-c.addConstraint(("front", "height"), "height")
-c.addConstraint(("front", "width"), "width")
-
-c.addConstraint(("back", "length"), "length")
-c.addConstraint(("back", "height"), "height")
-c.addConstraint(("back", "width"), "width")
-
-#Main component of steering wheel car which makes them moveable: trapezoid that connects the two half of the car
-for i in range(4):
-    c.addSubcomponent("midsupport%d" %i, "Trapezoid")
-    c.addConstraint(("midsupport%d" %i, "width"), "width", "x-10")
-    c.addConstraint(("midsupport%d" %i, "depth"), "width", "x-37")
-    c.addConstraint(("midsupport%d" %i, "bangle"), "width",
-                    "float(np.atan((x-37)/5)* 180 * 0.318309)")
-
-c.addConnection(("back", "sheath1.botedge2"), ("midsupport1", "botedge"))
-c.addConnection(("front", "sheath0.botedge2"), ("midsupport0", "botedge"))
-c.addConnection(("back", "sheath1.botedge0"), ("midsupport2", "botedge"))
-c.addConnection(("front","sheath0.botedge0"), ("midsupport3", "botedge"))
-
-c.addConnection(("midsupport0", "topedge"), ("midsupport1", "topedge"))
-
-c.toLibrary("CarForSteering")
diff --git a/rocolib/builders/CarHingeServoBuilder.py b/rocolib/builders/CarHingeServoBuilder.py
deleted file mode 100644
index 5a85e36b27d49638bb54f32a73ef27d400ac49a9..0000000000000000000000000000000000000000
--- a/rocolib/builders/CarHingeServoBuilder.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from rocolib.api.components.Component import Component
-
-c = Component()
-
-c.addSubcomponent("servo", "MountedServo")
-#fs90r is the continous servo that we are using. Check dimensions.py in rocolib to check other servo motors
-c.addParameter("driveservo", "fs90r", paramType="dimension")
-
-c.addConstraint(("servo", "servo"), "driveservo")
-
-#To make it longer adjust that "+4"
-c.addConstraint(("servo", "length"), "driveservo", 'getDim(x, "motorlength") + 10')
-c.addConstConstraint(("servo", "center"), False)
-
-c.addParameter("beltLength", 75, paramType="length")
-
-for i in range(4):
-    c.addSubcomponent("belt%d" %i, "Rectangle")
-    c.addConstraint(("belt%d"%i, "l"), "beltLength")
-    c.addConstraint(("belt%d"%i, "w"), "driveservo", 'getDim(x, "motorheight")')
-
-c.addConnection(("belt0", "l"), ("servo", "beam.botedge1"), angle=90)
-c.addConnection(("belt1", "l"), ("servo", "beam.botedge3"), angle=90)
-c.addConnection(("belt2", "l"), ("servo", "beam.topedge1"), angle=90)
-c.addConnection(("belt3", "l"), ("servo", "beam.topedge3"), angle=90)
-
-c.toLibrary("CarHingeServo")
\ No newline at end of file
diff --git a/rocolib/builders/ESP32StackBuilder.py b/rocolib/builders/ESP32StackBuilder.py
index eea8301b025e13a76969b21f5ffd8a6fc84140f0..7ca9efdd54f62b404b391392e6b40c1c5ceb59fa 100644
--- a/rocolib/builders/ESP32StackBuilder.py
+++ b/rocolib/builders/ESP32StackBuilder.py
@@ -1,85 +1,69 @@
 from rocolib.api.components.Component import Component
 from rocolib.api.Function import Function
 
-#ESP3 STACK WITH PWM SERVO FEATHERWING
+# ESP32 STACK HOLDER specify in dimensions.py if different number of stacks
+# This is for 3 stacks
 c = Component()
 
-c.addSubcomponent("holder", "SimpleRectBeam")
+c.addParameter("length", 60, paramType="length")
+c.addParameter("brains", "esp32stack", paramType="dimension") #change in dimensions.py
+c.addParameter("heightChanger", 0, paramType="length")
+
+#Cover/body of the car (I needed one that folds -90; will try on SimpleRectBeam)
+for i in range(3):
+    if i % 2 == 0:
+        c.addSubcomponent("rect%d" %i, "Rectangle")
+        c.addConstraint(("rect%d" %i, "l"), ("brains", "heightChanger"), "getDim(x[0], 'height') + x[1]")
+        c.addConstraint(("rect%d" %i, "w"), "length")
+
+for i in range(3, 5):
+    c.addSubcomponent("rect%d" %i, "Rectangle")
+    c.addConstraint(("rect%d" %i, "l"), "brains", "getDim(x, 'width')")
+    c.addConstraint(("rect%d" %i, "w"), "length")
+
+#TODO: ADD TABS FOR ATTACHMENT
+# c.addConnection(("rect2", "b"), ("rect3", "t"), angle=90)
+c.addConnection(("rect3", "r"), ("rect0", "r"), angle=-90)
+c.addConnection(("rect2", "r"), ("rect4", "r"), angle=-90)
+c.addConnection(("rect4", "l"), ("rect0", "l"), angle=-90)
+
+# Putting the pins of the ESP32 Stack
+c.addSubcomponent("header", "Header")
+c.addConstraint(("header", "nrows"), "brains", "getDim(x, 'nrows')")
+c.addConstraint(("header", "ncols"), "brains", "getDim(x, 'ncols')")
+c.addConstraint(("header", "rowsep"), "brains", "getDim(x, 'rowsep')")
+c.addConstraint(("header", "colsep"), "brains", "getDim(x, 'colsep')")
+
+c.addConnection(("rect4", "face"),
+                ("header", "decoration"),
+                mode="hole", offset=Function(params=("length", "brains"), fnstring="(0, 0)"))
+
+c.addConnection(("rect3", "face"),
+                ("header", "decoration"),
+                mode="hole", offset=Function(params=("length", "brains"), fnstring="(0, 0)"))
+
+# Holes for servo and power supply
+c.addParameter("dy", 18, parameterType="length")
 
-#Dimensions of the ESP32 Stack
-c.addParameter("brains", "esp32stack", paramType="dimension")
-c.addConstraint(("holder", "length"), "brains", "getDim(x, 'length')")
-c.addConstraint(("holder", "depth"), "brains", "getDim(x, 'width')")
-c.addConstraint(("holder", "width"), "brains", "getDim(x, 'height')")
-
-#This parameter will change when the dimensions of the car or vehicle is changed
-#so that it would not affect the ESP32 stack holder
-c.addParameter("side", 10, parameterType="length")
-
-#Adding splitedge to attach to the sides of the ESP32 stack holder
-for i in range(4):
-    c.addSubcomponent("split%d" %i, "SplitEdge")
-    c.addConstraint(("split%d" %i, "toplength"), "brains", "(getDim(x, 'height'),)")
-    if i == 0 or i == 1:
-        c.addConstraint(("split%d" %i, "botlength"), "brains", "(8, getDim(x, 'height')-8)")
-    else:
-        c.addConstraint(("split%d"%i, "botlength"), "brains", "(getDim(x, 'height')-8, 8)")
-
-c.addConnection(("holder", "topedge0"), ("split0", "topedge0"))
-c.addConnection(("holder", "botedge2"), ("split1", "topedge0"))
-c.addConnection(("holder", "topedge2"), ("split2", "topedge0"))
-c.addConnection(("holder", "botedge0"), ("split3", "topedge0"))
-
-#These are the sides that will change when the length of the car changes
-c.addSubcomponent("side0", "SimpleRectBeam")
-c.addSubcomponent("side1", "SimpleRectBeam")
-
-for i in range(2):
-    c.addConstraint(("side%d" %i, "length"), "side")
-    c.addConstraint(("side%d" %i, "depth"), "brains", "getDim(x, 'width')")
-    c.addConstraint(("side%d" %i, "width"), "brains", "getDim(x, 'height')-8")
-
-c.addConnection(("split0", "botedge1"), ("side0", "botedge2"))
-c.addConnection(("split2", "botedge0"), ("side0", "botedge0"), tabWidth=7)
-c.addConnection(("split1", "botedge1"), ("side1", "botedge2"))
-c.addConnection(("split3", "botedge0"), ("side1", "botedge0"), tabWidth=7)
-
-#OLED at the top
-c.addParameter("dx1", 40, parameterType="length")
-c.addParameter("dy1", 15, parameterType="length")
-c.addSubcomponent("led", "Cutout")
-
-c.addConstraint(("led", "dx"), "dx1")
-c.addConstraint(("led", "dy"), "dy1")
-
-c.addConnection(("holder", "face1"),
-                   ("led", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("brains"), fnstring="(0, 3)"))
-
-#Holes for servo and powersupply
 for i in range(2):
-    c.addSubcomponent("servohole%d" %i, "Cutout")
-    c.addConstraint(("servohole%d" %i, "dy"), "dy1", "x+2")
-    c.addConstraint(("servohole%d" %i, "dx"), "side", "7")
-
-c.addSubcomponent("powerhole", "Cutout")
-c.addConstraint(("powerhole", "dy"), "dy1", "x+4")
-c.addConstraint(("powerhole", "dx"), "side", "13")
-
-c.addConnection(("side0", "face2"),
-                   ("servohole0", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("side"), fnstring="(1, 0)"))
-
-c.addConnection(("side1", "face2"),
-                   ("servohole1", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("side"), fnstring="(1, 0)"))
-
-c.addConnection(("holder", "face2"),
-                   ("powerhole", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("brains"), fnstring="(2, 12)"))
-
-c.inheritAllInterfaces("side0")
-c.inheritAllInterfaces("side1")
-c.inheritAllInterfaces("holder", prefix=None)
+    c.addSubcomponent("accessoryHole%d" %i, "Cutout")
+    c.addConstraint(("accessoryHole%d" %i, "dy"), "brains", "getDim(x, 'height')/1.75")
+    c.addConstraint(("accessoryHole%d" %i, "dx"), "dy", "x-3")
+
+c.addConnection(("rect2", "face"),
+                ("accessoryHole0", "decoration"),
+                mode="hole", rotate=True,
+                offset=Function(params=("brains", "length"), fnstring="(getDim(x[0], 'height') * 0.15, x[1] * 0.25)"))
+
+c.addConnection(("rect0", "face"),
+                ("accessoryHole1", "decoration"),
+                mode="hole", rotate=True,
+                offset=Function(params=("brains", "length"), fnstring="(getDim(x[0], 'height') * 0.15, -x[1] * 0.25)"))
+
+for i in range(5):
+    if i == 1:
+        continue
+    else:
+        c.inheritAllInterfaces("rect%d" %i)
 
 c.toLibrary("ESP32Stack")
\ No newline at end of file
diff --git a/rocolib/builders/ESPSegBuilder.py b/rocolib/builders/ESPSegBuilder.py
index 99f2564c1a623ac395b8c6694f4d14eab82e7c59..d545bef8544067cdcc75cb3337f9d22cdca968ae 100644
--- a/rocolib/builders/ESPSegBuilder.py
+++ b/rocolib/builders/ESPSegBuilder.py
@@ -6,6 +6,8 @@ c = Component()
 c.addParameter("length", 90, paramType="length")
 c.addParameter("width", 60, paramType="length")
 c.addParameter("height", 40, paramType="length")
+c.addParameter("tire_thickness", 0, paramType="length")
+
 
 c.addParameter("controller", "nodeMCU", paramType="dimension")
 c.addParameter("driveservo", "fs90r", paramType="dimension")
@@ -14,6 +16,9 @@ c.addSubcomponent("brain", "ESPBrains")
 c.addSubcomponent("right", "Wheel", invert=True, inherit="angle")
 c.addSubcomponent("left", "Wheel", invert=True, inherit="angle")
 
+c.addConstraint(("right", "tire_thickness"), "tire_thickness")
+c.addConstraint(("left", "tire_thickness"), "tire_thickness")
+
 # Constant thickness of main body
 def depthfn(params = None, fnmod = None):
     if params is None: params = []
diff --git a/rocolib/builders/FourWheelCarBuilder.py b/rocolib/builders/FourWheelCarBuilder.py
deleted file mode 100644
index 9da73b6e0bbf37fb33272320ce293ca5cca1589e..0000000000000000000000000000000000000000
--- a/rocolib/builders/FourWheelCarBuilder.py
+++ /dev/null
@@ -1,30 +0,0 @@
-from rocolib.api.components.Component import Component
-
-c = Component()
-
-c.addSubcomponent("front", "NewBrainsTwoWheels")
-c.addSubcomponent("back", "TwoWheels")
-
-c.addParameter("length", 65, paramType="length", minValue=65) #tested minValue
-c.addParameter("height", 36, paramType="length", minValue=36) #tested minValue
-c.addParameter("width", 60, paramType="length", minValue=60) #tested minValue
-
-c.addConstraint(("front", "length"), "length")
-c.addConstraint(("front", "height"), "height")
-c.addConstraint(("front", "width"), "width")
-
-c.addConstraint(("back", "length"), "length")
-c.addConstraint(("back", "height"), "height")
-c.addConstraint(("back", "width"), "width")
-
-c.addConnection(("front", "sheath0.botedge2"), ("back", "sheath1.botedge2"))
-c.addConnection(("front", "sheath0.botedge0"), ("back", "sheath1.botedge0"), tabWidth=13)
-
-c.addSubcomponent("shield", "Rectangle")
-c.addConstraint(("shield", "l"), "height", "x - 13")
-c.addConstraint(("shield", "w"), "width")
-
-c.addConnection(("shield", "b"), ("back", "splitedge0"), angle=90, tabWidth=10)
-c.addConnection(("shield", "t"), ("back", "splitedge1"), angle=90)
-
-c.toLibrary("FourWheelCar")
\ No newline at end of file
diff --git a/rocolib/builders/PaperbotBuilder.py b/rocolib/builders/PaperbotBuilder.py
index 1bd69fa8cd07c1719d8e030a496d61ad4071c3dc..e705eb2ae2cd2b1e9902e84b8f41dddd15786884 100644
--- a/rocolib/builders/PaperbotBuilder.py
+++ b/rocolib/builders/PaperbotBuilder.py
@@ -6,6 +6,6 @@ c.addParameter("width", 60, paramType="length", minValue=60)
 c.addParameter("length", 80, paramType="length", minValue=77)
 c.addParameter("height", 25, paramType="length", minValue=20)
 
-c.addSubcomponent("paperbot", "ESPSeg", inherit="length width height battery".split(), prefix=None)
+c.addSubcomponent("paperbot", "ESPSeg", inherit="length width height battery tire_thickness".split(), prefix=None)
 
 c.toLibrary("Paperbot")
diff --git a/rocolib/builders/ScooperBuilder.py b/rocolib/builders/ScooperBuilder.py
deleted file mode 100644
index 01d67d290de926d4de9e6fe43e944a10271d4801..0000000000000000000000000000000000000000
--- a/rocolib/builders/ScooperBuilder.py
+++ /dev/null
@@ -1,30 +0,0 @@
-from rocolib.api.components import Component
-
-c = Component()
-
-#Body of sides
-c.addSubcomponent("side0", "Trapezoid")
-for i in range(3):
-    c.addSubcomponent("r%d" %i, "Rectangle")
-
-c.addParameter("width", 147, paramType="length")
-c.addParameter("length", 73, paramType="length")
-
-c.addConstraint(("side0", "width"), "width")
-c.addConstraint(("side0", "depth"), "width", "15")
-
-c.addConstraint(("r0", "w"), "length")
-c.addConstraint(("r0", "l"), "width")
-
-for i in range(1,3):
-    c.addConstraint(("r%d" %i, "w"), "length")
-    c.addConstraint(("r%d" %i, "l"), "width", "float(15 * np.sqrt(2.))")
-
-c.addConnection(("r0", "b"), ("side0", "topedge"), angle=-90)
-c.addConnection(("side0", "redge"), ("r1", "t"), angle=-90)
-c.addConnection(("side0", "ledge"), ("r2", "t"), angle=-90)
-
-c.inheritInterface(("sideedge"), ("r0", "t"))
-c.inheritInterface(("botedge"), ("side0", "botedge"))
-
-c.toLibrary("Scooper")
\ No newline at end of file
diff --git a/rocolib/builders/TankBuilder.py b/rocolib/builders/TankBuilder.py
deleted file mode 100644
index 5485044d83ac54e02739345503ac54e1aba76242..0000000000000000000000000000000000000000
--- a/rocolib/builders/TankBuilder.py
+++ /dev/null
@@ -1,44 +0,0 @@
-from rocolib.api.components.Component import Component
-
-c = Component()
-
-#Just printing the top of the car
-# c.addSubcomponent("tankskeleton", "FourWheelCar", inherit=True, prefix=None)
-# c.addSubcomponent("tophole", "Cutout")
-#
-# #Connecting tank top
-c.addSubcomponent("tanktop", "TankTop", inherit=True, prefix=None)
-# c.addSubcomponent("support0", "Rectangle")
-# c.addSubcomponent("split0", "SplitEdge")
-#
-# c.addConstraint(("split0", "toplength"), "width", "(x,)")
-# c.addConstraint(("split0", "botlength"), "width", "(float((x - 30)/2.), float(x - (x - 30)), float((x - 30)/2.))")
-# c.addConstraint(("support0", "w"),"width", "float(x - (x - 30))")
-# c.addConstraint(("support0", "l"), "length", "x*1.5")
-#
-# c.addConnection(("tankskeleton", "sheath1.topedge0"), ("split0", "topedge0"))
-# c.addConnection(("split0", "botedge1"), ("support0", "l"), angle=180)
-# c.addConnection(("support0", "r"), ("tanktop", "backedge"), angle=90)
-
-#Attaching the side designs
-c.addSubcomponent("side0", "TankSide")
-c.addSubcomponent("side1", "TankSide")
-c.addSubcomponent("support1", "Trapezoid")
-c.addSubcomponent("support2", "Trapezoid")
-
-for i in range(1,3):
-    c.addConstraint(("support%d" %i, "width"), "toplength")
-    c.addConstraint(("support%d" %i, "depth"), ("width", "topwidth"), "(x[0] - x[1])/2.")
-    c.addConstraint(("support%d" %i, "bangle"), ("width", "topwidth", "length", "toplength"),
-                    "float(np.atan(((x[0] - x[1])/2.)/((2*x[2]-x[3])/2.))* 180 * 0.318309)") #0.318309 is 1/pi
-
-c.addConstraint(("side0", "length"), "length", "x*2")
-c.addConstraint(("side1", "length"), "length", "x*2")
-
-c.addConnection(("tanktop", "ledge"), ("support1", "topedge"), angle=-90)
-c.addConnection(("tanktop", "redge"), ("support2", "topedge"), angle=-90)
-c.addConnection(("side0", "sideedge"), ("support1", "botedge"))
-c.addConnection(("side1", "sideedge"), ("support2", "botedge"))
-
-
-c.toLibrary("Tank")
diff --git a/rocolib/builders/TankSideBuilder.py b/rocolib/builders/TankSideBuilder.py
deleted file mode 100644
index 9dfac5d687a1b7fd2d218e5192b250855fbb0518..0000000000000000000000000000000000000000
--- a/rocolib/builders/TankSideBuilder.py
+++ /dev/null
@@ -1,38 +0,0 @@
-from rocolib.api.components import Component
-import rocolib.utils.numsym as np
-
-c = Component()
-
-#Body of sides
-c.addSubcomponent("side0", "Trapezoid")
-for i in range(3):
-    c.addSubcomponent("r%d" %i, "Rectangle")
-
-c.addParameter("length", 96, paramType="length")
-c.addParameter("width", 12.5, paramType="length")
-c.addParameter("topwidth", 14, paramType="length")
-c.addParameter("facewidth", float(c.getSubCParameter("width") * np.sqrt(2.)), paramType="length")
-
-c.addConstraint(("side0", "width"), "length")
-c.addConstraint(("side0", "depth"), "width")
-
-c.addConstraint(("r0", "w"), "length")
-c.addConstraint(("r0", "l"), "topwidth")
-
-for i in range(1,3):
-    c.addConstraint(("r%d" %i, "w"), "topwidth")
-    c.addConstraint(("r%d" %i, "l"), "facewidth")
-
-c.addConnection(("r0", "l"), ("side0", "topedge"), angle=90)
-c.addConnection(("side0", "redge"), ("r1", "t"), angle=90)
-c.addConnection(("side0", "ledge"), ("r2", "t"), angle=90)
-
-#Adding splitedge to attach to the body of the tank
-c.addSubcomponent("split0", "SplitEdge")
-c.addConstraint(("split0", "toplength"), "length", "(x,)")
-c.addConstraint(("split0", "botlength"), "length", "((x - 55)/2., x - (x - 55), (x - 55)/2.)")
-
-c.inheritInterface(("sideedge"), ("r0", "r"))
-
-
-c.toLibrary("TankSide")
\ No newline at end of file
diff --git a/rocolib/builders/TankTopBuilder.py b/rocolib/builders/TankTopBuilder.py
deleted file mode 100644
index c480357c4c0825a0279dde12a502a0bc57243be1..0000000000000000000000000000000000000000
--- a/rocolib/builders/TankTopBuilder.py
+++ /dev/null
@@ -1,39 +0,0 @@
-from rocolib.api.components import Component
-
-c = Component()
-
-c.addSubcomponent("top", "UChannel")
-c.addSubcomponent("front", "Rectangle")
-c.addSubcomponent("back", "Rectangle")
-c.addSubcomponent("splittop", "SplitEdge")
-
-c.addParameter("toplength", 55, paramType="length")
-c.addParameter("topwidth", 35, paramType="length")
-c.addParameter("topdepth", 20, paramType="length")
-c.addParameter("bangle", 90, paramType="angle")
-c.addParameter("tangle", 45, paramType="angle")
-
-c.addConstraint(("top", "length"), "toplength")
-c.addConstraint(("top", "width"), "topwidth")
-c.addConstraint(("top", "depth"), "topdepth")
-c.addConstraint(("top", "bangle"), "bangle")
-c.addConstraint(("top", "tangle"), "tangle")
-c.addConstraint(("front", "l"), "topwidth")
-c.addConstraint(("front", "w"), "topdepth", "x * 1.4142") #1.4142 is sqrt(2)
-c.addConstraint(("back", "l"), "topwidth")
-c.addConstraint(("back", "w"), "topdepth")
-c.addConstraint(("splittop", "toplength"), "topwidth", "(x,)")
-c.addConstraint(("splittop", "botlength"), "topwidth", "((x - 30)/2., x - (x - 30), (x - 30)/2.)")
-
-c.addConnection(("top", "topedge2"), ("front", "l"), angle=90)
-c.addConnection(("top", "topedge0"), ("front", "r"), angle=90, tabWidth=5)
-c.addConnection(("top", "botedge1"), ("back", "t"), angle=90)
-c.addConnection(("top", "botedge2"), ("back", "r"), angle=90, tabWidth=5)
-c.addConnection(("top", "botedge0"), ("back", "l"), angle=90, tabWidth=5)
-
-c.addConnection(("splittop", "topedge0"), ("back", "b"))
-c.inheritInterface("backedge", ("splittop", "botedge1"))
-c.inheritInterface("ledge", ("top", "ledge"))
-c.inheritInterface("redge", ("top", "redge"))
-
-c.toLibrary("TankTop")
\ No newline at end of file
diff --git a/rocolib/builders/TugBuilder.py b/rocolib/builders/TugBuilder.py
index a0925a040a2749c89347f6ebb644ce57dc39b01f..1fde8a2f8d36f5c4fa6b8d8d0fdc7b2cd7170923 100644
--- a/rocolib/builders/TugBuilder.py
+++ b/rocolib/builders/TugBuilder.py
@@ -2,37 +2,18 @@ from rocolib.api.components.Component import Component
 
 c = Component()
 
-c.addParameter("tlength", 156, paramType="length")
-c.addParameter("twidth", 90, paramType="length")
-c.addParameter("tdepth", 70, paramType="length")
+# BOX
 
-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)
 
-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.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("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.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", "rearedge"), ("starsplit", "botedge1"), tabWidth=10)
-c.addConnection(("boat", "staredge"), ("starsplit", "topedge0"))
-#
-
-c.inheritInterface(("portedge"), ("boat", "portedge"))
-c.inheritInterface(("staredge"), ("boat", "staredge"))
+c.addConnection(("cabin", "portedge"), ("boat", "portedge"), angle=0)
+c.addConnection(("cabin", "staredge"), ("boat", "staredge"), angle=0, tabWidth=10)
 
 c.toLibrary("Tug")
diff --git a/rocolib/builders/TwoWheelsBuilder.py b/rocolib/builders/TwoWheelsBuilder.py
deleted file mode 100644
index dc1089d2529cd5e23e6b190a438c4909c0b00979..0000000000000000000000000000000000000000
--- a/rocolib/builders/TwoWheelsBuilder.py
+++ /dev/null
@@ -1,70 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-#Parameters for the sheath that would cover the wheels and the ESP32 Stack
-#Parameters that will change the dimension of the car
-c.addParameter("length", 65, paramType="length", minValue=65) #tested minValue
-c.addParameter("height", 36, paramType="length", minValue=36) #tested minValue
-c.addParameter("width", 60, paramType="length", minValue=60) #tested minValue
-
-#This car will use the customized ESP32 stack in dimensions.py and the FS90R servo
-#Change here if you have another board
-c.addParameter("driveservo", "fs90r", paramType="dimension")
-c.addParameter("brains", "esp32stack", paramType="dimension")
-
-#Four wheels using Wheel.yaml
-c.addSubcomponent("fleft", "Wheel", invert=True, inherit="angle")
-c.addSubcomponent("bright", "Wheel", invert=True, inherit="angle")
-
-#Setting the parameters for the Wheels
-for servo in ("bright", "fleft"):
-    c.addConstraint((servo, "servo"), "driveservo")
-    c.addConstraint((servo, "length"), ("length", "brains"), '((x[0] - getDim(x[1], "width")))')
-    c.addConstConstraint((servo, "center"), False)
-    c.addConstraint((servo, "radius"), "brains", '(getDim(x, "height") / 1.35)')
-
-#Sheath to cover the wheels and the ESP32 Stack
-c.addSubcomponent("sheath1", "SimpleRectBeam")
-c.addConstraint(("sheath1", "length"), "length")
-c.addConstraint(("sheath1", "depth"), "height")
-c.addConstraint(("sheath1", "width"), "width")
-
-#Support for the middle of the front and back wheels so that they won't collapse or wiggle
-for i in range(1,3):
-    c.addSubcomponent("between%d" %i, "SimpleRectBeam")
-    c.addConstraint(("between%d" %i, "length"), ("width", "driveservo"), "x[0]- 2 * getDim(x[1], 'motorheight')")
-    c.addConstraint(("between%d" % i, "depth"), "driveservo", "getDim(x, 'motorwidth')")
-    c.addConstraint(("between%d" % i, "width"), "driveservo", "getDim(x, 'motorwidth')")
-
-#Back between support
-c.addConnection(("fleft", "topedge2"), ("between1", "topedge1"), angle=90)
-c.addConnection(("between1", "botedge1"), ("bright", "botedge2"), angle=90)
-c.addConnection(("between2", "topedge1"), ("bright", "topedge2"), angle=90)
-c.addConnection(("between2", "botedge1"), ("fleft", "botedge2"), angle=90, tabWidth=10)
-
-#Flipping he front left and right wheels to match the orientation of the
-#bottom left and right wheels
-c.addConstConstraint(("bright", "flip"), True)
-
-# #Connecting the sheath to the ESP32 stack and wheels
-for i in range(2):
-    c.addSubcomponent("sheathsplit%d" %i, "SplitEdge")
-    c.addConstraint(("sheathsplit%d" %i, "toplength"), "height", "(x,)")
-
-c.addConstraint(("sheathsplit0", "botlength"), ("driveservo", "height"),
-                "(getDim(x[0],'motorwidth'), x[1] - getDim(x[0],'motorwidth'))")
-
-c.addConstraint(("sheathsplit1", "botlength"), ("driveservo", "height"),
-                "(x[1] - getDim(x[0],'motorwidth'), getDim(x[0],'motorwidth'))")
-
-c.addConnection(("sheathsplit0", "topedge0"), ("sheath1", "topedge1"))
-c.addConnection(("sheathsplit1", "topedge0"), ("sheath1", "topedge3"))
-c.addConnection(("fleft", "botedge0"), ("sheathsplit0", "botedge0"), angle=180)
-
-c.inheritAllInterfaces("sheath1")
-c.inheritInterface("splitedge0", ("sheathsplit0", "botedge1"))
-c.inheritInterface("splitedge1", ("sheathsplit1", "botedge0"))
-
-c.toLibrary("TwoWheels")
\ No newline at end of file
diff --git a/rocolib/builders/WheelBuilder.py b/rocolib/builders/WheelBuilder.py
index 183a5cf90d74330ea705a914decc7158a59f79b1..3dd5384055404ddd00d536b01b5f5224ccdd1fde 100644
--- a/rocolib/builders/WheelBuilder.py
+++ b/rocolib/builders/WheelBuilder.py
@@ -4,9 +4,8 @@ from rocolib.api.Function import Function
 c = Component()
 
 c.addSubcomponent("drive", "MountedServo", inherit=True, prefix=None)
-c.addSubcomponent("tire", "RegularNGon", inherit="radius", prefix=None)
+c.addSubcomponent("tire", "Tire", inherit="radius tire_thickness".split(), prefix=None)
 
-c.addConstConstraint(("tire", "n"), 40)
 
 c.inheritAllInterfaces("drive", prefix=None)
 c.addConnection(("drive", "mount"),
diff --git a/rocolib/builders/boat/BoatBaseBuilder.py b/rocolib/builders/boat/BoatBaseBuilder.py
deleted file mode 100644
index 6e943e6caea412a0b2045e83adf36d19c2318de2..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatBaseBuilder.py
+++ /dev/null
@@ -1,15 +0,0 @@
-from rocolib.api.components.Component import Component
-
-c = Component()
-
-c.addSubcomponent("boat","SimpleUChannel", inherit=("depth", "length","width"))
-c.addSubcomponent("bow","BoatPoint", inherit="point")
-c.addSubcomponent("stern","BoatPoint", inherit="point")
-
-c.join(("boat", "top"), ("bow", "edge")) #can't be addConnection because that gives ValueError: Edge boat.r0.e0 of length 20.000000 cannot merge with edge bow.sl.e1 of length 25.000000.
-c.join(("boat", "bot"), ("stern", "edge"))
-
-c.inheritInterface("portedge", ("boat", "ledge"))
-c.inheritInterface("staredge", ("boat", "redge"))
-
-c.toLibrary("BoatBase")
diff --git a/rocolib/builders/boat/BoatWithBottomServoBuilder.py b/rocolib/builders/boat/BoatWithBottomServoBuilder.py
deleted file mode 100644
index 8a1238616faf9e687432f323d381171faf920781..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatWithBottomServoBuilder.py
+++ /dev/null
@@ -1,34 +0,0 @@
-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("rudder", "BottomServoMount", inherit=True)
-
-c.addConstraint(("rudder", "width"), "boat.width")
-c.addConstraint(("rudder", "depth"), "boat.depth")
-
-c.addParameter("topDistance", 50, paramType="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]-12, 24, x[1]-12)")
-c.addConstraint(("split1", "botlength"), ("topDistance", "botDistance"), "(x[1]-12, 24, x[0]-12)")
-
-c.addConnection(("boat", "portedge"), ("split0", "topedge0"))
-c.addConnection(("boat", "staredge"), ("split1", "topedge0"))
-
-c.addConnection(("rudder","rightArmInterface"), ("split0", "botedge1"), angle=-180)
-c.addConnection(("rudder","leftArmInterface"), ("split1", "botedge1"), tabWidth=5)
-
-c.inheritInterface("topPort", ("split0", "botedge0"))
-c.inheritInterface("botPort", ("split0", "botedge2"))
-c.inheritInterface("topStar", ("split1", "botedge2"))
-c.inheritInterface("botStar", ("split1", "botedge0"))
-
-c.toLibrary("BoatWithBottomServo")
diff --git a/rocolib/builders/boat/BoatWithDCMountBuilder.py b/rocolib/builders/boat/BoatWithDCMountBuilder.py
deleted file mode 100644
index 1f6ca2d0bf020b896f190c7cf74e09acb46ccdc9..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatWithDCMountBuilder.py
+++ /dev/null
@@ -1,34 +0,0 @@
-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", 180, paramType="length") #@ankur make this half the boat.length
-c.addParameter("botDistance", 180, 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","leftArmInterface"), ("split1", "botedge1"), tabWidth=5, angle=-180)
-
-c.inheritInterface("topPort", ("split0", "botedge0"))
-c.inheritInterface("botPort", ("split0", "botedge2"))
-c.inheritInterface("topStar", ("split1", "botedge2"))
-c.inheritInterface("botStar", ("split1", "botedge0"))
-
-c.toLibrary("BoatWithDCMount")
diff --git a/rocolib/builders/boat/BoatWithManyDCMounts.py b/rocolib/builders/boat/BoatWithManyDCMounts.py
deleted file mode 100644
index f6d2b2c9e1f88a4cadd5c5cdbecdd98543f53854..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatWithManyDCMounts.py
+++ /dev/null
@@ -1,54 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addSubcomponent("boat", "BoatWithStackBattery", inherit=True)
-c.inheritAllInterfaces("boat")
-
-# c.addParameter("length", 130, paramType="length")
-# c.addParameter("width", 90, paramType="length")
-# c.addParameter("depth", 70, paramType="length")
-#
-# c.addConstraint(("boat", "boat.length"), "length")
-# c.addConstraint(("boat", "boat.width"), "width")
-# c.addConstraint(("boat", "boat.depth"), "depth")
-
-#DC Mounts
-for i in range(4):
-    c.addSubcomponent("dcMount%d" %i, "DCMotorMount", inherit=True)
-    c.addConstraint(("dcMount%d" %i, "mountWidth"), "boat.width")
-    c.addConstraint(("dcMount%d" %i, "supportLength"), "boat.depth")
-
-#Split Edges
-for i in range(4):
-    c.addSubcomponent("split%d" %i, "SplitEdge")
-    c.addConstConstraint(("split%d" %i, "toplength"), (180,))
-    c.addConstConstraint(("split%d" %i, "botlength"), (40, 10, 40, 40, 10, 40)) #symmetric
-
-#connections to each of the DC mounts
-c.addConnection(("dcMount0", "leftArmInterface"), ("split0", "botedge1"), tabWidth=6)
-c.addConnection(("dcMount0", "rightArmInterface"), ("split1", "botedge1"))
-
-c.addConnection(("dcMount1", "leftArmInterface"), ("split0", "botedge4"), tabWidth=6)
-c.addConnection(("dcMount1", "rightArmInterface"), ("split1", "botedge4"))
-
-c.addConnection(("dcMount2", "leftArmInterface"), ("split2", "botedge1"), tabWidth=6)
-c.addConnection(("dcMount2", "rightArmInterface"), ("split3", "botedge1"))
-
-c.addConnection(("dcMount3", "leftArmInterface"), ("split2", "botedge4"), tabWidth=6)
-c.addConnection(("dcMount3", "rightArmInterface"), ("split3", "botedge4"))
-
-# c.addConnection(("split0", "botedge2"), ("dcMount%d" %i, "rightArmInterface"))
-# 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", "porttopsplit"), ("split0", "topedge0"))
-c.addConnection(("boat", "portbotsplit"), ("split2", "topedge0"))
-c.addConnection(("boat", "startopsplit"), ("split1", "topedge0"))
-c.addConnection(("boat", "starbotsplit"), ("split3", "topedge0"))
-#
-# c.addConnection(("dcMount","rightArmInterface"), ("split0", "botedge1"), angle=-180)
-# c.addConnection(("dcMount","leftArmInterface"), ("split1", "botedge1"), tabWidth=5, angle=-180)
-
-c.toLibrary("BoatWithManyDCMounts")
diff --git a/rocolib/builders/boat/BoatWithManyServoMounts.py b/rocolib/builders/boat/BoatWithManyServoMounts.py
deleted file mode 100644
index 07cf4a4e6be0b375947fcca6267291297d298659..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatWithManyServoMounts.py
+++ /dev/null
@@ -1,57 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addSubcomponent("boat", "BoatWithStackBattery", inherit=True)
-c.inheritAllInterfaces("boat")
-
-# c.addParameter("length", 130, paramType="length")
-# c.addParameter("width", 90, paramType="length")
-# c.addParameter("depth", 70, paramType="length")
-#
-c.addConstConstraint(("boat", "toplength"), 102)
-c.addConstConstraint(("boat", "botlength"), 102)
-# c.addConstraint(("boat", "boat.depth"), "depth")
-
-#Servo Mounts
-for i in range(2):
-    c.addSubcomponent("servoMount%d" %i, "DoubleServoMount", inherit=("armwidth", "armdepth"))
-    c.addConstraint(("servoMount%d" %i, "armwidth"), "boat.width")
-    c.addConstraint(("servoMount%d" %i, "armdepth"), "boat.depth")
-
-#Split Edges
-for i in range(4):
-    c.addSubcomponent("split%d" %i, "SplitEdge")
-    c.addConstConstraint(("split%d" %i, "toplength"), (102,)) #78 + 24
-    if i % 2 != 0:
-        c.addConstConstraint(("split%d" %i, "botlength"), (78, 24)) #symmetric
-    else:
-        c.addConstConstraint(("split%d" %i, "botlength"), (24, 78)) #symmetric
-
-#connections to each of the DC mounts
-c.addConnection(("servoMount0", "lServoInterface"), ("split0", "botedge0"))
-c.addConnection(("servoMount0", "rServoInterface"), ("split1", "botedge1"))
-
-c.addConnection(("servoMount1", "lServoInterface"), ("split2", "botedge0"))
-c.addConnection(("servoMount1", "rServoInterface"), ("split3", "botedge1"))
-#
-# c.addConnection(("servoMount2", "lServoInterface"), ("split2", "botedge1"), tabWidth=6)
-# c.addConnection(("servoMount2", "rServoInterface"), ("split3", "botedge1"))
-#
-# c.addConnection(("servoMount3", "lServoInterface"), ("split2", "botedge4"), tabWidth=6)
-# c.addConnection(("servoMount3", "rServoInterface"), ("split3", "botedge4"))
-
-# c.addConnection(("split0", "botedge2"), ("servoMount%d" %i, "rightArmInterface"))
-# 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", "porttopsplit"), ("split0", "topedge0"))
-c.addConnection(("boat", "portbotsplit"), ("split2", "topedge0"))
-c.addConnection(("boat", "startopsplit"), ("split1", "topedge0"))
-c.addConnection(("boat", "starbotsplit"), ("split3", "topedge0"))
-#
-# c.addConnection(("servoMount","rightArmInterface"), ("split0", "botedge1"), angle=-180)
-# c.addConnection(("servoMount","leftArmInterface"), ("split1", "botedge1"), tabWidth=5, angle=-180)
-
-c.toLibrary("BoatWithManyServoMounts")
diff --git a/rocolib/builders/boat/BoatWithServoMountBuilder.py b/rocolib/builders/boat/BoatWithServoMountBuilder.py
deleted file mode 100644
index 18e0bc26bb361079368ebcb56da4d86648e27775..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatWithServoMountBuilder.py
+++ /dev/null
@@ -1,65 +0,0 @@
-from rocolib.api.components.Component import Component
-
-c = Component()
-
-c.addParameter("width", 90, paramType="length")
-c.addParameter("depth", 70, paramType="length")
-
-c.addSubcomponent("boat", "BoatBase", inherit=True)
-c.addSubcomponent("lServoMount", "SideServoMount", inherit=("depth","length"))
-c.addSubcomponent("rServoMount", "SideServoMount", inherit=("depth","length"))
-
-c.addConstraint(("boat", "boat.width"), "width")
-c.addConstraint(("boat", "boat.depth"), "depth")
-
-#topDistance and botDistance (and servoMount length) determine the dimensions of the boat hull
-c.addParameter("topDistance", 80, paramType="length", minValue=0) #servo mount length above the connecting edge
-c.addParameter("botDistance", 80, paramType="length", minValue=73) #servo mount length below the connecting edge
-
-c.addConstraint(("boat","boat.length"), ("topDistance", "botDistance", "lServoMount.depth"), "x[0] + x[1] + x[2]")
-
-c.addSubcomponent("lsplit", "SplitEdge")
-c.addConstraint(("lsplit", "toplength"), ("topDistance", "botDistance", "lServoMount.depth"), "(x[0] + x[1] + x[2],)")
-c.addConstraint(("lsplit", "botlength"), ("topDistance", "botDistance", "lServoMount.depth"), "(x[0], x[2], x[1])") #but the value of the new component's boat.length parameter is completely disconnected from the value of the boat component's boat.length parameter
-#
-c.addSubcomponent("rsplit", "SplitEdge")
-c.addConstraint(("rsplit", "toplength"), ("topDistance", "botDistance", "rServoMount.depth"), "(x[0] + x[1] + x[2],)")
-c.addConstraint(("rsplit", "botlength"), ("topDistance", "botDistance", "rServoMount.depth"), "(x[1], x[2], x[0])") #but the value of the new component's boat.length parameter is completely disconnected from the value of the boat component's boat.length parameter
-
-c.addConnection(("lsplit", "botedge1"), ("lServoMount", "rightInterface"), angle=180) #both face the same direction
-c.addConnection(("rsplit", "botedge1"), ("rServoMount", "leftInterface"), angle=180)
-
-#Bottom belt
-c.addSubcomponent("lservodown", "Rectangle")
-c.addConstraint(("lservodown", "w"), "lServoMount.depth")
-c.addConstraint(("lservodown", "l"), (("depth"), "lServoMount.length"), "x[0] - x[1]") #DEPTH OF BOAT - 3 for the tab
-
-c.addSubcomponent("lservoacross", "Rectangle")
-c.addConstraint(("lservoacross", "w"), "lServoMount.depth")
-c.addConstraint(("lservoacross", "l"), ("width"), "x * 0.5") #DEPTH OF BOAT - 3 for the tab
-
-c.addConnection(("lservodown", "r"),("lservoacross", "r"), angle=-90)
-c.addConnection(("lservodown", "l"), ("lServoMount", "leftInterface"))
-
-c.addSubcomponent("rservodown", "Rectangle")
-c.addConstraint(("rservodown", "w"), "rServoMount.depth")
-c.addConstraint(("rservodown", "l"), (("depth"), "rServoMount.length"), "x[0] - x[1]") #DEPTH OF BOAT - 3 for the tab
-
-c.addSubcomponent("rservoacross", "Rectangle")
-c.addConstraint(("rservoacross", "w"), "rServoMount.depth")
-c.addConstraint(("rservoacross", "l"), ("width"), "x * 0.5") #DEPTH OF BOAT - 3 for the tab
-
-c.addConnection(("rservodown", "r"),("rservoacross", "r"), angle=-90)
-c.addConnection(("rservodown", "l"), ("rServoMount", "rightInterface"))
-
-c.addConnection(("lservoacross", "l"), ("rservoacross", "l"), tabWidth=5)
-#
-c.addConnection(("boat", "portedge"), ("lsplit", "topedge0"))
-c.addConnection(("boat", "staredge"), ("rsplit", "topedge0"))
-
-c.inheritInterface("topPort", ("lsplit", "botedge0"))
-c.inheritInterface("botPort", ("lsplit", "botedge2"))
-c.inheritInterface("topStar", ("rsplit", "botedge2"))
-c.inheritInterface("botStar", ("rsplit", "botedge0"))
-
-c.toLibrary("BoatWithServoMount")
diff --git a/rocolib/builders/boat/BoatWithServoStackBatteryBuilder.py b/rocolib/builders/boat/BoatWithServoStackBatteryBuilder.py
deleted file mode 100644
index fe74507fc33da050f4cdb748b3e59fe21e28eb76..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatWithServoStackBatteryBuilder.py
+++ /dev/null
@@ -1,54 +0,0 @@
-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.addParameter("length", 156, paramType="length")
-c.addParameter("width", 90, paramType="length")
-c.addParameter("depth", 70, paramType="length")
-
-c.addConstraint(("boat", "boat.length"), "length")
-c.addConstraint(("boat", "boat.width"), "width")
-c.addConstraint(("boat", "boat.depth"), "depth")
-
-c.addSubcomponent("servostack", "ServoStackMount")
-c.inheritAllInterfaces("servostack")
-
-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.addConnection(("portsplit", "topedge0"), ("boat", "portedge")) #both face the same direction
-# c.addConnection(("portsplit", "botedge1"), ("servostackbattery", "lservostackbatterysplit"))
-#
-# c.addConnection(("starsplit", "topedge0"), ("boat", "staredge")) #both face the same direction
-# c.addConnection(("starsplit", "botedge0"), ("servostackbattery", "rservostackbatterysplit"))
-#
-# c.addConnection(("boat", "portedge"), ("servostack", "lservostacksplit")) #both face the same direction
-# c.addConnection(("boat", "staredge"), ("servostack", "lservostacksplit"))
-
-c.toLibrary("BoatWithServoStackBattery")
diff --git a/rocolib/builders/boat/BoatWithStackBatteryBuilder.py b/rocolib/builders/boat/BoatWithStackBatteryBuilder.py
deleted file mode 100644
index 8b92ed74229f6c05b17d9a0bdf32c0c469671f28..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/BoatWithStackBatteryBuilder.py
+++ /dev/null
@@ -1,45 +0,0 @@
-from rocolib.api.components.Component import Component
-
-#ESP3 STACK WITH PWM SERVO FEATHERWING
-c = Component()
-
-c.addSubcomponent("boat", "BoatBase", inherit=True)
-c.inheritAllInterfaces("boat")
-
-c.addParameter("toplength", 180, paramType="length")
-c.addParameter("botlength", 180, paramType="length")
-c.addParameter("width", 90, paramType="length")
-c.addParameter("depth", 70, paramType="length")
-
-c.addConstraint(("boat", "boat.length"), ("toplength", "botlength"), "(x[0]+x[1]+122)") #122 is length of Stack mount + length of Battery mount
-c.addConstraint(("boat", "boat.width"), "width")
-c.addConstraint(("boat", "boat.depth"), "depth")
-# c.addConstConstraint(("boat", "stern.point"), 50)
-# c.addConstConstraint(("boat", "bow.point"), 50)
-
-c.addSubcomponent("stack", "StackMount", inherit="stack.length", prefix=None)
-c.inheritAllInterfaces("stack")
-
-c.addSubcomponent("batterymount", "BatteryMount", inherit="batterylength", prefix=None)
-c.inheritAllInterfaces("batterymount")
-
-c.addSubcomponent("portsplit", "SplitEdge", inherit=True)
-c.addConstraint(("portsplit", "toplength"), ("toplength","botlength"), "(x[0]+x[1]+122,)")
-c.addConstraint(("portsplit", "botlength"), ("toplength","botlength", "stack.length", "batterylength"), "((x[0]+x[1]+122)/2 - (x[2]+x[3])/2, x[2], x[3], (x[0]+x[1]+122)/2 - (x[2]+x[3])/2)")
-c.addConnection(("portsplit", "botedge1"), ("stack", "leftArmInterface"))
-c.addConnection(("batterymount", "leftArmInterface"), ("portsplit", "botedge2"), tabWidth=10)
-c.addConnection(("boat", "portedge"), ("portsplit", "topedge0"))
-
-c.addSubcomponent("starsplit", "SplitEdge", inherit=True)
-c.addConstraint(("starsplit", "toplength"), ("toplength","botlength"), "(x[0]+x[1]+122,)")
-c.addConstraint(("starsplit", "botlength"), ("toplength","botlength", "stack.length", "batterylength"), "((x[0]+x[1]+122)/2 - (x[2]+x[3])/2, x[2], x[3], (x[0]+x[1]+122)/2 - (x[2]+x[3])/2)")
-c.addConnection(("starsplit", "botedge2"), ("stack", "rightArmInterface"), tabWidth=10)
-c.addConnection(("batterymount", "rightArmInterface"), ("starsplit", "botedge1"), tabWidth=10)
-c.addConnection(("boat", "staredge"), ("starsplit", "topedge0"))
-
-c.inheritInterface("porttopsplit", ("portsplit", "botedge0"))
-c.inheritInterface("portbotsplit", ("portsplit", "botedge3"))
-c.inheritInterface("startopsplit", ("starsplit", "botedge3"))
-c.inheritInterface("starbotsplit", ("starsplit", "botedge0"))
-
-c.toLibrary("BoatWithStackBattery")
diff --git a/rocolib/builders/boat/HouseboatWithServoStackBattery.py b/rocolib/builders/boat/HouseboatWithServoStackBattery.py
deleted file mode 100644
index a46679ee9b76538e7e691bf6a08be72da86ad076..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/HouseboatWithServoStackBattery.py
+++ /dev/null
@@ -1,44 +0,0 @@
-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/boat/PaddleWheelBuilder.py b/rocolib/builders/boat/PaddleWheelBuilder.py
deleted file mode 100644
index 489c0eff2a8505083a09c1b0b24a169fd5c046a2..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/PaddleWheelBuilder.py
+++ /dev/null
@@ -1,40 +0,0 @@
-from rocolib.api.components import Component
-
-c = Component()
-
-c.addSubcomponent("left", "PaddlewheelL", inherit=True, prefix=None)
-c.addSubcomponent("right", "PaddlewheelR")
-
-c.addConstraint(("right", "Radius"), "Radius")
-c.addConstraint(("right", "PanelLength"), "PanelLength")
-c.addConstraint(("right", "Spokes"), "Spokes")
-
-for i in range(8):
-    c.addSubcomponent("flapsplitL%d" % i, "SplitEdge")
-    c.addSubcomponent("flapsplitR%d" % i, "SplitEdge")
-
-    c.addConstraint(("flapsplitL%d" % i, "botlength"), ("Radius", "PanelLength"),
-                    "[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]")
-    c.addConstraint(("flapsplitL%d" % i, "toplength"), ("Radius", "PanelLength"), "[3.*x[0]/8]")
-
-    c.addConstraint(("flapsplitR%d" % i, "botlength"), ("Radius", "PanelLength"),
-                    "[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]")
-    c.addConstraint(("flapsplitR%d" % i, "toplength"), ("Radius", "PanelLength"), "[3.*x[0]/8]")
-
-    c.addConnection(("flapsplitR%d" % i, "topedge0"), ("right", "flap%dR" % i))
-    c.addConnection(("flapsplitL%d" % i, "topedge0"), ("left", "flap%dL" % i))
-    c.addConnection(("flapsplitL%d" % i, "botedge2"), ("flapsplitR%d" % i, "botedge2"), angle=0, tabWidth=5)
-
-for i in range(8):
-    c.addSubcomponent("flapsplitRsup%d" % i, "SplitEdge")
-    c.addConstraint(("flapsplitRsup%d" % i, "botlength"), ("Radius", "PanelLength"), "[3.*x[0]/24]")
-    c.addConstraint(("flapsplitRsup%d" % i, "toplength"), ("Radius", "PanelLength"), "[3.*x[0]/24]")
-    c.addConnection(("flapsplitRsup%d" % i, "botedge0"), ("flapsplitR%d" % i, "botedge1"))
-    c.addConnection(("flapsplitRsup%d" % i, "topedge0"), ("flapsplitL%d" % i, "botedge1"), angle=0, tabWidth=5)
-
-# c.addConnection(("left", "flap%dL" %i), ("right", "flap%dR" %i), angle=0, tabWidth=4)
-
-# for i in range(12):
-# c.addConnection(("left", "flap%dL" %i), ("right", "flap%dR" %i), angle=0, tabWidth=4)
-
-c.toLibrary("PaddleWheel")
diff --git a/rocolib/builders/boat/PaddleboatWithCameraBuilder.py b/rocolib/builders/boat/PaddleboatWithCameraBuilder.py
deleted file mode 100644
index ff131a4e05fbd9e5da1bf64d287526939f68e3b1..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/PaddleboatWithCameraBuilder.py
+++ /dev/null
@@ -1,48 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addSubcomponent("boat", "BoatBaseFlat", inherit=True)
-
-# c.addParameter("length", 130, paramType="length")
-# c.addParameter("width", 50, paramType="length")
-# c.addParameter("depth", 40, paramType="length")
-
-c.addParameter("driveservo", "fs90r", paramType="dimension")
-
-for i in range(2):
-    c.addSubcomponent("mount%d" %i, "SideServoMount", prefix=None)
-    c.addConstraint(("mount%d" %i, "servo"), "driveservo")
-    # c.addConstraint(("mount%d" %i, "length"), "boat.width")
-    # c.addConstConstraint(("mount%d" %i, "center"), False)
-
-#mirrored
-c.addSubcomponent("split0", "SplitEdge")
-c.addConstraint(("split0", "toplength"), "boat.length", "(x,)") #'((x[0] - getDim(x[1], "width")))'
-c.addConstraint(("split0", "botlength"), ("boat.length", "driveservo"), '(x[0] - 74 - 15 - getDim(x[1], "motorlength"), 15, getDim(x[1], "motorlength"), 74)')
-
-c.addSubcomponent("split1", "SplitEdge")
-c.addConstraint(("split1", "toplength"), "boat.length", "(x,)") #'((x[0] - getDim(x[1], "width")))'
-c.addConstraint(("split1", "botlength"), ("boat.length", "driveservo"), '(74, getDim(x[1], "motorlength"), 15, x[0] - 74 - 15 - getDim(x[1], "motorlength"))') #'(74, getDim(x[1], "motorlength"), x[0] - 74 - getDim(x[1], "motorlength"))'
-
-c.addConnection(("boat", "staredge"), ("split0", "topedge0")) #topedge so that the motor mounts are placed outside of the boat hull
-c.addConnection(("boat", "portedge"), ("split1", "topedge0"))
-#
-c.addConnection(("mount0", "botedge3"), ("split0", "botedge2"), angle=-180)
-c.addConnection(("mount1", "topedge3"), ("split1", "botedge1"), angle=-180)
-
-#Seats -- might only have space for one band that functions as a boat support
-c.addSubcomponent("flopSupport", "Rectangle")
-c.addConstraint(("flopSupport", "l"), "boat.width")
-c.addConstraint(("flopSupport", "w"), "boat.width", "15") #asks for another param, so I just put boat.width
-c.addConnection(("split0", "botedge1"), ("flopSupport", "r"), angle=90)
-c.addConnection(("split1", "botedge2"), ("flopSupport", "l"), tabWidth=6, angle=90)
-
-c.addSubcomponent("stack", "SubESP32Stack")
-# for i in range(4):
-#     c.addSubcomponent("support%d" %i, "Rectangle")
-#     c.addConstraint(("support%d" %i, "w"), "brains", "getDim(x, 'width')/2.")
-    # c.addConstraint(("support%d" %i, "l"), "depth")
-
-c.toLibrary("PaddleboatWithCamera")
diff --git a/rocolib/builders/boat/mounts/BatteryHolderBuilder.py b/rocolib/builders/boat/mounts/BatteryHolderBuilder.py
deleted file mode 100644
index a16f8561d31bff666c143dfdd7ca8acd2bf47367..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/mounts/BatteryHolderBuilder.py
+++ /dev/null
@@ -1,28 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-#A 5-sided rectangular beam enclosure
-
-c = Component()
-
-c.addParameter("numBatteries", 3, paramType="count", minValue=1, maxValue=10)
-
-c.addParameter("batterylength", 60, paramType="length")
-c.addParameter("batterywidth", 17, paramType="length")
-c.addParameter("batterydepth", 9, paramType="length")
-
-c.addSubcomponent("holder", "SimpleRectBeam", inherit=True, prefix=None)
-c.addConstraint(("holder", "length"), "batterylength")
-c.addConstraint(("holder", "width"), ("numBatteries", "batterydepth"), "x[0] * x[1]")
-c.addConstraint(("holder", "depth"), "batterywidth")
-
-c.addSubcomponent("bottom", "Rectangle", inherit=True)
-c.addConstraint(("bottom", "l"), ("numBatteries", "batterydepth"), "x[0] * x[1]")
-c.addConstraint(("bottom", "w"), "batterywidth")
-
-c.addConnection(("bottom", "t"), ("holder", "botedge0"), angle=90)
-c.addConnection(("bottom", "l"), ("holder", "botedge1"), tabWidth=5, angle=90)
-c.addConnection(("bottom", "r"), ("holder", "botedge3"),tabWidth=5, angle=90)
-c.addConnection(("bottom", "b"), ("holder", "botedge2"), tabWidth=5, angle=90)
-
-c.toLibrary("BatteryHolder")
diff --git a/rocolib/builders/boat/mounts/BatteryMountBuilder.py b/rocolib/builders/boat/mounts/BatteryMountBuilder.py
deleted file mode 100644
index 49b2cbca29a6033dfee13dff508a811d7d5cf450..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/mounts/BatteryMountBuilder.py
+++ /dev/null
@@ -1,43 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-#A 4-sided rectangular beam with a cutout for the battery terminals and wings for mounting
-
-c = Component()
-
-c.addParameter("boatwidth", 90, paramType="length")
-c.addParameter("boatdepth", 70, paramType="length")
-
-c.addParameter("batterylength", 61, paramType="length")
-c.addParameter("batterywidth", 17, paramType="length")
-c.addParameter("batterydepth", 9, paramType="length")
-
-c.addParameter("numBatteries", 3, paramType="count", minValue=1, maxValue=10)
-
-c.addSubcomponent("holder", "SimpleRectBeam", inherit=True, prefix=None)
-c.addConstraint(("holder", "depth"), "batterylength")
-c.addConstraint(("holder", "length"), ("numBatteries", "batterydepth"), "x[1] * x[0]")
-c.addConstraint(("holder", "width"), "batterywidth")
-
-c.addSubcomponent("larm", "Rectangle", inherit=True)
-c.addConstraint(("larm", "l"), ("numBatteries", "boatwidth", "boatdepth", "batterywidth", "batterydepth"), "(((0.5 * x[1] - 0.5 * (x[4] * x[0])) ** 2 + (x[2] - x[3]) ** 2) ** 0.5)-4") #-4 for tab width
-c.addConstraint(("larm", "w"), "batterylength")
-
-c.addSubcomponent("rarm", "Rectangle", inherit=True)
-c.addConstraint(("rarm", "l"), ("numBatteries","boatwidth", "boatdepth", "batterywidth", "batterydepth"), "(((0.5 * x[1] - 0.5 * (x[4] * x[0])) ** 2 + (x[2] - x[3]) ** 2) ** 0.5)-4")
-c.addConstraint(("rarm", "w"), "batterylength")
-#
-c.addConnection(("larm", "l"), ("holder", "topedge3"), angle=-45)
-c.addConnection(("rarm", "l"), ("holder", "botedge3"), angle=-45)
-
-c.addSubcomponent("terminals", "Cutout")
-c.addConstConstraint(("terminals", "dx"), 6)
-c.addConstraint(("terminals", "dy"), "numBatteries", "x * 6")
-c.addConnection(("holder", "face3"),
-                   ("terminals", "decoration"),
-                   mode="hole", offset=Function(params=("batterylength"), fnstring="(-30, 0)"))
-
-c.inheritInterface("leftArmInterface", ("larm", "r"))
-c.inheritInterface("rightArmInterface", ("rarm", "r"))
-
-c.toLibrary("BatteryMount")
diff --git a/rocolib/builders/boat/mounts/BottomServoMountBuilder.py b/rocolib/builders/boat/mounts/BottomServoMountBuilder.py
deleted file mode 100644
index 31621811db421e358be884f4352800636f8c6dc2..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/mounts/BottomServoMountBuilder.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addParameter("depth", 60, parameterType="length") # = boat depth
-c.addParameter("width", 90, parameterType="length") # = boat depth
-
-c.addSubcomponent("servoMount", "SideServoMount", inherit="depth")
-
-c.addSubcomponent("leftArmDown", "Rectangle")
-c.addConstraint(("leftArmDown", "w"), "servoMount.depth")
-c.addConstraint(("leftArmDown", "l"), "depth", "x-3") #DEPTH OF BOAT - 3 for the tab
-
-c.addSubcomponent("leftArmAcross", "Rectangle")
-c.addConstraint(("leftArmAcross", "w"), "servoMount.depth")
-c.addConstraint(("leftArmAcross", "l"), ("width", "servoMount.depth"), "x[0]/2 - x[1]/2") #DEPTH OF BOAT - 3 for the tab
-
-c.addConnection(("leftArmDown", "r"), ("leftArmAcross", "r"), angle=-90)
-
-c.addSubcomponent("rightArmDown", "Rectangle")
-c.addConstraint(("rightArmDown", "w"), "servoMount.depth")
-c.addConstraint(("rightArmDown", "l"), "depth", "x-3") #DEPTH OF BOAT
-
-c.addSubcomponent("rightArmAcross", "Rectangle")
-c.addConstraint(("rightArmAcross", "w"), "servoMount.depth")
-c.addConstraint(("rightArmAcross", "l"), ("width", "servoMount.depth"), "x[0]/2 - x[1]/2") #DEPTH OF BOAT - 3 for the tab
-
-c.addConnection(("rightArmDown", "r"), ("rightArmAcross", "r"), angle=-90)
-
-c.addConnection(("servoMount", "leftInterface"), ("leftArmAcross", "l")) #l/r, not t/b
-c.addConnection(("servoMount", "rightInterface"), ("rightArmAcross", "l"))
-
-c.inheritInterface("leftArmInterface", ("leftArmDown", "l"))
-c.inheritInterface("rightArmInterface", ("rightArmDown", "l"))
-
-c.toLibrary("BottomServoMount")
diff --git a/rocolib/builders/boat/mounts/DCMotorMountBuilder.py b/rocolib/builders/boat/mounts/DCMotorMountBuilder.py
deleted file mode 100644
index c283d6d17c0765ee4306228440b581c3ce5e3e63..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/mounts/DCMotorMountBuilder.py
+++ /dev/null
@@ -1,48 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addSubcomponent("leftArm", "Rectangle")
-c.addSubcomponent("rightArm", "Rectangle")
-c.addSubcomponent("dcMount", "SimpleRectBeam")
-
-c.addParameter("motorWidth", 8, parameterType="length")
-c.addParameter("motorHeight", 8, parameterType="length")
-c.addParameter("mountWidth", 40, parameterType="length") # = boat width
-c.addParameter("supportLength", 60, parameterType="length") # = boat depth
-
-c.addSubcomponent("cutout1", "Cutout")
-c.addSubcomponent("cutout2", "Cutout")
-
-c.addConstraint(("cutout1", "dx"), "motorWidth")
-c.addConstraint(("cutout1", "dy"), "motorHeight")
-
-c.addConstraint(("cutout2", "dx"), "motorWidth")
-c.addConstraint(("cutout2", "dy"), "motorHeight")
-
-c.addConnection(("dcMount", "face0"),
-                   ("cutout1", "decoration"),
-                   mode="hole", offset=Function(params=("motorWidth"), fnstring="(-10, 0)"))
-
-c.addConnection(("dcMount", "face2"),
-                   ("cutout2", "decoration"),
-                   mode="hole", offset=Function(params=("motorWidth"), fnstring="(10, 0)"))
-
-c.addConstConstraint(("leftArm", "w"), 10)
-c.addConstraint(("leftArm", "l"), "supportLength") #DEPTH OF BOAT - 3 for the tab
-
-c.addConstConstraint(("rightArm", "w"), 10)
-c.addConstraint(("rightArm", "l"), "supportLength") #DEPTH OF BOAT
-
-c.addConstraint(("dcMount", "length"), "mountWidth") #boat width
-c.addConstConstraint(("dcMount", "width"), 30)
-c.addConstConstraint(("dcMount", "depth"), 10)
-
-c.addConnection(("dcMount", "topedge1"), ("leftArm", "r"), angle=-90) #l/r, not t/b
-c.addConnection(("dcMount", "botedge1"), ("rightArm", "r"), angle=-90)
-
-c.inheritInterface("leftArmInterface", ("leftArm", "l"))
-c.inheritInterface("rightArmInterface", ("rightArm", "l"))
-
-c.toLibrary("DCMotorMount")
diff --git a/rocolib/builders/boat/mounts/DoubleServoMountBuilder.py b/rocolib/builders/boat/mounts/DoubleServoMountBuilder.py
deleted file mode 100644
index 3986678a0a7105a894b4b1f36019ef394f0c8609..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/mounts/DoubleServoMountBuilder.py
+++ /dev/null
@@ -1,41 +0,0 @@
-from rocolib.api.components.Component import Component
-
-c = Component()
-
-c.addParameter("armwidth", 90, paramType="length")
-c.addParameter("armdepth", 70, paramType="length")
-
-c.addSubcomponent("lServoMount", "SideServoMount", inherit=("depth","length","width"))
-c.inheritAllInterfaces("lServoMount")
-c.addSubcomponent("rServoMount", "SideServoMount", inherit=("depth","length","width"))
-c.inheritAllInterfaces("rServoMount")
-#Bottom belt
-c.addSubcomponent("lservodown", "Rectangle")
-c.addConstraint(("lservodown", "w"), "lServoMount.depth")
-c.addConstraint(("lservodown", "l"), (("armdepth"), "lServoMount.length"), "x[0] - x[1]") #DEPTH OF BOAT - 3 for the tab
-
-c.addSubcomponent("lservoacross", "Rectangle")
-c.addConstraint(("lservoacross", "w"), "lServoMount.depth")
-c.addConstraint(("lservoacross", "l"), ("armwidth"), "x * 0.5") #DEPTH OF BOAT - 3 for the tab
-
-c.addConnection(("lservodown", "r"),("lservoacross", "r"), angle=-90)
-c.addConnection(("lservodown", "l"), ("lServoMount", "leftInterface"))
-
-c.addSubcomponent("rservodown", "Rectangle")
-c.addConstraint(("rservodown", "w"), "rServoMount.depth")
-c.addConstraint(("rservodown", "l"), (("armdepth"), "rServoMount.length"), "x[0] - x[1]") #DEPTH OF BOAT - 3 for the tab
-
-c.addSubcomponent("rservoacross", "Rectangle")
-c.addConstraint(("rservoacross", "w"), "rServoMount.depth")
-c.addConstraint(("rservoacross", "l"), ("armwidth"), "x * 0.5") #DEPTH OF BOAT - 3 for the tab
-
-c.addConnection(("rservodown", "r"),("rservoacross", "r"), angle=-90)
-c.addConnection(("rservodown", "l"), ("rServoMount", "rightInterface"))
-
-c.addConnection(("lservoacross", "l"), ("rservoacross", "l"), tabWidth=5)
-
-c.inheritInterface("lServoInterface", ("lServoMount", "rightInterface"))
-c.inheritInterface("rServoInterface", ("rServoMount", "leftInterface"))
-
-#
-c.toLibrary("DoubleServoMount")
diff --git a/rocolib/builders/boat/mounts/ServoStackMountBuilder.py b/rocolib/builders/boat/mounts/ServoStackMountBuilder.py
deleted file mode 100644
index cca2e488ebf4063d153823ac18bc5dea5bea316d..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/mounts/ServoStackMountBuilder.py
+++ /dev/null
@@ -1,32 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addSubcomponent("doubleServoMount", "DoubleServoMount", inherit=("lServoMount.depth","lServoMount.width"), prefix=None)
-c.inheritAllInterfaces("doubleServoMount")
-c.addSubcomponent("espStack", "StackMount", inherit="stack.length", prefix=None)
-c.inheritAllInterfaces("espStack")
-
-c.addSubcomponent("portsplit", "SplitEdge")
-c.inheritAllInterfaces("portsplit")
-c.addConstraint(("portsplit", "toplength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[2], 10, x[0], x[0]+x[1]*2+10)")
-c.addConstraint(("portsplit", "botlength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[2], 10, x[0], x[0]+x[1]*2+10)")
-
-c.addConnection(("doubleServoMount", "lServoInterface"), ("portsplit", "botedge2")) #both face the same direction
-c.addConnection(("espStack", "leftArmInterface"), ("portsplit", "botedge0")) #both face the same direction
-
-c.addSubcomponent("starsplit", "SplitEdge")
-c.inheritAllInterfaces("starsplit")
-c.addConstraint(("starsplit", "toplength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[0]+x[1]*2+10, x[0], 10, x[2])")
-c.addConstraint(("starsplit", "botlength"), ("lServoMount.depth", "lServoMount.width", "stack.length"), "(x[0]+x[1]*2+10, x[0], 10, x[2])")
-
-c.addConnection(("doubleServoMount", "rServoInterface"), ("starsplit", "botedge1"))
-c.addConnection(("starsplit", "botedge3"),("espStack", "rightArmInterface"), tabWidth=10)
-
-c.inheritInterface("lservosplit", ("portsplit","topedge2"))
-c.inheritInterface("rservosplit", ("starsplit","topedge1"))
-c.inheritInterface("lstacksplit", ("portsplit","topedge0"))
-c.inheritInterface("rstacksplit", ("starsplit","topedge3"))
-
-c.toLibrary("ServoStackMount")
diff --git a/rocolib/builders/boat/mounts/SideServoMountBuilder.py b/rocolib/builders/boat/mounts/SideServoMountBuilder.py
deleted file mode 100644
index fc59391357c084afdf406dc769f16c64d494d358..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/mounts/SideServoMountBuilder.py
+++ /dev/null
@@ -1,58 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-c = Component()
-
-c.addParameter("servo", "fs90r", paramType="dimension")
-c.addParameter("dxServo", 23, parameterType="length") #the little servo cutout
-c.addParameter("dyServo", 12, parameterType="length")
-c.addParameter("offset", optional=True, overrides=("flip", "center", "shift"))
-
-c.addParameter("length", 34, paramType="length")
-c.addParameter("width", 20, paramType="length")
-c.addParameter("depth", 24, paramType="length")
-
-c.addParameter("wiresDx", 4, parameterType="length") #the little servo cutout
-c.addParameter("wiresDy", 9, parameterType="length") #the little servo cutout
-c.addParameter("dxServoArm", 4, parameterType="length") #the little servo cutout
-c.addParameter("dyServoArm", 12, parameterType="length")
-
-c.addSubcomponent("beam", "SimpleRectBeam", prefix=None)
-c.addSubcomponent("mount", "Cutout")
-
-c.addSubcomponent("servoArm0", "Cutout")
-c.addSubcomponent("servoArm1", "Cutout")
-
-c.addConstraint(("servoArm0", "dx"), "dxServoArm")
-c.addConstraint(("servoArm0", "dy"), "dyServoArm")
-c.addConstraint(("servoArm1", "dx"), "dxServoArm")
-c.addConstraint(("servoArm1", "dy"), "dyServoArm")
-
-c.addSubcomponent("wires", "Cutout")
-c.addConstraint(("wires", "dx"), "wiresDx")
-c.addConstraint(("wires", "dy"), "wiresDy")
-#
-c.addConstraint(("mount", "dx"), "dxServo")
-c.addConstraint(("mount", "dy"), "dyServo")
-#
-c.addConstraint(("beam", "length"), "length")
-c.addConstraint(("beam", "width"), "width")
-c.addConstraint(("beam", "depth"), "depth")
-
-c.addConnection(("beam", "face0"),
-                   ("servoArm0", "decoration"),
-                   mode="hole",offset=Function(params=("dxServoArm"), fnstring="(7, 0)"))
-
-c.addConnection(("beam", "face2"),
-                   ("servoArm1", "decoration"),
-                   mode="hole",offset=Function(params=("dxServoArm"), fnstring="(-7, 0)"))
-
-c.addConnection(("beam", "face1"),
-                ("mount", "decoration"),
-                mode="hole") #, offset=Function(params=("dy1"), fnstring="(10, 0)")
-c.addConnection(("beam", "face2"), ("wires", "decoration"), mode="hole",offset=Function(params=("wiresDx"), fnstring="(5, 0)"))
-
-c.inheritInterface("leftInterface", ("beam", "topedge3"))
-c.inheritInterface("rightInterface", ("beam", "botedge3"))
-
-c.toLibrary("SideServoMount")
diff --git a/rocolib/builders/boat/mounts/StackMountBuilder.py b/rocolib/builders/boat/mounts/StackMountBuilder.py
deleted file mode 100644
index 905ad5a16a6c4f300e2aabc7bbb25f1e70ef7992..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/mounts/StackMountBuilder.py
+++ /dev/null
@@ -1,59 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-
-c = Component()
-
-c.addSubcomponent("stack", "SubESP32Stack", inherit=True)
-
-c.addParameter("depth", 70, paramType="length") #must set to boat depth
-c.addParameter("width", 70, paramType="length")#must set to boat width
-
-c.addSubcomponent("topCover", "Rectangle")
-c.addConstraint(("topCover", "w"), "stack.brains", "getDim(x, 'width')")
-c.addConstraint(("topCover", "l"), "stack.length") #length is 61, from SubESP32Stack
-
-c.addSubcomponent("botCover", "Rectangle")
-c.addConstraint(("botCover", "w"), "stack.brains", "getDim(x, 'width')")
-c.addConstraint(("botCover", "l"), "stack.length")
-
-c.addConnection(("botCover", "l"), ("stack", "topedge0"), angle=90, tabWidth=10)
-c.addConnection(("topCover", "r"), ("stack", "botedge0"), angle=90, tabWidth=7)
-
-#c.addConnection(("botCover", "t"), ("stack", "botedge1"), angle=90, tabWidth=10)
-c.addConnection(("topCover", "t"), ("stack", "topedge1"), angle=90)
-
-c.addConnection(("botCover", "r"), ("stack", "topedge2"), angle=90, tabWidth=10)
-c.addConnection(("topCover", "l"), ("stack", "botedge2"), angle=90, tabWidth=7)
-
-#c.addConnection(("botCover", "b"), ("stack", "topedge3"), angle=90, tabWidth=10)
-c.addConnection(("topCover", "b"), ("stack", "topedge3"), angle=90, tabWidth=7)
-
-c.addSubcomponent("servoPins", "Cutout")
-c.addConstConstraint(("servoPins", "dx"), 11)
-c.addConstConstraint(("servoPins", "dy"), 13)
-c.addConnection(("botCover", "face"),
-                   ("servoPins", "decoration"),
-                   mode="hole",offset=Function(params=("depth"), fnstring="(-7, 0)"))#offset=Function(params=("dy1"), fnstring="(10, 0)")
-
-c.addSubcomponent("microUSB", "Cutout")
-c.addConstConstraint(("microUSB", "dx"), 6)
-c.addConstConstraint(("microUSB", "dy"), 10)
-c.addConnection(("botCover", "face"),
-                   ("microUSB", "decoration"),
-                   mode="hole",offset=Function(params=("depth"), fnstring="(22, 0)"))#offset=Function(params=("dy1"), fnstring="(10, 0)")
-
-c.addSubcomponent("lArm", "Rectangle", inherit=True)
-c.addConstraint(("lArm", "w"), ("depth", "width", "stack.length"), "((0.5 * x[0]) ** 2 + (x[2] - x[1]) ** 2) ** 0.5") #c.addConstraint(("split0", "botlength"), "length", "(1/3*x-10, 10, 2/3*x)")
-c.addConstraint(("lArm", "l"), "stack.length") #the support is as long as the boat is wide
-c.addConnection(("lArm", "b"), ("botCover", "t"), angle=45)
-
-c.addSubcomponent("rArm", "Rectangle", inherit=True)
-c.addConstraint(("rArm", "w"), ("depth", "width", "stack.length"), "((0.5 * x[0]) ** 2 + (x[2] - x[1]) ** 2) ** 0.5")
-c.addConstraint(("rArm", "l"), "stack.length") #the support is as long as the boat is wide
-c.addConnection(("rArm", "b"), ("botCover", "b"), angle=45)
-
-c.inheritInterface("leftArmInterface", ("lArm", "t"))
-c.inheritInterface("rightArmInterface", ("rArm", "t"))
-
-c.toLibrary("StackMount")
diff --git a/rocolib/builders/boat/mounts/SubESP32StackBuilder.py b/rocolib/builders/boat/mounts/SubESP32StackBuilder.py
deleted file mode 100644
index 6d9accee51a8c5f96470771cb74de5633055a314..0000000000000000000000000000000000000000
--- a/rocolib/builders/boat/mounts/SubESP32StackBuilder.py
+++ /dev/null
@@ -1,69 +0,0 @@
-from rocolib.api.components.Component import Component
-from rocolib.api.Function import Function
-
-#ESP3 STACK WITH PWM SERVO FEATHERWING
-c = Component()
-
-c.addSubcomponent("holder", "SimpleRectBeam")
-
-#Dimensions of the ESP32 Stack
-c.addParameter("length", 61, paramType="length")
-
-c.addParameter("brains", "esp32stack", paramType="dimension")
-c.addConstraint(("holder", "length"), "length")
-c.addConstraint(("holder", "depth"), "brains", "60")
-c.addConstraint(("holder", "width"), "brains", "getDim(x, 'width')")
-
-#This parameter will change when the dimensions of the car or vehicle is changed
-#so that it would not affect the ESP32 stack holder
-c.addSubcomponent("header", "Header")
-
-#OLED at the top
-c.addConstraint(("header", "nrows"), "brains", "getDim(x, 'nrows')")
-c.addConstraint(("header", "ncols"), "brains", "getDim(x, 'ncols')")
-c.addConstraint(("header", "rowsep"), "brains", "getDim(x, 'rowsep')")
-c.addConstraint(("header", "colsep"), "brains", "getDim(x, 'colsep')")
-
-#Holes for servo and powersupply
-c.addParameter("dy1", 18, parameterType="length")
-for i in range(2):
-    c.addSubcomponent("servohole%d" %i, "Cutout")
-    c.addConstraint(("servohole%d" %i, "dy"), "dy1", "x+12")
-    c.addConstraint(("servohole%d" %i, "dx"), "dy1", "x-5")
-
-for i in range(4):
-    c.addSubcomponent("pinhole%d" % i, "Cutout")
-
-c.addConstraint(("pinhole0", "dy"), "dy1", "41")
-c.addConstraint(("pinhole0", "dx"), "dy1", "1.2")
-c.addConstraint(("pinhole1", "dy"), "dy1", "30")
-c.addConstraint(("pinhole1", "dx"), "dy1", "1.2")
-
-c.addConstraint(("pinhole2", "dy"), "dy1", "41")
-c.addConstraint(("pinhole2", "dx"), "dy1", "1.2")
-c.addConstraint(("pinhole3", "dy"), "dy1", "30")
-c.addConstraint(("pinhole3", "dx"), "dy1", "1.2")
-
-c.addConnection(("holder", "face0"),
-                   ("header", "decoration"),
-                   mode="hole", offset=Function(params=("length", "brains"), fnstring="(0, 0)"))
-
-c.addConnection(("holder", "face2"),
-                   ("header", "decoration"),
-                   mode="hole", offset=Function(params=("length", "brains"), fnstring="(0, 0)"))
-
-c.addConnection(("holder", "face3"),
-                   ("servohole1", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("length"), fnstring="(0, 14)"))
-
-c.addSubcomponent("powerhole", "Cutout")
-c.addConstraint(("powerhole", "dy"), "dy1", "x+17")
-c.addConstraint(("powerhole", "dx"), "dy1", "x")
-
-c.addConnection(("holder", "face1"),
-                   ("powerhole", "decoration"),
-                   mode="hole", rotate=True, offset=Function(params=("length"), fnstring="(-5, 12)"))
-
-c.inheritAllInterfaces("holder", prefix=None)
-
-c.toLibrary("SubESP32Stack")
diff --git a/rocolib/builders/output/BatteryMount/graph-anim.svg b/rocolib/builders/output/BatteryMount/graph-anim.svg
deleted file mode 100644
index afa009c2139b4df78a311d00c082a3b0bb92be98..0000000000000000000000000000000000000000
--- a/rocolib/builders/output/BatteryMount/graph-anim.svg
+++ /dev/null
@@ -1,37 +0,0 @@
-<?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="254.000000mm" version="1.1" viewBox="0.000000 0.000000 84.520989 254.000000" width="84.520989mm">
-  <defs/>
-  <line stroke="#000000" x1="84.52098900352468" x2="55.760494501762345" y1="193.00000000000003" y2="193.00000000000003"/>
-  <line stroke="#000000" x1="84.52098900352468" x2="84.52098900352468" y1="254.00000000000003" y2="193.00000000000003"/>
-  <line stroke="#000000" x1="55.760494501762345" x2="84.52098900352468" y1="254.00000000000003" y2="254.00000000000003"/>
-  <line opacity="0.25" stroke="#ff0000" x1="55.760494501762345" x2="55.760494501762345" y1="254.00000000000003" y2="193.00000000000003"/>
-  <line stroke="#000000" x1="28.76049450176234" x2="55.760494501762345" y1="254.00000000000003" y2="254.00000000000003"/>
-  <line opacity="0.25" stroke="#ff0000" x1="28.76049450176234" x2="28.76049450176234" y1="193.00000000000003" y2="254.00000000000003"/>
-  <line opacity="0.5" stroke="#0000ff" x1="55.760494501762345" x2="28.76049450176234" y1="193.00000000000003" y2="193.00000000000003"/>
-  <line stroke="#000000" x1="0.0" x2="28.76049450176234" y1="254.00000000000003" y2="254.00000000000003"/>
-  <line stroke="#000000" x1="0.0" x2="0.0" y1="193.00000000000003" y2="254.00000000000003"/>
-  <line stroke="#000000" x1="28.76049450176234" x2="0.0" y1="193.00000000000003" y2="193.00000000000003"/>
-  <line stroke="#000000" x1="55.760494501762345" x2="55.760494501762345" y1="193.00000000000003" y2="132.0"/>
-  <line stroke="#000000" x1="28.76049450176234" x2="28.76049450176234" y1="132.0" y2="193.00000000000003"/>
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diff --git a/rocolib/builders/output/BlimpBatteryMount/graph-autofold-graph.dxf b/rocolib/builders/output/BlimpBatteryMount/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/BoatBase/graph-lasercutter.svg b/rocolib/builders/output/BoatBase/graph-lasercutter.svg
deleted file mode 100644
index ced28dab7922da5625b0d3ed89cf5d9b8dd0b686..0000000000000000000000000000000000000000
--- a/rocolib/builders/output/BoatBase/graph-lasercutter.svg
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diff --git a/rocolib/builders/output/BoatWithBottomServo/graph-autofold-graph.dxf b/rocolib/builders/output/BoatWithBottomServo/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/BoatWithBottomServo/graph-lasercutter.svg b/rocolib/builders/output/BoatWithBottomServo/graph-lasercutter.svg
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index f42f6d395aaf54333845ef7cc5515977090679a2..0000000000000000000000000000000000000000
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diff --git a/rocolib/builders/output/BoatWithBottomServo/graph-silhouette.dxf b/rocolib/builders/output/BoatWithBottomServo/graph-silhouette.dxf
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index 925c12efcdf937a4c9638a58adc31fcac50b4c94..0000000000000000000000000000000000000000
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diff --git a/rocolib/builders/output/BoatWithDCMount/graph-autofold-graph.dxf b/rocolib/builders/output/BoatWithDCMount/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/BoatWithDCMount/graph-lasercutter.svg b/rocolib/builders/output/BoatWithDCMount/graph-lasercutter.svg
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index c0617afe5084dcb58a02f7fd1d07972f2f150661..0000000000000000000000000000000000000000
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diff --git a/rocolib/builders/output/BoatWithDCMount/graph-silhouette.dxf b/rocolib/builders/output/BoatWithDCMount/graph-silhouette.dxf
deleted file mode 100644
index 8cf6f3766cb9ac3dd8f62bf3719dd1dce4fd5753..0000000000000000000000000000000000000000
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diff --git a/rocolib/builders/output/BoatWithManyDCMounts/graph-autofold-graph.dxf b/rocolib/builders/output/BoatWithManyDCMounts/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/BoatWithManyDCMounts/graph-lasercutter.svg b/rocolib/builders/output/BoatWithManyDCMounts/graph-lasercutter.svg
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diff --git a/rocolib/builders/output/BoatWithManyDCMounts/graph-silhouette.dxf b/rocolib/builders/output/BoatWithManyDCMounts/graph-silhouette.dxf
deleted file mode 100644
index 8813a9082929d5f0021ff4b0a6d50d3e57ab9eb0..0000000000000000000000000000000000000000
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diff --git a/rocolib/builders/output/BoatWithManyServoMounts/graph-autofold-graph.dxf b/rocolib/builders/output/BoatWithManyServoMounts/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/BoatWithManyServoMounts/graph-silhouette.dxf b/rocolib/builders/output/BoatWithManyServoMounts/graph-silhouette.dxf
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diff --git a/rocolib/builders/output/BoatWithServoMount/graph-autofold-graph.dxf b/rocolib/builders/output/BoatWithServoMount/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/BoatWithServoMount/graph-silhouette.dxf b/rocolib/builders/output/BoatWithServoMount/graph-silhouette.dxf
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diff --git a/rocolib/builders/output/BoatWithServoStackBattery/graph-autofold-graph.dxf b/rocolib/builders/output/BoatWithServoStackBattery/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/BoatWithServoStackBattery/graph-lasercutter.svg b/rocolib/builders/output/BoatWithServoStackBattery/graph-lasercutter.svg
deleted file mode 100644
index d80466516e4fc034008913639876f76982a4751a..0000000000000000000000000000000000000000
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diff --git a/rocolib/builders/output/BoatWithServoStackBattery/graph-silhouette.dxf b/rocolib/builders/output/BoatWithServoStackBattery/graph-silhouette.dxf
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index 00093165f3c4a0e70d69ce0988586f479553f46b..0000000000000000000000000000000000000000
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diff --git a/rocolib/builders/output/BoatWithStackBattery/graph-autofold-graph.dxf b/rocolib/builders/output/BoatWithStackBattery/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/BoatWithStackBattery/graph-silhouette.dxf b/rocolib/builders/output/BoatWithStackBattery/graph-silhouette.dxf
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diff --git a/rocolib/builders/output/BottomServoMount/graph-lasercutter.svg b/rocolib/builders/output/BottomServoMount/graph-lasercutter.svg
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diff --git a/rocolib/builders/output/CarForSteering/graph-silhouette.dxf b/rocolib/builders/output/CarForSteering/graph-silhouette.dxf
deleted file mode 100644
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diff --git a/rocolib/builders/output/DoubleServoMount/graph-autofold-graph.dxf b/rocolib/builders/output/DoubleServoMount/graph-autofold-graph.dxf
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index 8fd79cba12e47f4ed73c32c715b6fb226d5c0417..0000000000000000000000000000000000000000
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diff --git a/rocolib/builders/output/FourWheelCar/graph-autofold-graph.dxf b/rocolib/builders/output/FourWheelCar/graph-autofold-graph.dxf
deleted file mode 100644
index 5d9624e052643fcc57cbe2dc501042807dbfff5a..0000000000000000000000000000000000000000
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diff --git a/rocolib/builders/output/FourWheelCar/graph-lasercutter.svg b/rocolib/builders/output/FourWheelCar/graph-lasercutter.svg
deleted file mode 100644
index 1d4330fb9214ca4be62c1a996145b4602d8c2dca..0000000000000000000000000000000000000000
--- a/rocolib/builders/output/FourWheelCar/graph-lasercutter.svg
+++ /dev/null
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diff --git a/rocolib/builders/output/ServoStackBatteryMount/graph-autofold-graph.dxf b/rocolib/builders/output/ServoStackBatteryMount/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/ServoStackBatteryMount/graph-silhouette.dxf b/rocolib/builders/output/ServoStackBatteryMount/graph-silhouette.dxf
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index f9e86db53c8bdef631cf806ff0fea2e069dc8d28..0000000000000000000000000000000000000000
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diff --git a/rocolib/builders/output/Tug/graph-autofold-graph.dxf b/rocolib/builders/output/Tug/graph-autofold-graph.dxf
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diff --git a/rocolib/builders/output/Tug/tree.png b/rocolib/builders/output/Tug/tree.png
deleted file mode 100644
index 648a1927dfada1cf89ae7226a17352d04f89cf3d..0000000000000000000000000000000000000000
Binary files a/rocolib/builders/output/Tug/tree.png and /dev/null differ
diff --git a/rocolib/library/BatteryHolder.yaml b/rocolib/library/BatteryHolder.yaml
deleted file mode 100644
index 5682939d728337d8b8bfce9c399eba8a8d8acebe..0000000000000000000000000000000000000000
--- a/rocolib/library/BatteryHolder.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/mounts/BatteryHolderBuilder.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/BatteryMount.yaml b/rocolib/library/BatteryMount.yaml
deleted file mode 100644
index 72ef22b01a0d1d601ad06948c8ffceeebc4f4815..0000000000000000000000000000000000000000
--- a/rocolib/library/BatteryMount.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
-  - - terminals
-    - 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: 61
-    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/mounts/BatteryMountBuilder.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)-4
-        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)-4
-        parameter: *id001
-      w:
-        parameter: batterylength
-  terminals:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx: 6
-      dy:
-        function: x * 6
-        parameter: numBatteries
diff --git a/rocolib/library/BlimpBatteryMount.yaml b/rocolib/library/BlimpBatteryMount.yaml
deleted file mode 100644
index 6c7b037ff8fd21bcc2959746a7fd882178a6d994..0000000000000000000000000000000000000000
--- a/rocolib/library/BlimpBatteryMount.yaml
+++ /dev/null
@@ -1,291 +0,0 @@
-connections:
-  connection0:
-  - - bottom
-    - l
-  - - holder
-    - botedge3
-  - angle: 90
-  connection1:
-  - - bottom
-    - r
-  - - holder
-    - botedge1
-  - angle: 90
-    tabWidth: 15
-  connection2:
-  - - top
-    - l
-  - - holder
-    - topedge3
-  - angle: 90
-  connection3:
-  - - top
-    - r
-  - - holder
-    - topedge1
-  - angle: 90
-    tabWidth: 15
-  connection4:
-  - - holder
-    - face0
-  - - cutoutbot
-    - decoration
-  - mode: hole
-  connection5:
-  - - holder
-    - face2
-  - - cutouttop
-    - decoration
-  - mode: hole
-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: 31
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  batterylength:
-    defaultValue: 35
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  batterywidth:
-    defaultValue: 55
-    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)
-  top._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  top._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  top._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  top._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  top._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  top._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  top._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/BlimpBatteryMount.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:
-        parameter: batterydepth
-      w:
-        parameter: batterywidth
-  cutoutbot:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx: 8
-      dy: 18
-  cutouttop:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx: 8
-      dy: 18
-  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:
-        parameter: batterydepth
-  top:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: top._dx
-      _dy:
-        parameter: top._dy
-      _dz:
-        parameter: top._dz
-      _q_a:
-        parameter: top._q_a
-      _q_i:
-        parameter: top._q_i
-      _q_j:
-        parameter: top._q_j
-      _q_k:
-        parameter: top._q_k
-      l:
-        parameter: batterydepth
-      w:
-        parameter: batterywidth
diff --git a/rocolib/library/BoatBase.yaml b/rocolib/library/BoatBase.yaml
index e7b69d8c6a7840c6a7455cc6fc82378fae0af032..3c13407c663fd0b04cfaf87d227ba0ce78c124b5 100644
--- a/rocolib/library/BoatBase.yaml
+++ b/rocolib/library/BoatBase.yaml
@@ -19,6 +19,48 @@ interfaces:
     interface: redge
     subcomponent: boat
 parameters:
+  boat._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  boat._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  boat._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
   boat.depth:
     defaultValue: 20
     spec:
@@ -37,24 +79,122 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
+  bow._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  bow._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  bow._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  bow._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  bow._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  bow._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  bow._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
   bow.point:
     defaultValue: 50
     spec:
       minValue: 0
       units: mm
       valueType: (float, int)
+  stern._dx:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  stern._dy:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  stern._dz:
+    defaultValue: 0
+    spec:
+      minValue: null
+      units: mm
+      valueType: (float, int)
+  stern._q_a:
+    defaultValue: 1
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  stern._q_i:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  stern._q_j:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
+  stern._q_k:
+    defaultValue: 0
+    spec:
+      maxValue: 1
+      minValue: -1
+      valueType: (int, float)
   stern.point:
     defaultValue: 50
     spec:
       minValue: 0
       units: mm
       valueType: (float, int)
-source: ../builders/boat/BoatBaseBuilder.py
+source: ../builders/BoatBaseBuilder.py
 subcomponents:
   boat:
     classname: SimpleUChannel
     kwargs: {}
     parameters:
+      _dx:
+        parameter: boat._dx
+      _dy:
+        parameter: boat._dy
+      _dz:
+        parameter: boat._dz
+      _q_a:
+        parameter: boat._q_a
+      _q_i:
+        parameter: boat._q_i
+      _q_j:
+        parameter: boat._q_j
+      _q_k:
+        parameter: boat._q_k
       depth:
         parameter: boat.depth
       length:
@@ -65,6 +205,20 @@ subcomponents:
     classname: BoatPoint
     kwargs: {}
     parameters:
+      _dx:
+        parameter: bow._dx
+      _dy:
+        parameter: bow._dy
+      _dz:
+        parameter: bow._dz
+      _q_a:
+        parameter: bow._q_a
+      _q_i:
+        parameter: bow._q_i
+      _q_j:
+        parameter: bow._q_j
+      _q_k:
+        parameter: bow._q_k
       depth:
         parameter: depth
         subcomponent: boat
@@ -77,6 +231,20 @@ subcomponents:
     classname: BoatPoint
     kwargs: {}
     parameters:
+      _dx:
+        parameter: stern._dx
+      _dy:
+        parameter: stern._dy
+      _dz:
+        parameter: stern._dz
+      _q_a:
+        parameter: stern._q_a
+      _q_i:
+        parameter: stern._q_i
+      _q_j:
+        parameter: stern._q_j
+      _q_k:
+        parameter: stern._q_k
       depth:
         parameter: depth
         subcomponent: boat
diff --git a/rocolib/library/BoatPoint.py b/rocolib/library/BoatPoint.py
index 2fba1b5566fb778a84c55ba191c5102563e4d56d..70872b2812ad72cb0c3ea2403f020697250ae696 100644
--- a/rocolib/library/BoatPoint.py
+++ b/rocolib/library/BoatPoint.py
@@ -79,3 +79,4 @@ class BoatPoint(FoldedComponent):
 
 if __name__ == "__main__":
     BoatPoint.test()
+
diff --git a/rocolib/library/BoatWithBottomServo.yaml b/rocolib/library/BoatWithBottomServo.yaml
deleted file mode 100644
index 939b5090d0da8975f695c3e72fcc49098ea5c67a..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatWithBottomServo.yaml
+++ /dev/null
@@ -1,141 +0,0 @@
-connections:
-  connection0:
-  - - boat
-    - portedge
-  - - split0
-    - topedge0
-  - {}
-  connection1:
-  - - boat
-    - staredge
-  - - split1
-    - topedge0
-  - {}
-  connection2:
-  - - rudder
-    - rightArmInterface
-  - - split0
-    - botedge1
-  - angle: -180
-  connection3:
-  - - rudder
-    - leftArmInterface
-  - - split1
-    - botedge1
-  - tabWidth: 5
-interfaces:
-  boat.portedge:
-    interface: portedge
-    subcomponent: boat
-  boat.staredge:
-    interface: staredge
-    subcomponent: boat
-  botPort:
-    interface: botedge2
-    subcomponent: split0
-  botStar:
-    interface: botedge0
-    subcomponent: split1
-  topPort:
-    interface: botedge0
-    subcomponent: split0
-  topStar:
-    interface: botedge2
-    subcomponent: split1
-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)
-  rudder.servoMount.depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  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/boat/BoatWithBottomServoBuilder.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
-  rudder:
-    classname: BottomServoMount
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: boat.depth
-      servoMount.depth:
-        parameter: rudder.servoMount.depth
-      width:
-        parameter: boat.width
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[0]-12, 24, x[1]-12)
-        parameter: &id001
-        - topDistance
-        - botDistance
-      toplength:
-        function: (x,)
-        parameter: boat.length
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[1]-12, 24, x[0]-12)
-        parameter: *id001
-      toplength:
-        function: (x,)
-        parameter: boat.length
diff --git a/rocolib/library/BoatWithDCMount.yaml b/rocolib/library/BoatWithDCMount.yaml
deleted file mode 100644
index 60fd3ccdbc65e73efec2d81e90dcd27aa61a58a8..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatWithDCMount.yaml
+++ /dev/null
@@ -1,146 +0,0 @@
-connections:
-  connection0:
-  - - boat
-    - portedge
-  - - split0
-    - topedge0
-  - {}
-  connection1:
-  - - boat
-    - staredge
-  - - split1
-    - topedge0
-  - {}
-  connection2:
-  - - dcMount
-    - rightArmInterface
-  - - split0
-    - botedge1
-  - angle: -180
-  connection3:
-  - - dcMount
-    - leftArmInterface
-  - - split1
-    - botedge1
-  - angle: -180
-    tabWidth: 5
-interfaces:
-  boat.portedge:
-    interface: portedge
-    subcomponent: boat
-  boat.staredge:
-    interface: staredge
-    subcomponent: boat
-  botPort:
-    interface: botedge2
-    subcomponent: split0
-  botStar:
-    interface: botedge0
-    subcomponent: split1
-  topPort:
-    interface: botedge0
-    subcomponent: split0
-  topStar:
-    interface: botedge2
-    subcomponent: split1
-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: 180
-    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: 180
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/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: &id001
-        - topDistance
-        - botDistance
-      toplength:
-        function: (x,)
-        parameter: boat.length
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[1]-5, 10, x[0]-5)
-        parameter: *id001
-      toplength:
-        function: (x,)
-        parameter: boat.length
diff --git a/rocolib/library/BoatWithManyDCMounts.yaml b/rocolib/library/BoatWithManyDCMounts.yaml
deleted file mode 100644
index 7cc44450f0aedd238563cad4752d693196657d78..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatWithManyDCMounts.yaml
+++ /dev/null
@@ -1,400 +0,0 @@
-connections:
-  connection0:
-  - - dcMount0
-    - leftArmInterface
-  - - split0
-    - botedge1
-  - tabWidth: 6
-  connection1:
-  - - dcMount0
-    - rightArmInterface
-  - - split1
-    - botedge1
-  - {}
-  connection10:
-  - - boat
-    - startopsplit
-  - - split1
-    - topedge0
-  - {}
-  connection11:
-  - - boat
-    - starbotsplit
-  - - split3
-    - topedge0
-  - {}
-  connection2:
-  - - dcMount1
-    - leftArmInterface
-  - - split0
-    - botedge4
-  - tabWidth: 6
-  connection3:
-  - - dcMount1
-    - rightArmInterface
-  - - split1
-    - botedge4
-  - {}
-  connection4:
-  - - dcMount2
-    - leftArmInterface
-  - - split2
-    - botedge1
-  - tabWidth: 6
-  connection5:
-  - - dcMount2
-    - rightArmInterface
-  - - split3
-    - botedge1
-  - {}
-  connection6:
-  - - dcMount3
-    - leftArmInterface
-  - - split2
-    - botedge4
-  - tabWidth: 6
-  connection7:
-  - - dcMount3
-    - rightArmInterface
-  - - split3
-    - botedge4
-  - {}
-  connection8:
-  - - boat
-    - porttopsplit
-  - - split0
-    - topedge0
-  - {}
-  connection9:
-  - - boat
-    - portbotsplit
-  - - split2
-    - topedge0
-  - {}
-interfaces:
-  boat.batterymount.leftArmInterface:
-    interface: batterymount.leftArmInterface
-    subcomponent: boat
-  boat.batterymount.rightArmInterface:
-    interface: batterymount.rightArmInterface
-    subcomponent: boat
-  boat.boat.portedge:
-    interface: boat.portedge
-    subcomponent: boat
-  boat.boat.staredge:
-    interface: boat.staredge
-    subcomponent: boat
-  boat.portbotsplit:
-    interface: portbotsplit
-    subcomponent: boat
-  boat.porttopsplit:
-    interface: porttopsplit
-    subcomponent: boat
-  boat.stack.leftArmInterface:
-    interface: stack.leftArmInterface
-    subcomponent: boat
-  boat.stack.rightArmInterface:
-    interface: stack.rightArmInterface
-    subcomponent: boat
-  boat.starbotsplit:
-    interface: starbotsplit
-    subcomponent: boat
-  boat.startopsplit:
-    interface: startopsplit
-    subcomponent: boat
-parameters:
-  boat.batterylength:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.boat.bow.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.boat.stern.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.depth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.length:
-    defaultValue: 482
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.portsplit._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.portsplit._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.portsplit._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.portsplit._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.portsplit._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.portsplit._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.portsplit._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.portsplit.width:
-    defaultValue: 0
-    spec: {}
-  boat.stack.length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.starsplit._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.starsplit._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.starsplit._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.starsplit._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.starsplit._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.starsplit._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.starsplit._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.starsplit.width:
-    defaultValue: 0
-    spec: {}
-  boat.width:
-    defaultValue: 90
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  dcMount0.motorHeight:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  dcMount0.motorWidth:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  dcMount1.motorHeight:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  dcMount1.motorWidth:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  dcMount2.motorHeight:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  dcMount2.motorWidth:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  dcMount3.motorHeight:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  dcMount3.motorWidth:
-    defaultValue: 8
-    spec:
-      parameterType: length
-source: ../builders/boat/BoatWithManyDCMounts.py
-subcomponents:
-  boat:
-    classname: BoatWithStackBattery
-    kwargs: {}
-    parameters:
-      batterylength:
-        parameter: boat.batterylength
-      boat.bow.point:
-        parameter: boat.boat.bow.point
-      boat.stern.point:
-        parameter: boat.boat.stern.point
-      depth:
-        parameter: boat.depth
-      length:
-        parameter: boat.length
-      portsplit._dx:
-        parameter: boat.portsplit._dx
-      portsplit._dy:
-        parameter: boat.portsplit._dy
-      portsplit._dz:
-        parameter: boat.portsplit._dz
-      portsplit._q_a:
-        parameter: boat.portsplit._q_a
-      portsplit._q_i:
-        parameter: boat.portsplit._q_i
-      portsplit._q_j:
-        parameter: boat.portsplit._q_j
-      portsplit._q_k:
-        parameter: boat.portsplit._q_k
-      portsplit.width:
-        parameter: boat.portsplit.width
-      stack.length:
-        parameter: boat.stack.length
-      starsplit._dx:
-        parameter: boat.starsplit._dx
-      starsplit._dy:
-        parameter: boat.starsplit._dy
-      starsplit._dz:
-        parameter: boat.starsplit._dz
-      starsplit._q_a:
-        parameter: boat.starsplit._q_a
-      starsplit._q_i:
-        parameter: boat.starsplit._q_i
-      starsplit._q_j:
-        parameter: boat.starsplit._q_j
-      starsplit._q_k:
-        parameter: boat.starsplit._q_k
-      starsplit.width:
-        parameter: boat.starsplit.width
-      width:
-        parameter: boat.width
-  dcMount0:
-    classname: DCMotorMount
-    kwargs: {}
-    parameters:
-      motorHeight:
-        parameter: dcMount0.motorHeight
-      motorWidth:
-        parameter: dcMount0.motorWidth
-      mountWidth:
-        parameter: boat.width
-      supportLength:
-        parameter: boat.depth
-  dcMount1:
-    classname: DCMotorMount
-    kwargs: {}
-    parameters:
-      motorHeight:
-        parameter: dcMount1.motorHeight
-      motorWidth:
-        parameter: dcMount1.motorWidth
-      mountWidth:
-        parameter: boat.width
-      supportLength:
-        parameter: boat.depth
-  dcMount2:
-    classname: DCMotorMount
-    kwargs: {}
-    parameters:
-      motorHeight:
-        parameter: dcMount2.motorHeight
-      motorWidth:
-        parameter: dcMount2.motorWidth
-      mountWidth:
-        parameter: boat.width
-      supportLength:
-        parameter: boat.depth
-  dcMount3:
-    classname: DCMotorMount
-    kwargs: {}
-    parameters:
-      motorHeight:
-        parameter: dcMount3.motorHeight
-      motorWidth:
-        parameter: dcMount3.motorWidth
-      mountWidth:
-        parameter: boat.width
-      supportLength:
-        parameter: boat.depth
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength: &id001
-      - 40
-      - 10
-      - 40
-      - 40
-      - 10
-      - 40
-      toplength: &id002
-      - 180
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength: *id001
-      toplength: *id002
-  split2:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength: *id001
-      toplength: *id002
-  split3:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength: *id001
-      toplength: *id002
diff --git a/rocolib/library/BoatWithManyServoMounts.yaml b/rocolib/library/BoatWithManyServoMounts.yaml
deleted file mode 100644
index ac06f7f1ef30b626df2eb9fe7adc0435b4f3bf63..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatWithManyServoMounts.yaml
+++ /dev/null
@@ -1,312 +0,0 @@
-connections:
-  connection0:
-  - - servoMount0
-    - lServoInterface
-  - - split0
-    - botedge0
-  - {}
-  connection1:
-  - - servoMount0
-    - rServoInterface
-  - - split1
-    - botedge1
-  - {}
-  connection2:
-  - - servoMount1
-    - lServoInterface
-  - - split2
-    - botedge0
-  - {}
-  connection3:
-  - - servoMount1
-    - rServoInterface
-  - - split3
-    - botedge1
-  - {}
-  connection4:
-  - - boat
-    - porttopsplit
-  - - split0
-    - topedge0
-  - {}
-  connection5:
-  - - boat
-    - portbotsplit
-  - - split2
-    - topedge0
-  - {}
-  connection6:
-  - - boat
-    - startopsplit
-  - - split1
-    - topedge0
-  - {}
-  connection7:
-  - - boat
-    - starbotsplit
-  - - split3
-    - topedge0
-  - {}
-interfaces:
-  boat.batterymount.leftArmInterface:
-    interface: batterymount.leftArmInterface
-    subcomponent: boat
-  boat.batterymount.rightArmInterface:
-    interface: batterymount.rightArmInterface
-    subcomponent: boat
-  boat.boat.portedge:
-    interface: boat.portedge
-    subcomponent: boat
-  boat.boat.staredge:
-    interface: boat.staredge
-    subcomponent: boat
-  boat.portbotsplit:
-    interface: portbotsplit
-    subcomponent: boat
-  boat.porttopsplit:
-    interface: porttopsplit
-    subcomponent: boat
-  boat.stack.leftArmInterface:
-    interface: stack.leftArmInterface
-    subcomponent: boat
-  boat.stack.rightArmInterface:
-    interface: stack.rightArmInterface
-    subcomponent: boat
-  boat.starbotsplit:
-    interface: starbotsplit
-    subcomponent: boat
-  boat.startopsplit:
-    interface: startopsplit
-    subcomponent: boat
-parameters:
-  boat.batterylength:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.boat.bow.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.boat.stern.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.depth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.length:
-    defaultValue: 100
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.portsplit._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.portsplit._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.portsplit._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.portsplit._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.portsplit._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.portsplit._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.portsplit._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.portsplit.width:
-    defaultValue: 0
-    spec: {}
-  boat.stack.length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.starsplit._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.starsplit._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.starsplit._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.starsplit._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.starsplit._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.starsplit._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.starsplit._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.starsplit.width:
-    defaultValue: 0
-    spec: {}
-  boat.width:
-    defaultValue: 90
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/BoatWithManyServoMounts.py
-subcomponents:
-  boat:
-    classname: BoatWithStackBattery
-    kwargs: {}
-    parameters:
-      batterylength:
-        parameter: boat.batterylength
-      boat.bow.point:
-        parameter: boat.boat.bow.point
-      boat.stern.point:
-        parameter: boat.boat.stern.point
-      botlength: 102
-      depth:
-        parameter: boat.depth
-      length:
-        parameter: boat.length
-      portsplit._dx:
-        parameter: boat.portsplit._dx
-      portsplit._dy:
-        parameter: boat.portsplit._dy
-      portsplit._dz:
-        parameter: boat.portsplit._dz
-      portsplit._q_a:
-        parameter: boat.portsplit._q_a
-      portsplit._q_i:
-        parameter: boat.portsplit._q_i
-      portsplit._q_j:
-        parameter: boat.portsplit._q_j
-      portsplit._q_k:
-        parameter: boat.portsplit._q_k
-      portsplit.width:
-        parameter: boat.portsplit.width
-      stack.length:
-        parameter: boat.stack.length
-      starsplit._dx:
-        parameter: boat.starsplit._dx
-      starsplit._dy:
-        parameter: boat.starsplit._dy
-      starsplit._dz:
-        parameter: boat.starsplit._dz
-      starsplit._q_a:
-        parameter: boat.starsplit._q_a
-      starsplit._q_i:
-        parameter: boat.starsplit._q_i
-      starsplit._q_j:
-        parameter: boat.starsplit._q_j
-      starsplit._q_k:
-        parameter: boat.starsplit._q_k
-      starsplit.width:
-        parameter: boat.starsplit.width
-      toplength: 102
-      width:
-        parameter: boat.width
-  servoMount0:
-    classname: DoubleServoMount
-    kwargs: {}
-    parameters:
-      armdepth:
-        parameter: boat.depth
-      armwidth:
-        parameter: boat.width
-  servoMount1:
-    classname: DoubleServoMount
-    kwargs: {}
-    parameters:
-      armdepth:
-        parameter: boat.depth
-      armwidth:
-        parameter: boat.width
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength: &id002
-      - 24
-      - 78
-      toplength: &id001
-      - 102
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength: &id003
-      - 78
-      - 24
-      toplength: *id001
-  split2:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength: *id002
-      toplength: *id001
-  split3:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength: *id003
-      toplength: *id001
diff --git a/rocolib/library/BoatWithMount.yaml b/rocolib/library/BoatWithMount.yaml
deleted file mode 100644
index 1820974cb9cd8a6bfc391029cdf436d2a2f21e66..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatWithMount.yaml
+++ /dev/null
@@ -1,158 +0,0 @@
-connections:
-  connection0:
-  - - boat
-    - staredge
-  - - split0
-    - topedge0
-  - {}
-  connection1:
-  - - boat
-    - portedge
-  - - split1
-    - topedge0
-  - {}
-  connection2:
-  - - mount0
-    - beam.botedge2
-  - - split0
-    - botedge4
-  - angle: -180
-  connection3:
-  - - mount1
-    - beam.botedge2
-  - - split1
-    - botedge5
-  - angle: -180
-  connection4:
-  - - rect0
-    - l
-  - - split0
-    - botedge6
-  - tabWidth: 8
-  connection5:
-  - - rect0
-    - r
-  - - mount2
-    - beam.botedge2
-  - angle: -90
-  connection6:
-  - - rect1
-    - r
-  - - mount2
-    - beam.topedge2
-  - angle: -90
-  connection7:
-  - - rect1
-    - l
-  - - split1
-    - botedge3
-  - tabWidth: 8
-interfaces: {}
-parameters:
-  depth:
-    defaultValue: 40
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  driveservo:
-    defaultValue: fs90r
-    spec:
-      valueType: str
-  length:
-    defaultValue: 130
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/BoatWithMountBuilder.py
-subcomponents:
-  boat:
-    classname: BoatBase
-    kwargs: {}
-    parameters:
-      boat.depth:
-        parameter: depth
-      boat.length:
-        parameter: length
-      boat.width:
-        parameter: width
-  mount0:
-    classname: MountedServo
-    kwargs: {}
-    parameters:
-      center: false
-      length:
-        parameter: width
-      servo:
-        parameter: driveservo
-  mount1:
-    classname: MountedServo
-    kwargs: {}
-    parameters:
-      center: false
-      length:
-        parameter: width
-      servo:
-        parameter: driveservo
-  mount2:
-    classname: MountedServo
-    kwargs: {}
-    parameters:
-      center: false
-      length:
-        parameter: width
-      servo:
-        parameter: driveservo
-  rect0:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: depth
-      w:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-  rect1:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: depth
-      w:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1],
-          "motorwidth"),getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), x[0]-
-          9 * getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),getDim(x[1],
-          "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))
-        parameter: &id001
-        - length
-        - driveservo
-      toplength:
-        function: (x,)
-        parameter: length
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1],
-          "motorwidth"),getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), x[0]-
-          9 * getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),getDim(x[1],
-          "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))
-        parameter: *id001
-      toplength:
-        function: (x,)
-        parameter: length
diff --git a/rocolib/library/BoatWithServoMount.yaml b/rocolib/library/BoatWithServoMount.yaml
deleted file mode 100644
index e9539d1306e2188b6837464f06135ba0b5fb03f3..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatWithServoMount.yaml
+++ /dev/null
@@ -1,228 +0,0 @@
-connections:
-  connection0:
-  - - lsplit
-    - botedge1
-  - - lServoMount
-    - rightInterface
-  - angle: 180
-  connection1:
-  - - rsplit
-    - botedge1
-  - - rServoMount
-    - leftInterface
-  - angle: 180
-  connection2:
-  - - lservodown
-    - r
-  - - lservoacross
-    - r
-  - angle: -90
-  connection3:
-  - - lservodown
-    - l
-  - - lServoMount
-    - leftInterface
-  - {}
-  connection4:
-  - - rservodown
-    - r
-  - - rservoacross
-    - r
-  - angle: -90
-  connection5:
-  - - rservodown
-    - l
-  - - rServoMount
-    - rightInterface
-  - {}
-  connection6:
-  - - lservoacross
-    - l
-  - - rservoacross
-    - l
-  - tabWidth: 5
-  connection7:
-  - - boat
-    - portedge
-  - - lsplit
-    - topedge0
-  - {}
-  connection8:
-  - - boat
-    - staredge
-  - - rsplit
-    - topedge0
-  - {}
-interfaces:
-  botPort:
-    interface: botedge2
-    subcomponent: lsplit
-  botStar:
-    interface: botedge0
-    subcomponent: rsplit
-  topPort:
-    interface: botedge0
-    subcomponent: lsplit
-  topStar:
-    interface: botedge2
-    subcomponent: rsplit
-parameters:
-  boat.bow.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.stern.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  botDistance:
-    defaultValue: 80
-    spec:
-      minValue: 73
-      units: mm
-      valueType: (float, int)
-  depth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  lServoMount.depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  lServoMount.length:
-    defaultValue: 34
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  rServoMount.depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  rServoMount.length:
-    defaultValue: 34
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  topDistance:
-    defaultValue: 80
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 90
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/BoatWithServoMountBuilder.py
-subcomponents:
-  boat:
-    classname: BoatBase
-    kwargs: {}
-    parameters:
-      boat.depth:
-        parameter: depth
-      boat.length:
-        function: x[0] + x[1] + x[2]
-        parameter: &id001
-        - topDistance
-        - botDistance
-        - lServoMount.depth
-      boat.width:
-        parameter: width
-      bow.point:
-        parameter: boat.bow.point
-      stern.point:
-        parameter: boat.stern.point
-  lServoMount:
-    classname: SideServoMount
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: lServoMount.depth
-      length:
-        parameter: lServoMount.length
-  lservoacross:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x * 0.5
-        parameter: width
-      w:
-        parameter: lServoMount.depth
-  lservodown:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x[0] - x[1]
-        parameter:
-        - depth
-        - lServoMount.length
-      w:
-        parameter: lServoMount.depth
-  lsplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[0], x[2], x[1])
-        parameter: *id001
-      toplength:
-        function: (x[0] + x[1] + x[2],)
-        parameter: *id001
-  rServoMount:
-    classname: SideServoMount
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: rServoMount.depth
-      length:
-        parameter: rServoMount.length
-  rservoacross:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x * 0.5
-        parameter: width
-      w:
-        parameter: rServoMount.depth
-  rservodown:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x[0] - x[1]
-        parameter:
-        - depth
-        - rServoMount.length
-      w:
-        parameter: rServoMount.depth
-  rsplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[1], x[2], x[0])
-        parameter: &id002
-        - topDistance
-        - botDistance
-        - rServoMount.depth
-      toplength:
-        function: (x[0] + x[1] + x[2],)
-        parameter: *id002
diff --git a/rocolib/library/BoatWithServoMountAndStack.yaml b/rocolib/library/BoatWithServoMountAndStack.yaml
deleted file mode 100644
index a8d8755c7e37cd0d8dbc1abe3d095385ba0926f8..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatWithServoMountAndStack.yaml
+++ /dev/null
@@ -1,305 +0,0 @@
-connections:
-  connection0:
-  - - topPortSplit
-    - topedge0
-  - - boatwithservo
-    - topPort
-  - {}
-  connection1:
-  - - topPortSplit
-    - botedge0
-  - - espStack
-    - leftArmInterface
-  - angle: 45
-  connection2:
-  - - topStarSplit
-    - topedge0
-  - - boatwithservo
-    - topStar
-  - {}
-  connection3:
-  - - topStarSplit
-    - botedge1
-  - - espStack
-    - rightArmInterface
-  - tabWidth: 10
-interfaces:
-  boatwithservo.botPort:
-    interface: botPort
-    subcomponent: boatwithservo
-  boatwithservo.botStar:
-    interface: botStar
-    subcomponent: boatwithservo
-  boatwithservo.topPort:
-    interface: topPort
-    subcomponent: boatwithservo
-  boatwithservo.topStar:
-    interface: topStar
-    subcomponent: boatwithservo
-  espStack.leftArmInterface:
-    interface: leftArmInterface
-    subcomponent: espStack
-  espStack.rightArmInterface:
-    interface: rightArmInterface
-    subcomponent: espStack
-parameters:
-  boat.bow.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.stern.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  botDistance:
-    defaultValue: 80
-    spec:
-      minValue: 73
-      units: mm
-      valueType: (float, int)
-  depth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  espStack.depth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  espStack.lArm._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  espStack.lArm._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  espStack.lArm._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  espStack.lArm._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  espStack.lArm._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  espStack.lArm._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  espStack.lArm._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  espStack.rArm._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  espStack.rArm._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  espStack.rArm._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  espStack.rArm._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  espStack.rArm._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  espStack.rArm._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  espStack.rArm._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  espStack.stack.brains:
-    defaultValue: esp32stack
-    spec:
-      valueType: str
-  espStack.stack.dy1:
-    defaultValue: 18
-    spec:
-      parameterType: length
-  espStack.stack.length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  espStack.width:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  lServoMount.depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  lServoMount.length:
-    defaultValue: 34
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  rServoMount.depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  rServoMount.length:
-    defaultValue: 34
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  topDistance:
-    defaultValue: 80
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 90
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/BoatWithServoMountAndStack.py
-subcomponents:
-  boatwithservo:
-    classname: BoatWithServoMount
-    kwargs: {}
-    parameters:
-      boat.bow.point:
-        parameter: boat.bow.point
-      boat.stern.point:
-        parameter: boat.stern.point
-      botDistance:
-        parameter: botDistance
-      depth:
-        parameter: depth
-      lServoMount.depth:
-        parameter: lServoMount.depth
-      lServoMount.length:
-        parameter: lServoMount.length
-      rServoMount.depth:
-        parameter: rServoMount.depth
-      rServoMount.length:
-        parameter: rServoMount.length
-      topDistance:
-        parameter: topDistance
-      width:
-        parameter: width
-  espStack:
-    classname: StackMount
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: espStack.depth
-      lArm._dx:
-        parameter: espStack.lArm._dx
-      lArm._dy:
-        parameter: espStack.lArm._dy
-      lArm._dz:
-        parameter: espStack.lArm._dz
-      lArm._q_a:
-        parameter: espStack.lArm._q_a
-      lArm._q_i:
-        parameter: espStack.lArm._q_i
-      lArm._q_j:
-        parameter: espStack.lArm._q_j
-      lArm._q_k:
-        parameter: espStack.lArm._q_k
-      rArm._dx:
-        parameter: espStack.rArm._dx
-      rArm._dy:
-        parameter: espStack.rArm._dy
-      rArm._dz:
-        parameter: espStack.rArm._dz
-      rArm._q_a:
-        parameter: espStack.rArm._q_a
-      rArm._q_i:
-        parameter: espStack.rArm._q_i
-      rArm._q_j:
-        parameter: espStack.rArm._q_j
-      rArm._q_k:
-        parameter: espStack.rArm._q_k
-      stack.brains:
-        parameter: espStack.stack.brains
-      stack.dy1:
-        parameter: espStack.stack.dy1
-      stack.length:
-        parameter: espStack.stack.length
-      width:
-        parameter: espStack.width
-  topPortSplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[1], x[0] - x[1])
-        parameter: &id001
-        - topDistance
-        - espStack.stack.length
-      toplength:
-        function: (x,)
-        parameter: topDistance
-  topStarSplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[0]-x[1], x[1])
-        parameter: *id001
-      toplength:
-        function: (x,)
-        parameter: topDistance
diff --git a/rocolib/library/BoatWithServoStackBattery.yaml b/rocolib/library/BoatWithServoStackBattery.yaml
deleted file mode 100644
index 495031708e89de4a3ef45a926310c58a50e6bc46..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatWithServoStackBattery.yaml
+++ /dev/null
@@ -1,2592 +0,0 @@
-connections:
-  connection0:
-  - - portsplit
-    - topedge0
-  - - boat
-    - portedge
-  - {}
-  connection1:
-  - - portsplit
-    - botedge0
-  - - servostack
-    - lstacksplit
-  - angle: 10
-  connection2:
-  - - portsplit
-    - botedge2
-  - - servostack
-    - lservosplit
-  - angle: 10
-  connection3:
-  - - batterymount
-    - leftArmInterface
-  - - portsplit
-    - botedge3
-  - tabWidth: 10
-  connection4:
-  - - starsplit
-    - topedge0
-  - - boat
-    - staredge
-  - {}
-  connection5:
-  - - starsplit
-    - botedge3
-  - - servostack
-    - rstacksplit
-  - angle: 10
-  connection6:
-  - - starsplit
-    - botedge1
-  - - servostack
-    - rservosplit
-  - angle: 10
-  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
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-  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
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-    interface: topedge74
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-  portsplit.topedge75:
-    interface: topedge75
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-  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:
-    interface: topedge8
-    subcomponent: portsplit
-  portsplit.topedge80:
-    interface: topedge80
-    subcomponent: portsplit
-  portsplit.topedge81:
-    interface: topedge81
-    subcomponent: portsplit
-  portsplit.topedge82:
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-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)
-  bow.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  depth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 156
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  stern.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 90
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/BoatWithServoStackBatteryBuilder.py
-subcomponents:
-  batterymount:
-    classname: BatteryMount
-    kwargs: {}
-    parameters: {}
-  boat:
-    classname: BoatBase
-    kwargs: {}
-    parameters:
-      boat.depth:
-        parameter: depth
-      boat.length:
-        parameter: length
-      boat.width:
-        parameter: width
-      bow.point:
-        parameter: bow.point
-      stern.point:
-        parameter: stern.point
-  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/BoatWithStack.yaml b/rocolib/library/BoatWithStack.yaml
deleted file mode 100644
index f2661e86e50efa636a7a8289d379d294e1c28471..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatWithStack.yaml
+++ /dev/null
@@ -1,370 +0,0 @@
-connections: {}
-interfaces:
-  boat.portedge:
-    interface: portedge
-    subcomponent: boat
-  boat.staredge:
-    interface: staredge
-    subcomponent: boat
-  stack.leftArmInterface:
-    interface: leftArmInterface
-    subcomponent: stack
-  stack.rightArmInterface:
-    interface: rightArmInterface
-    subcomponent: stack
-parameters:
-  boat.bow.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.stern.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  depth:
-    defaultValue: 60
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 130
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  split0._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split0._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split0._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split0._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split0._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split0._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split0._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split0.botlength:
-    defaultValue: &id001
-    - 100
-    spec:
-      valueType: (tuple, list)
-  split0.toplength:
-    defaultValue: &id002
-    - 50
-    - 50
-    spec:
-      valueType: (tuple, list)
-  split0.width:
-    defaultValue: 0
-    spec: {}
-  split1._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split1._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split1._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split1._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split1._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split1._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split1._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split1.botlength:
-    defaultValue: *id001
-    spec:
-      valueType: (tuple, list)
-  split1.toplength:
-    defaultValue: *id002
-    spec:
-      valueType: (tuple, list)
-  split1.width:
-    defaultValue: 0
-    spec: {}
-  stack.depth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  stack.lArm._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.lArm._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.lArm._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.lArm._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.lArm._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.lArm._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.lArm._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.rArm._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.rArm._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.rArm._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.rArm._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.rArm._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.rArm._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.rArm._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.stack.brains:
-    defaultValue: esp32stack
-    spec:
-      valueType: str
-  stack.stack.dy1:
-    defaultValue: 18
-    spec:
-      parameterType: length
-  stack.stack.length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  stack.width:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/BoatWithStackBuilder.py
-subcomponents:
-  boat:
-    classname: BoatBase
-    kwargs: {}
-    parameters:
-      boat.depth:
-        parameter: depth
-      boat.length:
-        parameter: length
-      boat.width:
-        parameter: width
-      bow.point:
-        parameter: boat.bow.point
-      stern.point:
-        parameter: boat.stern.point
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: split0._dx
-      _dy:
-        parameter: split0._dy
-      _dz:
-        parameter: split0._dz
-      _q_a:
-        parameter: split0._q_a
-      _q_i:
-        parameter: split0._q_i
-      _q_j:
-        parameter: split0._q_j
-      _q_k:
-        parameter: split0._q_k
-      botlength:
-        parameter: split0.botlength
-      toplength:
-        parameter: split0.toplength
-      width:
-        parameter: split0.width
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: split1._dx
-      _dy:
-        parameter: split1._dy
-      _dz:
-        parameter: split1._dz
-      _q_a:
-        parameter: split1._q_a
-      _q_i:
-        parameter: split1._q_i
-      _q_j:
-        parameter: split1._q_j
-      _q_k:
-        parameter: split1._q_k
-      botlength:
-        parameter: split1.botlength
-      toplength:
-        parameter: split1.toplength
-      width:
-        parameter: split1.width
-  stack:
-    classname: StackMount
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: stack.depth
-      lArm._dx:
-        parameter: stack.lArm._dx
-      lArm._dy:
-        parameter: stack.lArm._dy
-      lArm._dz:
-        parameter: stack.lArm._dz
-      lArm._q_a:
-        parameter: stack.lArm._q_a
-      lArm._q_i:
-        parameter: stack.lArm._q_i
-      lArm._q_j:
-        parameter: stack.lArm._q_j
-      lArm._q_k:
-        parameter: stack.lArm._q_k
-      rArm._dx:
-        parameter: stack.rArm._dx
-      rArm._dy:
-        parameter: stack.rArm._dy
-      rArm._dz:
-        parameter: stack.rArm._dz
-      rArm._q_a:
-        parameter: stack.rArm._q_a
-      rArm._q_i:
-        parameter: stack.rArm._q_i
-      rArm._q_j:
-        parameter: stack.rArm._q_j
-      rArm._q_k:
-        parameter: stack.rArm._q_k
-      stack.brains:
-        parameter: stack.stack.brains
-      stack.dy1:
-        parameter: stack.stack.dy1
-      stack.length:
-        parameter: stack.stack.length
-      width:
-        parameter: stack.width
diff --git a/rocolib/library/BoatWithStackBattery.yaml b/rocolib/library/BoatWithStackBattery.yaml
deleted file mode 100644
index 647b670afc4ddf6b897f11633f94b1312b003080..0000000000000000000000000000000000000000
--- a/rocolib/library/BoatWithStackBattery.yaml
+++ /dev/null
@@ -1,304 +0,0 @@
-connections:
-  connection0:
-  - - portsplit
-    - botedge1
-  - - stack
-    - leftArmInterface
-  - {}
-  connection1:
-  - - batterymount
-    - leftArmInterface
-  - - portsplit
-    - botedge2
-  - tabWidth: 10
-  connection2:
-  - - boat
-    - portedge
-  - - portsplit
-    - topedge0
-  - {}
-  connection3:
-  - - starsplit
-    - botedge2
-  - - stack
-    - rightArmInterface
-  - tabWidth: 10
-  connection4:
-  - - batterymount
-    - rightArmInterface
-  - - starsplit
-    - botedge1
-  - tabWidth: 10
-  connection5:
-  - - boat
-    - staredge
-  - - starsplit
-    - topedge0
-  - {}
-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
-  portbotsplit:
-    interface: botedge3
-    subcomponent: portsplit
-  porttopsplit:
-    interface: botedge0
-    subcomponent: portsplit
-  stack.leftArmInterface:
-    interface: leftArmInterface
-    subcomponent: stack
-  stack.rightArmInterface:
-    interface: rightArmInterface
-    subcomponent: stack
-  starbotsplit:
-    interface: botedge0
-    subcomponent: starsplit
-  startopsplit:
-    interface: botedge3
-    subcomponent: starsplit
-parameters:
-  batterylength:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.bow.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.stern.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  botlength:
-    defaultValue: 180
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  depth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 100
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  portsplit._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  portsplit._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  portsplit._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  portsplit._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  portsplit._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  portsplit._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  portsplit._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  portsplit.width:
-    defaultValue: 0
-    spec: {}
-  stack.length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  starsplit._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  starsplit._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  starsplit._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  starsplit._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  starsplit._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  starsplit._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  starsplit._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  starsplit.width:
-    defaultValue: 0
-    spec: {}
-  toplength:
-    defaultValue: 180
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 90
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/BoatWithStackBatteryBuilder.py
-subcomponents:
-  batterymount:
-    classname: BatteryMount
-    kwargs: {}
-    parameters:
-      batterylength:
-        parameter: batterylength
-      length:
-        parameter: length
-  boat:
-    classname: BoatBase
-    kwargs: {}
-    parameters:
-      boat.depth:
-        parameter: depth
-      boat.length:
-        function: (x[0]+x[1]+122)
-        parameter: &id001
-        - toplength
-        - botlength
-      boat.width:
-        parameter: width
-      bow.point:
-        parameter: boat.bow.point
-      stern.point:
-        parameter: boat.stern.point
-  portsplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: portsplit._dx
-      _dy:
-        parameter: portsplit._dy
-      _dz:
-        parameter: portsplit._dz
-      _q_a:
-        parameter: portsplit._q_a
-      _q_i:
-        parameter: portsplit._q_i
-      _q_j:
-        parameter: portsplit._q_j
-      _q_k:
-        parameter: portsplit._q_k
-      botlength:
-        function: ((x[0]+x[1]+122)/2 - (x[2]+x[3])/2, x[2], x[3], (x[0]+x[1]+122)/2
-          - (x[2]+x[3])/2)
-        parameter: &id002
-        - toplength
-        - botlength
-        - stack.length
-        - batterylength
-      toplength:
-        function: (x[0]+x[1]+122,)
-        parameter: *id001
-      width:
-        parameter: portsplit.width
-  stack:
-    classname: StackMount
-    kwargs: {}
-    parameters:
-      stack.length:
-        parameter: stack.length
-  starsplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: starsplit._dx
-      _dy:
-        parameter: starsplit._dy
-      _dz:
-        parameter: starsplit._dz
-      _q_a:
-        parameter: starsplit._q_a
-      _q_i:
-        parameter: starsplit._q_i
-      _q_j:
-        parameter: starsplit._q_j
-      _q_k:
-        parameter: starsplit._q_k
-      botlength:
-        function: ((x[0]+x[1]+122)/2 - (x[2]+x[3])/2, x[2], x[3], (x[0]+x[1]+122)/2
-          - (x[2]+x[3])/2)
-        parameter: *id002
-      toplength:
-        function: (x[0]+x[1]+122,)
-        parameter: *id001
-      width:
-        parameter: starsplit.width
diff --git a/rocolib/library/BottomServoMount.yaml b/rocolib/library/BottomServoMount.yaml
deleted file mode 100644
index ec219148391c38ea12dbfdd4814238caf32cec64..0000000000000000000000000000000000000000
--- a/rocolib/library/BottomServoMount.yaml
+++ /dev/null
@@ -1,93 +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/BottomServoMountBuilder.py
-subcomponents:
-  leftArmAcross:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x[0]/2 - x[1]/2
-        parameter: &id001
-        - width
-        - servoMount.depth
-      w:
-        parameter: servoMount.depth
-  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:
-        parameter: servoMount.depth
-  rightArmDown:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x-3
-        parameter: depth
-      w:
-        parameter: servoMount.depth
-  servoMount:
-    classname: SideServoMount
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: servoMount.depth
diff --git a/rocolib/library/BrainsTwoWheels.py b/rocolib/library/BrainsTwoWheels.py
deleted file mode 100644
index 8d39d348808c2f0bd5d1c93b5442774ac47d6a1f..0000000000000000000000000000000000000000
--- a/rocolib/library/BrainsTwoWheels.py
+++ /dev/null
@@ -1,15 +0,0 @@
-from rocolib.api.components import Component
-from rocolib.utils.utils import copyDecorations
-
-
-class BrainsTwoWheels(Component):
-    def assemble(self):
-        copyDecorations(self, ("frightservoface", ("fright", "face0", -1, 0)),
-                        ("frightservosheath", ("sheath0", "face3", -1, 0)))
-        copyDecorations(self, ("bleftservoface", ("bleft", "face0", 2, 1)),
-                        ("bleftservosheath", ("sheath0", "face1", 0, -1)))
-        copyDecorations(self, ("brainface", ("holder", "face1", 0, 1)),
-                        ("brainsheath", ("sheath0", "face0", 1, 2)))
-
-if __name__ == "__main__":
-    BrainsTwoWheels.test()
\ No newline at end of file
diff --git a/rocolib/library/BrainsTwoWheels.yaml b/rocolib/library/BrainsTwoWheels.yaml
deleted file mode 100644
index d1c0714b2d98f5f0343126916c09d4921095c6fc..0000000000000000000000000000000000000000
--- a/rocolib/library/BrainsTwoWheels.yaml
+++ /dev/null
@@ -1,279 +0,0 @@
-connections:
-  connection0:
-  - - fright
-    - topedge2
-  - - between0
-    - topedge1
-  - angle: 90
-  connection1:
-  - - between0
-    - botedge1
-  - - bleft
-    - botedge2
-  - angle: 90
-    tabWidth: 10
-  connection2:
-  - - holder
-    - side0.topedge0
-  - - split0
-    - topedge0
-  - {}
-  connection3:
-  - - split0
-    - botedge0
-  - - fright
-    - botedge0
-  - angle: -90
-  connection4:
-  - - holder
-    - side1.topedge2
-  - - split1
-    - topedge0
-  - {}
-  connection5:
-  - - split1
-    - botedge1
-  - - bleft
-    - topedge0
-  - angle: -90
-  connection6:
-  - - bleft
-    - botedge1
-  - - sheathsplit0
-    - botedge2
-  - angle: 180
-  connection7:
-  - - sheathsplit0
-    - topedge0
-  - - sheath0
-    - topedge2
-  - {}
-  connection8:
-  - - sheath0
-    - face1
-  - - sidehole0
-    - decoration
-  - mode: hole
-    offset:
-      function: (4, 21)
-      parameter: length
-    rotate: true
-  connection9:
-  - - sheath0
-    - face3
-  - - sidehole1
-    - decoration
-  - mode: hole
-    offset:
-      function: (-4, 21)
-      parameter: length
-    rotate: true
-interfaces:
-  sheath0.botedge0:
-    interface: botedge0
-    subcomponent: sheath0
-  sheath0.botedge1:
-    interface: botedge1
-    subcomponent: sheath0
-  sheath0.botedge2:
-    interface: botedge2
-    subcomponent: sheath0
-  sheath0.botedge3:
-    interface: botedge3
-    subcomponent: sheath0
-  sheath0.face0:
-    interface: face0
-    subcomponent: sheath0
-  sheath0.face1:
-    interface: face1
-    subcomponent: sheath0
-  sheath0.face2:
-    interface: face2
-    subcomponent: sheath0
-  sheath0.face3:
-    interface: face3
-    subcomponent: sheath0
-  sheath0.slotedge:
-    interface: slotedge
-    subcomponent: sheath0
-  sheath0.tabedge:
-    interface: tabedge
-    subcomponent: sheath0
-  sheath0.topedge0:
-    interface: topedge0
-    subcomponent: sheath0
-  sheath0.topedge1:
-    interface: topedge1
-    subcomponent: sheath0
-  sheath0.topedge2:
-    interface: topedge2
-    subcomponent: sheath0
-  sheath0.topedge3:
-    interface: topedge3
-    subcomponent: sheath0
-parameters:
-  bleft.angle:
-    defaultValue: 0
-    spec:
-      maxValue: null
-      minValue: null
-      units: degrees
-      valueType: (float, int)
-  brains:
-    defaultValue: esp32stack
-    spec:
-      valueType: str
-  driveservo:
-    defaultValue: fs90r
-    spec:
-      valueType: str
-  fright.angle:
-    defaultValue: 0
-    spec:
-      maxValue: null
-      minValue: null
-      units: degrees
-      valueType: (float, int)
-  height:
-    defaultValue: 36
-    spec:
-      minValue: 36
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 60
-    spec:
-      minValue: 60
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 72
-    spec:
-      minValue: 72
-      units: mm
-      valueType: (float, int)
-source: ..\builders\BrainsTwoWheelsBuilder.py
-subcomponents:
-  between0:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-      length:
-        function: x[0]- 2 * getDim(x[1], 'motorheight')
-        parameter:
-        - width
-        - driveservo
-      width:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-  bleft:
-    classname: Wheel
-    kwargs:
-      invert: true
-    parameters:
-      angle:
-        parameter: bleft.angle
-      center: false
-      length:
-        function: ((x[0] - getDim(x[1], "width")))
-        parameter: &id001
-        - length
-        - brains
-      radius:
-        function: (getDim(x, "height") / 1.35)
-        parameter: brains
-      servo:
-        parameter: driveservo
-  fright:
-    classname: Wheel
-    kwargs:
-      invert: true
-    parameters:
-      angle:
-        parameter: fright.angle
-      center: false
-      flip: true
-      length:
-        function: ((x[0] - getDim(x[1], "width")))
-        parameter: *id001
-      radius:
-        function: (getDim(x, "height") / 1.35)
-        parameter: brains
-      servo:
-        parameter: driveservo
-  holder:
-    classname: ESP32Stack
-    kwargs: {}
-    parameters:
-      side:
-        function: (x-52)/2.
-        parameter: width
-  sheath0:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: height
-      length:
-        parameter: length
-      width:
-        parameter: width
-  sheathsplit0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[0],'motorheight'),               x[1] - 2*getDim(x[0],'motorheight'),               getDim(x[0],'motorheight'))
-        parameter:
-        - driveservo
-        - width
-      toplength:
-        function: (x,)
-        parameter: width
-  sidehole0:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: '14'
-        parameter: height
-      dy:
-        function: '18'
-        parameter: height
-  sidehole1:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: '14'
-        parameter: height
-      dy:
-        function: '18'
-        parameter: height
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[1], "motorwidth"), getDim(x[0], "height") - 8 - getDim(x[1],
-          "motorwidth"))
-        parameter: &id002
-        - brains
-        - driveservo
-      toplength:
-        function: (getDim(x, "height") - 8,)
-        parameter: brains
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[0], "height") - 8 - getDim(x[1], "motorwidth"), getDim(x[1],
-          "motorwidth"))
-        parameter: *id002
-      toplength:
-        function: (getDim(x, "height") - 8,)
-        parameter: brains
diff --git a/rocolib/library/Cabin.yaml b/rocolib/library/Cabin.yaml
index 6f3fbe467a5146b3d34f59879dfa31035b61f1ec..48fb07675b68338bbde94ccf4ffa2544da985275 100644
--- a/rocolib/library/Cabin.yaml
+++ b/rocolib/library/Cabin.yaml
@@ -51,13 +51,31 @@ connections:
     - l
   - angle: 90
     tabWidth: 10
+  connection8:
+  - - portsplit
+    - topedge1
+  - - port
+    - l
+  - {}
+  connection9:
+  - - starsplit
+    - topedge1
+  - - star
+    - r
+  - {}
 interfaces:
   foreedge:
-    interface: l
-    subcomponent: port
+    interface: t
+    subcomponent: fore
+  portedge:
+    interface: botedge0
+    subcomponent: portsplit
   rearedge:
-    interface: r
-    subcomponent: star
+    interface: b
+    subcomponent: rear
+  staredge:
+    interface: botedge0
+    subcomponent: starsplit
 parameters:
   depth:
     defaultValue: 50
@@ -71,6 +89,12 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
+  length:
+    defaultValue: 200
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
   width:
     defaultValue: 60
     spec:
@@ -95,6 +119,18 @@ 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: {}
@@ -111,6 +147,16 @@ 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/Canoe.yaml b/rocolib/library/Canoe.yaml
index 13671019e847493b23dca2a9a421398b8ef5075f..ee32d94a740f973ca132f67250b4cb01bc5f605e 100644
--- a/rocolib/library/Canoe.yaml
+++ b/rocolib/library/Canoe.yaml
@@ -1,16 +1,17 @@
 connections:
   connection0:
+  - - portsplit
+    - botedge0
   - - boat
-    - top
-  - - bow
-    - edge
-  - {}
+    - portedge
+  - angle: 90
   connection1:
+  - - starsplit
+    - topedge0
   - - boat
-    - bot
-  - - stern
-    - edge
-  - {}
+    - staredge
+  - angle: 90
+    tabWidth: 10
   connection10:
   - - portsplit
     - topedge9
@@ -131,13 +132,7 @@ connections:
   - - seat3
     - r
   - {}
-interfaces:
-  portedge:
-    interface: ledge
-    subcomponent: boat
-  staredge:
-    interface: redge
-    subcomponent: boat
+interfaces: {}
 parameters:
   boat._dx:
     defaultValue: 0
@@ -247,18 +242,6 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
-  depth:
-    defaultValue: 40
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 130
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
   seats:
     defaultValue: 3
     spec:
@@ -307,8 +290,8 @@ parameters:
       maxValue: 1
       minValue: -1
       valueType: (int, float)
-  width:
-    defaultValue: 70
+  stern.point:
+    defaultValue: 50
     spec:
       minValue: 0
       units: mm
@@ -316,61 +299,62 @@ parameters:
 source: ../builders/CanoeBuilder.py
 subcomponents:
   boat:
-    classname: SimpleUChannel
-    kwargs: {}
+    classname: BoatBase
+    kwargs:
+      root: true
     parameters:
-      _dx:
+      boat._dx:
         parameter: boat._dx
-      _dy:
+      boat._dy:
         parameter: boat._dy
-      _dz:
+      boat._dz:
         parameter: boat._dz
-      _q_a:
+      boat._q_a:
         parameter: boat._q_a
-      _q_i:
+      boat._q_i:
         parameter: boat._q_i
-      _q_j:
+      boat._q_j:
         parameter: boat._q_j
-      _q_k:
+      boat._q_k:
         parameter: boat._q_k
       boat.depth:
-        parameter: depth
-      boat.length:
-        parameter: length
-      boat.width:
-        parameter: width
-      depth:
         parameter: boat.depth
-      length:
+      boat.length:
         parameter: boat.length
-      width:
+      boat.width:
         parameter: boat.width
-  bow:
-    classname: BoatPoint
-    kwargs: {}
-    parameters:
-      _dx:
+      bow._dx:
         parameter: bow._dx
-      _dy:
+      bow._dy:
         parameter: bow._dy
-      _dz:
+      bow._dz:
         parameter: bow._dz
-      _q_a:
+      bow._q_a:
         parameter: bow._q_a
-      _q_i:
+      bow._q_i:
         parameter: bow._q_i
-      _q_j:
+      bow._q_j:
         parameter: bow._q_j
-      _q_k:
+      bow._q_k:
         parameter: bow._q_k
-      depth:
-        parameter: depth
-        subcomponent: boat
-      point:
+      bow.point:
         parameter: bow.point
-      width:
-        parameter: width
-        subcomponent: boat
+      stern._dx:
+        parameter: stern._dx
+      stern._dy:
+        parameter: stern._dy
+      stern._dz:
+        parameter: stern._dz
+      stern._q_a:
+        parameter: stern._q_a
+      stern._q_i:
+        parameter: stern._q_i
+      stern._q_j:
+        parameter: stern._q_j
+      stern._q_k:
+        parameter: stern._q_k
+      stern.point:
+        parameter: stern.point
   portsplit:
     classname: SplitEdge
     kwargs: {}
@@ -495,30 +479,3 @@ subcomponents:
       toplength:
         function: (x[0],)
         parameter: *id001
-  stern:
-    classname: BoatPoint
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: stern._dx
-      _dy:
-        parameter: stern._dy
-      _dz:
-        parameter: stern._dz
-      _q_a:
-        parameter: stern._q_a
-      _q_i:
-        parameter: stern._q_i
-      _q_j:
-        parameter: stern._q_j
-      _q_k:
-        parameter: stern._q_k
-      depth:
-        parameter: depth
-        subcomponent: boat
-      point:
-        function: '0'
-        parameter: width
-      width:
-        parameter: width
-        subcomponent: boat
diff --git a/rocolib/library/CarForSteering.yaml b/rocolib/library/CarForSteering.yaml
deleted file mode 100644
index 62561230c25a2cdc3990d3de4dab44d6d1e4cb90..0000000000000000000000000000000000000000
--- a/rocolib/library/CarForSteering.yaml
+++ /dev/null
@@ -1,125 +0,0 @@
-connections:
-  connection0:
-  - - back
-    - sheath1.botedge2
-  - - midsupport1
-    - botedge
-  - {}
-  connection1:
-  - - front
-    - sheath0.botedge2
-  - - midsupport0
-    - botedge
-  - {}
-  connection2:
-  - - back
-    - sheath1.botedge0
-  - - midsupport2
-    - botedge
-  - {}
-  connection3:
-  - - front
-    - sheath0.botedge0
-  - - midsupport3
-    - botedge
-  - {}
-  connection4:
-  - - midsupport0
-    - topedge
-  - - midsupport1
-    - topedge
-  - {}
-interfaces: {}
-parameters:
-  height:
-    defaultValue: 36
-    spec:
-      minValue: 36
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 65
-    spec:
-      minValue: 65
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 60
-    spec:
-      minValue: 60
-      units: mm
-      valueType: (float, int)
-source: ..\builders\CarForSteeringBuilder.py
-subcomponents:
-  back:
-    classname: TwoWheels
-    kwargs: {}
-    parameters:
-      height:
-        parameter: height
-      length:
-        parameter: length
-      width:
-        parameter: width
-  front:
-    classname: NewBrainsTwoWheels
-    kwargs: {}
-    parameters:
-      height:
-        parameter: height
-      length:
-        parameter: length
-      width:
-        parameter: width
-  midsupport0:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      bangle:
-        function: float(np.atan((x-37)/5)* 180 * 0.318309)
-        parameter: width
-      depth:
-        function: x-37
-        parameter: width
-      width:
-        function: x-10
-        parameter: width
-  midsupport1:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      bangle:
-        function: float(np.atan((x-37)/5)* 180 * 0.318309)
-        parameter: width
-      depth:
-        function: x-37
-        parameter: width
-      width:
-        function: x-10
-        parameter: width
-  midsupport2:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      bangle:
-        function: float(np.atan((x-37)/5)* 180 * 0.318309)
-        parameter: width
-      depth:
-        function: x-37
-        parameter: width
-      width:
-        function: x-10
-        parameter: width
-  midsupport3:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      bangle:
-        function: float(np.atan((x-37)/5)* 180 * 0.318309)
-        parameter: width
-      depth:
-        function: x-37
-        parameter: width
-      width:
-        function: x-10
-        parameter: width
diff --git a/rocolib/library/CarHingeServo.yaml b/rocolib/library/CarHingeServo.yaml
deleted file mode 100644
index f0668a73df90b3cbe56c99517a534aeac64c8a96..0000000000000000000000000000000000000000
--- a/rocolib/library/CarHingeServo.yaml
+++ /dev/null
@@ -1,85 +0,0 @@
-connections:
-  connection0:
-  - - belt0
-    - l
-  - - servo
-    - beam.botedge1
-  - angle: 90
-  connection1:
-  - - belt1
-    - l
-  - - servo
-    - beam.botedge3
-  - angle: 90
-  connection2:
-  - - belt2
-    - l
-  - - servo
-    - beam.topedge1
-  - angle: 90
-  connection3:
-  - - belt3
-    - l
-  - - servo
-    - beam.topedge3
-  - angle: 90
-interfaces: {}
-parameters:
-  beltLength:
-    defaultValue: 75
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  driveservo:
-    defaultValue: fs90r
-    spec:
-      valueType: str
-source: ..\builders\CarHingeServoBuilder.py
-subcomponents:
-  belt0:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: beltLength
-      w:
-        function: getDim(x, "motorheight")
-        parameter: driveservo
-  belt1:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: beltLength
-      w:
-        function: getDim(x, "motorheight")
-        parameter: driveservo
-  belt2:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: beltLength
-      w:
-        function: getDim(x, "motorheight")
-        parameter: driveservo
-  belt3:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: beltLength
-      w:
-        function: getDim(x, "motorheight")
-        parameter: driveservo
-  servo:
-    classname: MountedServo
-    kwargs: {}
-    parameters:
-      center: false
-      length:
-        function: getDim(x, "motorlength") + 10
-        parameter: driveservo
-      servo:
-        parameter: driveservo
diff --git a/rocolib/library/CarWithSteering.yaml b/rocolib/library/CarWithSteering.yaml
deleted file mode 100644
index 9204fe924b3e9079d81492274b053edffcef36f6..0000000000000000000000000000000000000000
--- a/rocolib/library/CarWithSteering.yaml
+++ /dev/null
@@ -1,358 +0,0 @@
-connections:
-  connection0:
-  - - holder
-    - side0.topedge2
-  - - split0
-    - topedge0
-  - {}
-  connection1:
-  - - split0
-    - botedge0
-  - - fright
-    - botedge0
-  - angle: -90
-  connection10:
-  - - fleft
-    - topedge1
-  - - sheathsplit1
-    - botedge2
-  - angle: 180
-  connection11:
-  - - sheathsplit1
-    - topedge0
-  - - sheath1
-    - botedge2
-  - {}
-  connection12:
-  - - bright
-    - botedge1
-  - - sheathsplit1
-    - botedge0
-  - angle: 180
-  connection13:
-  - - midsupport0
-    - topedge
-  - - midsupport1
-    - topedge
-  - {}
-  connection2:
-  - - holder
-    - side1.botedge2
-  - - split3
-    - topedge0
-  - {}
-  connection3:
-  - - split3
-    - botedge1
-  - - bleft
-    - topedge0
-  - angle: -90
-  connection4:
-  - - bleft
-    - botedge1
-  - - sheathsplit
-    - botedge2
-  - angle: 180
-  connection5:
-  - - sheathsplit
-    - topedge0
-  - - sheath
-    - botedge2
-  - {}
-  connection6:
-  - - sheath1
-    - topedge0
-  - - midsupport1
-    - botedge
-  - {}
-  connection7:
-  - - sheath
-    - topedge0
-  - - midsupport0
-    - botedge
-  - {}
-  connection8:
-  - - sheath1
-    - topedge2
-  - - midsupport2
-    - botedge
-  - {}
-  connection9:
-  - - sheath
-    - topedge2
-  - - midsupport3
-    - botedge
-  - {}
-interfaces: {}
-parameters:
-  bleft.angle:
-    defaultValue: 0
-    spec:
-      maxValue: null
-      minValue: null
-      units: degrees
-      valueType: (float, int)
-  brains:
-    defaultValue: esp32stack
-    spec:
-      valueType: str
-  bright.angle:
-    defaultValue: 0
-    spec:
-      maxValue: null
-      minValue: null
-      units: degrees
-      valueType: (float, int)
-  driveservo:
-    defaultValue: fs90r
-    spec:
-      valueType: str
-  fleft.angle:
-    defaultValue: 0
-    spec:
-      maxValue: null
-      minValue: null
-      units: degrees
-      valueType: (float, int)
-  fright.angle:
-    defaultValue: 0
-    spec:
-      maxValue: null
-      minValue: null
-      units: degrees
-      valueType: (float, int)
-  height:
-    defaultValue: 36
-    spec:
-      minValue: 36
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 60
-    spec:
-      minValue: 60
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 82
-    spec:
-      minValue: 62
-      units: mm
-      valueType: (float, int)
-source: ..\builders\CarWithSteeringBuilder.py
-subcomponents:
-  bleft:
-    classname: Wheel
-    kwargs:
-      invert: true
-    parameters:
-      angle:
-        parameter: bleft.angle
-      center: false
-      length:
-        function: ((x[0] - getDim(x[1], "width")))
-        parameter: &id001
-        - length
-        - brains
-      radius:
-        function: (getDim(x, "height") / 1.35)
-        parameter: brains
-      servo:
-        parameter: driveservo
-  bright:
-    classname: Wheel
-    kwargs:
-      invert: true
-    parameters:
-      angle:
-        parameter: bright.angle
-      center: false
-      length:
-        function: ((x[0] - getDim(x[1], "width")))
-        parameter: *id001
-      radius:
-        function: (getDim(x, "height") / 1.35)
-        parameter: brains
-      servo:
-        parameter: driveservo
-  fleft:
-    classname: Wheel
-    kwargs:
-      invert: true
-    parameters:
-      angle:
-        parameter: fleft.angle
-      center: false
-      flip: true
-      length:
-        function: ((x[0] - getDim(x[1], "width")))
-        parameter: *id001
-      radius:
-        function: (getDim(x, "height") / 1.35)
-        parameter: brains
-      servo:
-        parameter: driveservo
-  fright:
-    classname: Wheel
-    kwargs:
-      invert: true
-    parameters:
-      angle:
-        parameter: fright.angle
-      center: false
-      flip: true
-      length:
-        function: ((x[0] - getDim(x[1], "width")))
-        parameter: *id001
-      radius:
-        function: (getDim(x, "height") / 1.35)
-        parameter: brains
-      servo:
-        parameter: driveservo
-  holder:
-    classname: ESP32Stack
-    kwargs: {}
-    parameters:
-      side:
-        function: (x-52)/2.
-        parameter: width
-  midsupport0:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      bangle:
-        function: float(np.atan((x-60)/20)* 180 * 0.318309)
-        parameter: width
-      depth:
-        function: x-60
-        parameter: width
-      width:
-        function: x-40
-        parameter: width
-  midsupport1:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      bangle:
-        function: float(np.atan((x-60)/20)* 180 * 0.318309)
-        parameter: width
-      depth:
-        function: x-60
-        parameter: width
-      width:
-        function: x-40
-        parameter: width
-  midsupport2:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      bangle:
-        function: float(np.atan((x-60)/20)* 180 * 0.318309)
-        parameter: width
-      depth:
-        function: x-60
-        parameter: width
-      width:
-        function: x-40
-        parameter: width
-  midsupport3:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      bangle:
-        function: float(np.atan((x-60)/20)* 180 * 0.318309)
-        parameter: width
-      depth:
-        function: x-60
-        parameter: width
-      width:
-        function: x-40
-        parameter: width
-  sheath:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: height
-      length:
-        parameter: length
-      width:
-        parameter: width
-  sheath1:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: height
-      length:
-        parameter: length
-      width:
-        parameter: width
-  sheathsplit:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[0],'motorheight'),           x[1] - 2*getDim(x[0],'motorheight'),           getDim(x[0],'motorheight'))
-        parameter: &id002
-        - driveservo
-        - width
-      toplength:
-        function: (x,)
-        parameter: width
-  sheathsplit1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[0],'motorheight'),           x[1] - 2*getDim(x[0],'motorheight'),           getDim(x[0],'motorheight'))
-        parameter: *id002
-      toplength:
-        function: (x,)
-        parameter: width
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[1], "motorwidth"), getDim(x[0], "height") - getDim(x[1],
-          "motorwidth"))
-        parameter: &id003
-        - brains
-        - driveservo
-      toplength:
-        function: (getDim(x, "height"),)
-        parameter: brains
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[1], "motorwidth"), getDim(x[0], "height") - getDim(x[1],
-          "motorwidth"))
-        parameter: *id003
-      toplength:
-        function: (getDim(x, "height"),)
-        parameter: brains
-  split2:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[0], "height") - getDim(x[1], "motorwidth"), getDim(x[1],
-          "motorwidth"))
-        parameter: *id003
-      toplength:
-        function: (getDim(x, "height"),)
-        parameter: brains
-  split3:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[0], "height") - getDim(x[1], "motorwidth"), getDim(x[1],
-          "motorwidth"))
-        parameter: *id003
-      toplength:
-        function: (getDim(x, "height"),)
-        parameter: brains
diff --git a/rocolib/library/DCHolderBoat.py b/rocolib/library/DCHolderBoat.py
deleted file mode 100644
index bef592ec70bdf309a53269431b47ee16381cfdf4..0000000000000000000000000000000000000000
--- a/rocolib/library/DCHolderBoat.py
+++ /dev/null
@@ -1,42 +0,0 @@
-from rocolib.api.components import FoldedComponent
-from rocolib.api.composables.graph.Face import RegularNGon2
-from rocolib.api.composables.graph.Face import Rectangle
-
-class Tire(FoldedComponent):
-    def define(self):
-        self.addParameter("n", 6, valueType="int")
-        self.addParameter("radius", 25, paramType="length")
-        self.addParameter("twidth", 50, paramType="length")
-        self.addParameter("slength", 25, paramType="length")
-        #calculation for slength: float(2 * r * np.cos(np.deg2rad(60)))
-        #Slength is the side of the rectangle that will attach to the edge of the nonagon
-
-        self.addFaceInterface("face0", "f0")
-
-        #Hardcoded 9 edge interfaces
-        for i in range(6):
-            try:
-                self.setEdgeInterface("e%d" % i, "e%d" % i, "radius")
-            except KeyError:
-                self.addEdgeInterface("e%d" % i, "e%d" % i, "radius")
-
-    def assemble(self):
-        n = self.getParameter("n")
-        r = self.getParameter("radius")
-        tw = self.getParameter("twidth")
-        sl = self.getParameter("slength")
-
-        hexagon = RegularNGon2("", n, r)
-
-        support = []
-        for i in range(2):
-            support.append(Rectangle("r%d" %i, tw, sl))
-
-        fromEdge = None
-        self.attachEdge(fromEdge, support[0], "e2", prefix="r0")
-        self.attachEdge(fromEdge, support[1], "e2", prefix="r1")
-        self.attachEdge("r0.e1", hexagon, "e0", prefix="hex")
-        self.mergeEdge("r1.e1", "hex.e2")
-
-if __name__ == "__main__":
-    Tire.test()
diff --git a/rocolib/library/DCMotorMount.yaml b/rocolib/library/DCMotorMount.yaml
deleted file mode 100644
index e01f0a7edf51545ad82c99e1659d380153e2b3a3..0000000000000000000000000000000000000000
--- a/rocolib/library/DCMotorMount.yaml
+++ /dev/null
@@ -1,95 +0,0 @@
-connections:
-  connection0:
-  - - dcMount
-    - face0
-  - - cutout1
-    - decoration
-  - mode: hole
-    offset:
-      function: (-10, 0)
-      parameter: motorWidth
-  connection1:
-  - - dcMount
-    - face2
-  - - cutout2
-    - decoration
-  - mode: hole
-    offset:
-      function: (10, 0)
-      parameter: motorWidth
-  connection2:
-  - - dcMount
-    - topedge1
-  - - leftArm
-    - r
-  - angle: -90
-  connection3:
-  - - dcMount
-    - botedge1
-  - - rightArm
-    - r
-  - angle: -90
-interfaces:
-  leftArmInterface:
-    interface: l
-    subcomponent: leftArm
-  rightArmInterface:
-    interface: l
-    subcomponent: rightArm
-parameters:
-  motorHeight:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  motorWidth:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  mountWidth:
-    defaultValue: 40
-    spec:
-      parameterType: length
-  supportLength:
-    defaultValue: 60
-    spec:
-      parameterType: length
-source: ../builders/boat/DCMotorMountBuilder.py
-subcomponents:
-  cutout1:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        parameter: motorWidth
-      dy:
-        parameter: motorHeight
-  cutout2:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        parameter: motorWidth
-      dy:
-        parameter: motorHeight
-  dcMount:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth: 10
-      length:
-        parameter: mountWidth
-      width: 30
-  leftArm:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: supportLength
-      w: 10
-  rightArm:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: supportLength
-      w: 10
diff --git a/rocolib/library/DCStackMount.yaml b/rocolib/library/DCStackMount.yaml
deleted file mode 100644
index 6c83bfea180330ef2a201441cb845be4f5cf77ba..0000000000000000000000000000000000000000
--- a/rocolib/library/DCStackMount.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-connections: {}
-interfaces:
-  dcMount.leftArmInterface:
-    interface: leftArmInterface
-    subcomponent: dcMount
-  dcMount.rightArmInterface:
-    interface: rightArmInterface
-    subcomponent: dcMount
-  espStack.leftArmInterface:
-    interface: leftArmInterface
-    subcomponent: espStack
-  espStack.rightArmInterface:
-    interface: rightArmInterface
-    subcomponent: espStack
-parameters:
-  stack.length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/mounts/DCStackMountBuilder.py
-subcomponents:
-  dcMount:
-    classname: DCMotorMount
-    kwargs: {}
-    parameters: {}
-  espStack:
-    classname: StackMount
-    kwargs: {}
-    parameters:
-      stack.length:
-        parameter: stack.length
diff --git a/rocolib/library/DoubleServoMount.yaml b/rocolib/library/DoubleServoMount.yaml
deleted file mode 100644
index 71252f57984d04804f9f15cc6e422defa2647fe9..0000000000000000000000000000000000000000
--- a/rocolib/library/DoubleServoMount.yaml
+++ /dev/null
@@ -1,161 +0,0 @@
-connections:
-  connection0:
-  - - lservodown
-    - r
-  - - lservoacross
-    - r
-  - angle: -90
-  connection1:
-  - - lservodown
-    - l
-  - - lServoMount
-    - leftInterface
-  - {}
-  connection2:
-  - - rservodown
-    - r
-  - - rservoacross
-    - r
-  - angle: -90
-  connection3:
-  - - rservodown
-    - l
-  - - rServoMount
-    - rightInterface
-  - {}
-  connection4:
-  - - lservoacross
-    - l
-  - - rservoacross
-    - l
-  - tabWidth: 5
-interfaces:
-  lServoInterface:
-    interface: rightInterface
-    subcomponent: lServoMount
-  lServoMount.leftInterface:
-    interface: leftInterface
-    subcomponent: lServoMount
-  lServoMount.rightInterface:
-    interface: rightInterface
-    subcomponent: lServoMount
-  rServoInterface:
-    interface: leftInterface
-    subcomponent: rServoMount
-  rServoMount.leftInterface:
-    interface: leftInterface
-    subcomponent: rServoMount
-  rServoMount.rightInterface:
-    interface: rightInterface
-    subcomponent: rServoMount
-parameters:
-  armdepth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  armwidth:
-    defaultValue: 90
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  lServoMount.depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  lServoMount.length:
-    defaultValue: 34
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  lServoMount.width:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  rServoMount.depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  rServoMount.length:
-    defaultValue: 34
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  rServoMount.width:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/mounts/DoubleServoMountBuilder.py
-subcomponents:
-  lServoMount:
-    classname: SideServoMount
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: lServoMount.depth
-      length:
-        parameter: lServoMount.length
-      width:
-        parameter: lServoMount.width
-  lservoacross:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x * 0.5
-        parameter: armwidth
-      w:
-        parameter: lServoMount.depth
-  lservodown:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x[0] - x[1]
-        parameter:
-        - armdepth
-        - lServoMount.length
-      w:
-        parameter: lServoMount.depth
-  rServoMount:
-    classname: SideServoMount
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: rServoMount.depth
-      length:
-        parameter: rServoMount.length
-      width:
-        parameter: rServoMount.width
-  rservoacross:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x * 0.5
-        parameter: armwidth
-      w:
-        parameter: rServoMount.depth
-  rservodown:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x[0] - x[1]
-        parameter:
-        - armdepth
-        - rServoMount.length
-      w:
-        parameter: rServoMount.depth
diff --git a/rocolib/library/ESP32Stack.yaml b/rocolib/library/ESP32Stack.yaml
index 661d05928ff83eec17d36511c67461e9d665338a..57c748d4bed6e1a6e0a54bfdb38a4804326f7188 100644
--- a/rocolib/library/ESP32Stack.yaml
+++ b/rocolib/library/ESP32Stack.yaml
@@ -1,350 +1,219 @@
 connections:
   connection0:
-  - - holder
-    - topedge0
-  - - split0
-    - topedge0
-  - {}
+  - - rect3
+    - r
+  - - rect0
+    - r
+  - angle: -90
   connection1:
-  - - holder
-    - botedge2
-  - - split1
-    - topedge0
-  - {}
-  connection10:
-  - - side1
-    - face2
-  - - servohole1
+  - - rect2
+    - r
+  - - rect4
+    - r
+  - angle: -90
+  connection2:
+  - - rect4
+    - l
+  - - rect0
+    - l
+  - angle: -90
+  connection3:
+  - - rect4
+    - face
+  - &id001
+    - header
     - decoration
   - mode: hole
     offset:
-      function: (1, 0)
-      parameter: side
-    rotate: true
-  connection11:
-  - - holder
-    - face2
-  - - powerhole
-    - decoration
+      function: (0, 0)
+      parameter: &id002
+      - length
+      - brains
+  connection4:
+  - - rect3
+    - face
+  - *id001
   - mode: hole
     offset:
-      function: (2, 12)
-      parameter: brains
-    rotate: true
-  connection2:
-  - - holder
-    - topedge2
-  - - split2
-    - topedge0
-  - {}
-  connection3:
-  - - holder
-    - botedge0
-  - - split3
-    - topedge0
-  - {}
-  connection4:
-  - - split0
-    - botedge1
-  - - side0
-    - botedge2
-  - {}
+      function: (0, 0)
+      parameter: *id002
   connection5:
-  - - split2
-    - botedge0
-  - - side0
-    - botedge0
-  - tabWidth: 7
-  connection6:
-  - - split1
-    - botedge1
-  - - side1
-    - botedge2
-  - {}
-  connection7:
-  - - split3
-    - botedge0
-  - - side1
-    - botedge0
-  - tabWidth: 7
-  connection8:
-  - - holder
-    - face1
-  - - led
+  - - rect2
+    - face
+  - - accessoryHole0
     - decoration
   - mode: hole
     offset:
-      function: (0, 3)
-      parameter: brains
+      function: (getDim(x[0], 'height') * 0.15, x[1] * 0.25)
+      parameter: &id003
+      - brains
+      - length
     rotate: true
-  connection9:
-  - - side0
-    - face2
-  - - servohole0
+  connection6:
+  - - rect0
+    - face
+  - - accessoryHole1
     - decoration
   - mode: hole
     offset:
-      function: (1, 0)
-      parameter: side
+      function: (getDim(x[0], 'height') * 0.15, -x[1] * 0.25)
+      parameter: *id003
     rotate: true
 interfaces:
-  botedge0:
-    interface: botedge0
-    subcomponent: holder
-  botedge1:
-    interface: botedge1
-    subcomponent: holder
-  botedge2:
-    interface: botedge2
-    subcomponent: holder
-  botedge3:
-    interface: botedge3
-    subcomponent: holder
-  face0:
-    interface: face0
-    subcomponent: holder
-  face1:
-    interface: face1
-    subcomponent: holder
-  face2:
-    interface: face2
-    subcomponent: holder
-  face3:
-    interface: face3
-    subcomponent: holder
-  side0.botedge0:
-    interface: botedge0
-    subcomponent: side0
-  side0.botedge1:
-    interface: botedge1
-    subcomponent: side0
-  side0.botedge2:
-    interface: botedge2
-    subcomponent: side0
-  side0.botedge3:
-    interface: botedge3
-    subcomponent: side0
-  side0.face0:
-    interface: face0
-    subcomponent: side0
-  side0.face1:
-    interface: face1
-    subcomponent: side0
-  side0.face2:
-    interface: face2
-    subcomponent: side0
-  side0.face3:
-    interface: face3
-    subcomponent: side0
-  side0.slotedge:
-    interface: slotedge
-    subcomponent: side0
-  side0.tabedge:
-    interface: tabedge
-    subcomponent: side0
-  side0.topedge0:
-    interface: topedge0
-    subcomponent: side0
-  side0.topedge1:
-    interface: topedge1
-    subcomponent: side0
-  side0.topedge2:
-    interface: topedge2
-    subcomponent: side0
-  side0.topedge3:
-    interface: topedge3
-    subcomponent: side0
-  side1.botedge0:
-    interface: botedge0
-    subcomponent: side1
-  side1.botedge1:
-    interface: botedge1
-    subcomponent: side1
-  side1.botedge2:
-    interface: botedge2
-    subcomponent: side1
-  side1.botedge3:
-    interface: botedge3
-    subcomponent: side1
-  side1.face0:
-    interface: face0
-    subcomponent: side1
-  side1.face1:
-    interface: face1
-    subcomponent: side1
-  side1.face2:
-    interface: face2
-    subcomponent: side1
-  side1.face3:
-    interface: face3
-    subcomponent: side1
-  side1.slotedge:
-    interface: slotedge
-    subcomponent: side1
-  side1.tabedge:
-    interface: tabedge
-    subcomponent: side1
-  side1.topedge0:
-    interface: topedge0
-    subcomponent: side1
-  side1.topedge1:
-    interface: topedge1
-    subcomponent: side1
-  side1.topedge2:
-    interface: topedge2
-    subcomponent: side1
-  side1.topedge3:
-    interface: topedge3
-    subcomponent: side1
-  slotedge:
-    interface: slotedge
-    subcomponent: holder
-  tabedge:
-    interface: tabedge
-    subcomponent: holder
-  topedge0:
-    interface: topedge0
-    subcomponent: holder
-  topedge1:
-    interface: topedge1
-    subcomponent: holder
-  topedge2:
-    interface: topedge2
-    subcomponent: holder
-  topedge3:
-    interface: topedge3
-    subcomponent: holder
+  rect0.b:
+    interface: b
+    subcomponent: rect0
+  rect0.face:
+    interface: face
+    subcomponent: rect0
+  rect0.l:
+    interface: l
+    subcomponent: rect0
+  rect0.r:
+    interface: r
+    subcomponent: rect0
+  rect0.t:
+    interface: t
+    subcomponent: rect0
+  rect2.b:
+    interface: b
+    subcomponent: rect2
+  rect2.face:
+    interface: face
+    subcomponent: rect2
+  rect2.l:
+    interface: l
+    subcomponent: rect2
+  rect2.r:
+    interface: r
+    subcomponent: rect2
+  rect2.t:
+    interface: t
+    subcomponent: rect2
+  rect3.b:
+    interface: b
+    subcomponent: rect3
+  rect3.face:
+    interface: face
+    subcomponent: rect3
+  rect3.l:
+    interface: l
+    subcomponent: rect3
+  rect3.r:
+    interface: r
+    subcomponent: rect3
+  rect3.t:
+    interface: t
+    subcomponent: rect3
+  rect4.b:
+    interface: b
+    subcomponent: rect4
+  rect4.face:
+    interface: face
+    subcomponent: rect4
+  rect4.l:
+    interface: l
+    subcomponent: rect4
+  rect4.r:
+    interface: r
+    subcomponent: rect4
+  rect4.t:
+    interface: t
+    subcomponent: rect4
 parameters:
   brains:
     defaultValue: esp32stack
     spec:
       valueType: str
-  dx1:
-    defaultValue: 40
+  dy:
+    defaultValue: 18
     spec:
       parameterType: length
-  dy1:
-    defaultValue: 15
+  heightChanger:
+    defaultValue: 0
     spec:
-      parameterType: length
-  side:
-    defaultValue: 10
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+  length:
+    defaultValue: 60
     spec:
-      parameterType: length
+      minValue: 0
+      units: mm
+      valueType: (float, int)
 source: ..\builders\ESP32StackBuilder.py
 subcomponents:
-  holder:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        function: getDim(x, 'width')
-        parameter: brains
-      length:
-        function: getDim(x, 'length')
-        parameter: brains
-      width:
-        function: getDim(x, 'height')
-        parameter: brains
-  led:
+  accessoryHole0:
     classname: Cutout
     kwargs: {}
     parameters:
       dx:
-        parameter: dx1
+        function: x-3
+        parameter: dy
       dy:
-        parameter: dy1
-  powerhole:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: '13'
-        parameter: side
-      dy:
-        function: x+4
-        parameter: dy1
-  servohole0:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: '7'
-        parameter: side
-      dy:
-        function: x+2
-        parameter: dy1
-  servohole1:
+        function: getDim(x, 'height')/1.75
+        parameter: brains
+  accessoryHole1:
     classname: Cutout
     kwargs: {}
     parameters:
       dx:
-        function: '7'
-        parameter: side
+        function: x-3
+        parameter: dy
       dy:
-        function: x+2
-        parameter: dy1
-  side0:
-    classname: SimpleRectBeam
+        function: getDim(x, 'height')/1.75
+        parameter: brains
+  header:
+    classname: Header
     kwargs: {}
     parameters:
-      depth:
-        function: getDim(x, 'width')
+      colsep:
+        function: getDim(x, 'colsep')
         parameter: brains
-      length:
-        parameter: side
-      width:
-        function: getDim(x, 'height')-8
+      ncols:
+        function: getDim(x, 'ncols')
         parameter: brains
-  side1:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        function: getDim(x, 'width')
+      nrows:
+        function: getDim(x, 'nrows')
         parameter: brains
-      length:
-        parameter: side
-      width:
-        function: getDim(x, 'height')-8
+      rowsep:
+        function: getDim(x, 'rowsep')
         parameter: brains
-  split0:
-    classname: SplitEdge
+  rect0:
+    classname: Rectangle
     kwargs: {}
     parameters:
-      botlength:
-        function: (8, getDim(x, 'height')-8)
-        parameter: brains
-      toplength:
-        function: (getDim(x, 'height'),)
-        parameter: brains
-  split1:
-    classname: SplitEdge
+      l:
+        function: getDim(x[0], 'height') + x[1]
+        parameter: &id004
+        - brains
+        - heightChanger
+      w:
+        parameter: length
+  rect2:
+    classname: Rectangle
     kwargs: {}
     parameters:
-      botlength:
-        function: (8, getDim(x, 'height')-8)
-        parameter: brains
-      toplength:
-        function: (getDim(x, 'height'),)
-        parameter: brains
-  split2:
-    classname: SplitEdge
+      l:
+        function: getDim(x[0], 'height') + x[1]
+        parameter: *id004
+      w:
+        parameter: length
+  rect3:
+    classname: Rectangle
     kwargs: {}
     parameters:
-      botlength:
-        function: (getDim(x, 'height')-8, 8)
-        parameter: brains
-      toplength:
-        function: (getDim(x, 'height'),)
+      l:
+        function: getDim(x, 'width')
         parameter: brains
-  split3:
-    classname: SplitEdge
+      w:
+        parameter: length
+  rect4:
+    classname: Rectangle
     kwargs: {}
     parameters:
-      botlength:
-        function: (getDim(x, 'height')-8, 8)
-        parameter: brains
-      toplength:
-        function: (getDim(x, 'height'),)
+      l:
+        function: getDim(x, 'width')
         parameter: brains
+      w:
+        parameter: length
diff --git a/rocolib/library/ESP32StackBoat.yaml b/rocolib/library/ESP32StackBoat.yaml
deleted file mode 100644
index 8de2d7f18cbd78530555fefb5d1444526386950d..0000000000000000000000000000000000000000
--- a/rocolib/library/ESP32StackBoat.yaml
+++ /dev/null
@@ -1,354 +0,0 @@
-connections: {}
-interfaces:
-  stack.leftArmInterface:
-    interface: leftArmInterface
-    subcomponent: stack
-  stack.rightArmInterface:
-    interface: rightArmInterface
-    subcomponent: stack
-parameters:
-  boat.dx1:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  boat.dy1:
-    defaultValue: 8
-    spec:
-      parameterType: length
-  depth:
-    defaultValue: 60
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 130
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  split0._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split0._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split0._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split0._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split0._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split0._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split0._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split0.botlength:
-    defaultValue: &id001
-    - 100
-    spec:
-      valueType: (tuple, list)
-  split0.toplength:
-    defaultValue: &id002
-    - 50
-    - 50
-    spec:
-      valueType: (tuple, list)
-  split0.width:
-    defaultValue: 0
-    spec: {}
-  split1._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split1._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split1._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  split1._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split1._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split1._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split1._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  split1.botlength:
-    defaultValue: *id001
-    spec:
-      valueType: (tuple, list)
-  split1.toplength:
-    defaultValue: *id002
-    spec:
-      valueType: (tuple, list)
-  split1.width:
-    defaultValue: 0
-    spec: {}
-  stack.depth:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  stack.lArm._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.lArm._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.lArm._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.lArm._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.lArm._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.lArm._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.lArm._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.rArm._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.rArm._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.rArm._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  stack.rArm._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.rArm._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.rArm._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.rArm._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  stack.stack.brains:
-    defaultValue: esp32stack
-    spec:
-      valueType: str
-  stack.stack.dy1:
-    defaultValue: 18
-    spec:
-      parameterType: length
-  stack.stack.length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  stack.width:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/ESP32StackBoatBuilder.py
-subcomponents:
-  boat:
-    classname: BoatBaseFlat
-    kwargs: {}
-    parameters:
-      dx1:
-        parameter: boat.dx1
-      dy1:
-        parameter: boat.dy1
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: split0._dx
-      _dy:
-        parameter: split0._dy
-      _dz:
-        parameter: split0._dz
-      _q_a:
-        parameter: split0._q_a
-      _q_i:
-        parameter: split0._q_i
-      _q_j:
-        parameter: split0._q_j
-      _q_k:
-        parameter: split0._q_k
-      botlength:
-        parameter: split0.botlength
-      toplength:
-        parameter: split0.toplength
-      width:
-        parameter: split0.width
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      _dx:
-        parameter: split1._dx
-      _dy:
-        parameter: split1._dy
-      _dz:
-        parameter: split1._dz
-      _q_a:
-        parameter: split1._q_a
-      _q_i:
-        parameter: split1._q_i
-      _q_j:
-        parameter: split1._q_j
-      _q_k:
-        parameter: split1._q_k
-      botlength:
-        parameter: split1.botlength
-      toplength:
-        parameter: split1.toplength
-      width:
-        parameter: split1.width
-  stack:
-    classname: StackMount
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: stack.depth
-      lArm._dx:
-        parameter: stack.lArm._dx
-      lArm._dy:
-        parameter: stack.lArm._dy
-      lArm._dz:
-        parameter: stack.lArm._dz
-      lArm._q_a:
-        parameter: stack.lArm._q_a
-      lArm._q_i:
-        parameter: stack.lArm._q_i
-      lArm._q_j:
-        parameter: stack.lArm._q_j
-      lArm._q_k:
-        parameter: stack.lArm._q_k
-      rArm._dx:
-        parameter: stack.rArm._dx
-      rArm._dy:
-        parameter: stack.rArm._dy
-      rArm._dz:
-        parameter: stack.rArm._dz
-      rArm._q_a:
-        parameter: stack.rArm._q_a
-      rArm._q_i:
-        parameter: stack.rArm._q_i
-      rArm._q_j:
-        parameter: stack.rArm._q_j
-      rArm._q_k:
-        parameter: stack.rArm._q_k
-      stack.brains:
-        parameter: stack.stack.brains
-      stack.dy1:
-        parameter: stack.stack.dy1
-      stack.length:
-        parameter: stack.stack.length
-      width:
-        parameter: stack.width
diff --git a/rocolib/library/ESPBrains.yaml b/rocolib/library/ESPBrains.yaml
index 495d4f3c101e0db3dae6b54945932f9b0537e5b6..902c2bd4be821dbec9a41f038a19062f80099857 100644
--- a/rocolib/library/ESPBrains.yaml
+++ b/rocolib/library/ESPBrains.yaml
@@ -86,7 +86,7 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
-source: ..\builders\ESPBrainsBuilder.py
+source: ../builders/ESPBrainsBuilder.py
 subcomponents:
   beam:
     classname: RectBeam
diff --git a/rocolib/library/ESPSeg.yaml b/rocolib/library/ESPSeg.yaml
index a3bec0498d80ee05b3b325589e8d4cebfffc258e..0c84eb9d1b85634930a8f32bb69daa7ec70dfc30 100644
--- a/rocolib/library/ESPSeg.yaml
+++ b/rocolib/library/ESPSeg.yaml
@@ -115,6 +115,12 @@ parameters:
       maxValue: 1
       minValue: 0
       valueType: (float, int)
+  tire_thickness:
+    defaultValue: 0
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
   width:
     defaultValue: 60
     spec:
@@ -153,6 +159,8 @@ subcomponents:
         parameter: height
       servo:
         parameter: driveservo
+      tire_thickness:
+        parameter: tire_thickness
   right:
     classname: Wheel
     kwargs:
@@ -169,6 +177,8 @@ subcomponents:
         parameter: height
       servo:
         parameter: driveservo
+      tire_thickness:
+        parameter: tire_thickness
   sheath:
     classname: SimpleRectBeam
     kwargs: {}
diff --git a/rocolib/library/FourWheelCar.yaml b/rocolib/library/FourWheelCar.yaml
deleted file mode 100644
index dd0feb20ddcfc5a383cd034664a278927e0f7f6b..0000000000000000000000000000000000000000
--- a/rocolib/library/FourWheelCar.yaml
+++ /dev/null
@@ -1,77 +0,0 @@
-connections:
-  connection0:
-  - - front
-    - sheath0.botedge2
-  - - back
-    - sheath1.botedge2
-  - {}
-  connection1:
-  - - front
-    - sheath0.botedge0
-  - - back
-    - sheath1.botedge0
-  - tabWidth: 13
-  connection2:
-  - - shield
-    - b
-  - - back
-    - splitedge0
-  - angle: 90
-    tabWidth: 10
-  connection3:
-  - - shield
-    - t
-  - - back
-    - splitedge1
-  - angle: 90
-interfaces: {}
-parameters:
-  height:
-    defaultValue: 36
-    spec:
-      minValue: 36
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 65
-    spec:
-      minValue: 65
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 60
-    spec:
-      minValue: 60
-      units: mm
-      valueType: (float, int)
-source: ..\builders\FourWheelCarBuilder.py
-subcomponents:
-  back:
-    classname: TwoWheels
-    kwargs: {}
-    parameters:
-      height:
-        parameter: height
-      length:
-        parameter: length
-      width:
-        parameter: width
-  front:
-    classname: NewBrainsTwoWheels
-    kwargs: {}
-    parameters:
-      height:
-        parameter: height
-      length:
-        parameter: length
-      width:
-        parameter: width
-  shield:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: x - 13
-        parameter: height
-      w:
-        parameter: width
diff --git a/rocolib/library/HouseboatWithServoMountAndStack.yaml b/rocolib/library/HouseboatWithServoMountAndStack.yaml
deleted file mode 100644
index 75b697c54c265e135d74a63b424caaeb0a66f538..0000000000000000000000000000000000000000
--- a/rocolib/library/HouseboatWithServoMountAndStack.yaml
+++ /dev/null
@@ -1,2496 +0,0 @@
-connections:
-  connection0:
-  - - boat
-    - portedge
-  - - servostackbattery
-    - lTopSplit
-  - {}
-  connection1:
-  - - boat
-    - staredge
-  - - servostackbattery
-    - rTopSplit
-  - {}
-interfaces:
-  boat.portedge:
-    interface: portedge
-    subcomponent: boat
-  boat.staredge:
-    interface: staredge
-    subcomponent: boat
-  servostackbattery.batterystackmount.leftArmInterface:
-    interface: batterystackmount.leftArmInterface
-    subcomponent: servostackbattery
-  servostackbattery.batterystackmount.rightArmInterface:
-    interface: batterystackmount.rightArmInterface
-    subcomponent: servostackbattery
-  servostackbattery.lTopSplit:
-    interface: lTopSplit
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge0:
-    interface: lfullsplit.botedge0
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge1:
-    interface: lfullsplit.botedge1
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge10:
-    interface: lfullsplit.botedge10
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge11:
-    interface: lfullsplit.botedge11
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge12:
-    interface: lfullsplit.botedge12
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge13:
-    interface: lfullsplit.botedge13
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge14:
-    interface: lfullsplit.botedge14
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge15:
-    interface: lfullsplit.botedge15
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge16:
-    interface: lfullsplit.botedge16
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge17:
-    interface: lfullsplit.botedge17
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge18:
-    interface: lfullsplit.botedge18
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge19:
-    interface: lfullsplit.botedge19
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge2:
-    interface: lfullsplit.botedge2
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge20:
-    interface: lfullsplit.botedge20
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge21:
-    interface: lfullsplit.botedge21
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge22:
-    interface: lfullsplit.botedge22
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge23:
-    interface: lfullsplit.botedge23
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge24:
-    interface: lfullsplit.botedge24
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge25:
-    interface: lfullsplit.botedge25
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge26:
-    interface: lfullsplit.botedge26
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge27:
-    interface: lfullsplit.botedge27
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge28:
-    interface: lfullsplit.botedge28
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge29:
-    interface: lfullsplit.botedge29
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge3:
-    interface: lfullsplit.botedge3
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge30:
-    interface: lfullsplit.botedge30
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge31:
-    interface: lfullsplit.botedge31
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge32:
-    interface: lfullsplit.botedge32
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge33:
-    interface: lfullsplit.botedge33
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge34:
-    interface: lfullsplit.botedge34
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge35:
-    interface: lfullsplit.botedge35
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge36:
-    interface: lfullsplit.botedge36
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge37:
-    interface: lfullsplit.botedge37
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge38:
-    interface: lfullsplit.botedge38
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge39:
-    interface: lfullsplit.botedge39
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge4:
-    interface: lfullsplit.botedge4
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge40:
-    interface: lfullsplit.botedge40
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge41:
-    interface: lfullsplit.botedge41
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge42:
-    interface: lfullsplit.botedge42
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge43:
-    interface: lfullsplit.botedge43
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge44:
-    interface: lfullsplit.botedge44
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge45:
-    interface: lfullsplit.botedge45
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge46:
-    interface: lfullsplit.botedge46
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge47:
-    interface: lfullsplit.botedge47
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge48:
-    interface: lfullsplit.botedge48
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge49:
-    interface: lfullsplit.botedge49
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge5:
-    interface: lfullsplit.botedge5
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge50:
-    interface: lfullsplit.botedge50
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge51:
-    interface: lfullsplit.botedge51
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge52:
-    interface: lfullsplit.botedge52
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge53:
-    interface: lfullsplit.botedge53
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge54:
-    interface: lfullsplit.botedge54
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge55:
-    interface: lfullsplit.botedge55
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge56:
-    interface: lfullsplit.botedge56
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge57:
-    interface: lfullsplit.botedge57
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge58:
-    interface: lfullsplit.botedge58
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge59:
-    interface: lfullsplit.botedge59
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge6:
-    interface: lfullsplit.botedge6
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge60:
-    interface: lfullsplit.botedge60
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge61:
-    interface: lfullsplit.botedge61
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge62:
-    interface: lfullsplit.botedge62
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge63:
-    interface: lfullsplit.botedge63
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge64:
-    interface: lfullsplit.botedge64
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge65:
-    interface: lfullsplit.botedge65
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge66:
-    interface: lfullsplit.botedge66
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge67:
-    interface: lfullsplit.botedge67
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge68:
-    interface: lfullsplit.botedge68
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge69:
-    interface: lfullsplit.botedge69
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge7:
-    interface: lfullsplit.botedge7
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge70:
-    interface: lfullsplit.botedge70
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge71:
-    interface: lfullsplit.botedge71
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge72:
-    interface: lfullsplit.botedge72
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge73:
-    interface: lfullsplit.botedge73
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge74:
-    interface: lfullsplit.botedge74
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge75:
-    interface: lfullsplit.botedge75
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge76:
-    interface: lfullsplit.botedge76
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge77:
-    interface: lfullsplit.botedge77
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge78:
-    interface: lfullsplit.botedge78
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge79:
-    interface: lfullsplit.botedge79
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge8:
-    interface: lfullsplit.botedge8
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge80:
-    interface: lfullsplit.botedge80
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge81:
-    interface: lfullsplit.botedge81
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge82:
-    interface: lfullsplit.botedge82
-    subcomponent: servostackbattery
-  servostackbattery.lfullsplit.botedge83:
-    interface: lfullsplit.botedge83
-    subcomponent: servostackbattery
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-    interface: lfullsplit.botedge84
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-    interface: lfullsplit.botedge85
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-    interface: lfullsplit.botedge86
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-    interface: lfullsplit.botedge87
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-    interface: lfullsplit.botedge88
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-    interface: lfullsplit.botedge89
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-    interface: lfullsplit.botedge9
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-    interface: lfullsplit.botedge90
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-    interface: lfullsplit.botedge91
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-    interface: lfullsplit.botedge92
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-    interface: lfullsplit.botedge93
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-    interface: lfullsplit.botedge94
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-    interface: lfullsplit.botedge95
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-    interface: lfullsplit.botedge96
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-    interface: lfullsplit.botedge97
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-    interface: lfullsplit.botedge98
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-    interface: lfullsplit.botedge99
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-    interface: lfullsplit.topedge0
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-    interface: lfullsplit.topedge1
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-    interface: lfullsplit.topedge10
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-    interface: lfullsplit.topedge11
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-    interface: lfullsplit.topedge12
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-    interface: lfullsplit.topedge13
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-    interface: lfullsplit.topedge14
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-    interface: lfullsplit.topedge15
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-    interface: lfullsplit.topedge16
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-    interface: lfullsplit.topedge19
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-    interface: lfullsplit.topedge2
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-    interface: lfullsplit.topedge20
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-    interface: lfullsplit.topedge23
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-    interface: lfullsplit.topedge24
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-    interface: lfullsplit.topedge25
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-    interface: lfullsplit.topedge26
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-    interface: lfullsplit.topedge27
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-    interface: lfullsplit.topedge28
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-    interface: lfullsplit.topedge29
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-    interface: lfullsplit.topedge3
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-    interface: lfullsplit.topedge30
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-    interface: lfullsplit.topedge31
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-    interface: lfullsplit.topedge35
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-    interface: lfullsplit.topedge36
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-    interface: lfullsplit.topedge39
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-    interface: lfullsplit.topedge40
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-    interface: rfullsplit.botedge7
-    subcomponent: servostackbattery
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-    interface: rfullsplit.botedge70
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge71:
-    interface: rfullsplit.botedge71
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge72:
-    interface: rfullsplit.botedge72
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge73:
-    interface: rfullsplit.botedge73
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge74:
-    interface: rfullsplit.botedge74
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge75:
-    interface: rfullsplit.botedge75
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge76:
-    interface: rfullsplit.botedge76
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge77:
-    interface: rfullsplit.botedge77
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge78:
-    interface: rfullsplit.botedge78
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge79:
-    interface: rfullsplit.botedge79
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge8:
-    interface: rfullsplit.botedge8
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge80:
-    interface: rfullsplit.botedge80
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge81:
-    interface: rfullsplit.botedge81
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge82:
-    interface: rfullsplit.botedge82
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge83:
-    interface: rfullsplit.botedge83
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge84:
-    interface: rfullsplit.botedge84
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge85:
-    interface: rfullsplit.botedge85
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge86:
-    interface: rfullsplit.botedge86
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge87:
-    interface: rfullsplit.botedge87
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge88:
-    interface: rfullsplit.botedge88
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge89:
-    interface: rfullsplit.botedge89
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge9:
-    interface: rfullsplit.botedge9
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge90:
-    interface: rfullsplit.botedge90
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge91:
-    interface: rfullsplit.botedge91
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge92:
-    interface: rfullsplit.botedge92
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge93:
-    interface: rfullsplit.botedge93
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge94:
-    interface: rfullsplit.botedge94
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge95:
-    interface: rfullsplit.botedge95
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge96:
-    interface: rfullsplit.botedge96
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge97:
-    interface: rfullsplit.botedge97
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge98:
-    interface: rfullsplit.botedge98
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.botedge99:
-    interface: rfullsplit.botedge99
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge0:
-    interface: rfullsplit.topedge0
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge1:
-    interface: rfullsplit.topedge1
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge10:
-    interface: rfullsplit.topedge10
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge11:
-    interface: rfullsplit.topedge11
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge12:
-    interface: rfullsplit.topedge12
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge13:
-    interface: rfullsplit.topedge13
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge14:
-    interface: rfullsplit.topedge14
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge15:
-    interface: rfullsplit.topedge15
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge16:
-    interface: rfullsplit.topedge16
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge17:
-    interface: rfullsplit.topedge17
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge18:
-    interface: rfullsplit.topedge18
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge19:
-    interface: rfullsplit.topedge19
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge2:
-    interface: rfullsplit.topedge2
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge20:
-    interface: rfullsplit.topedge20
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge21:
-    interface: rfullsplit.topedge21
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge22:
-    interface: rfullsplit.topedge22
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge23:
-    interface: rfullsplit.topedge23
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge24:
-    interface: rfullsplit.topedge24
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge25:
-    interface: rfullsplit.topedge25
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge26:
-    interface: rfullsplit.topedge26
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge27:
-    interface: rfullsplit.topedge27
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge28:
-    interface: rfullsplit.topedge28
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge29:
-    interface: rfullsplit.topedge29
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge3:
-    interface: rfullsplit.topedge3
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge30:
-    interface: rfullsplit.topedge30
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge31:
-    interface: rfullsplit.topedge31
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge32:
-    interface: rfullsplit.topedge32
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge33:
-    interface: rfullsplit.topedge33
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge34:
-    interface: rfullsplit.topedge34
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge35:
-    interface: rfullsplit.topedge35
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge36:
-    interface: rfullsplit.topedge36
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge37:
-    interface: rfullsplit.topedge37
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge38:
-    interface: rfullsplit.topedge38
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge39:
-    interface: rfullsplit.topedge39
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge4:
-    interface: rfullsplit.topedge4
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge40:
-    interface: rfullsplit.topedge40
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge41:
-    interface: rfullsplit.topedge41
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge42:
-    interface: rfullsplit.topedge42
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge43:
-    interface: rfullsplit.topedge43
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge44:
-    interface: rfullsplit.topedge44
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge45:
-    interface: rfullsplit.topedge45
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge46:
-    interface: rfullsplit.topedge46
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge47:
-    interface: rfullsplit.topedge47
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge48:
-    interface: rfullsplit.topedge48
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge49:
-    interface: rfullsplit.topedge49
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge5:
-    interface: rfullsplit.topedge5
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge50:
-    interface: rfullsplit.topedge50
-    subcomponent: servostackbattery
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-    interface: rfullsplit.topedge51
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge52:
-    interface: rfullsplit.topedge52
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge53:
-    interface: rfullsplit.topedge53
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge54:
-    interface: rfullsplit.topedge54
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge55:
-    interface: rfullsplit.topedge55
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge56:
-    interface: rfullsplit.topedge56
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge57:
-    interface: rfullsplit.topedge57
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge58:
-    interface: rfullsplit.topedge58
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge59:
-    interface: rfullsplit.topedge59
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge6:
-    interface: rfullsplit.topedge6
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge60:
-    interface: rfullsplit.topedge60
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge61:
-    interface: rfullsplit.topedge61
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge62:
-    interface: rfullsplit.topedge62
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge63:
-    interface: rfullsplit.topedge63
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge64:
-    interface: rfullsplit.topedge64
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge65:
-    interface: rfullsplit.topedge65
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge66:
-    interface: rfullsplit.topedge66
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge67:
-    interface: rfullsplit.topedge67
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge68:
-    interface: rfullsplit.topedge68
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge69:
-    interface: rfullsplit.topedge69
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge7:
-    interface: rfullsplit.topedge7
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge70:
-    interface: rfullsplit.topedge70
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge71:
-    interface: rfullsplit.topedge71
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge72:
-    interface: rfullsplit.topedge72
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge73:
-    interface: rfullsplit.topedge73
-    subcomponent: servostackbattery
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-    interface: rfullsplit.topedge74
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge75:
-    interface: rfullsplit.topedge75
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge76:
-    interface: rfullsplit.topedge76
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge77:
-    interface: rfullsplit.topedge77
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge78:
-    interface: rfullsplit.topedge78
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge79:
-    interface: rfullsplit.topedge79
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge8:
-    interface: rfullsplit.topedge8
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge80:
-    interface: rfullsplit.topedge80
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge81:
-    interface: rfullsplit.topedge81
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge82:
-    interface: rfullsplit.topedge82
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge83:
-    interface: rfullsplit.topedge83
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge84:
-    interface: rfullsplit.topedge84
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge85:
-    interface: rfullsplit.topedge85
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge86:
-    interface: rfullsplit.topedge86
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge87:
-    interface: rfullsplit.topedge87
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge88:
-    interface: rfullsplit.topedge88
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge89:
-    interface: rfullsplit.topedge89
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge9:
-    interface: rfullsplit.topedge9
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge90:
-    interface: rfullsplit.topedge90
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge91:
-    interface: rfullsplit.topedge91
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge92:
-    interface: rfullsplit.topedge92
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge93:
-    interface: rfullsplit.topedge93
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge94:
-    interface: rfullsplit.topedge94
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge95:
-    interface: rfullsplit.topedge95
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge96:
-    interface: rfullsplit.topedge96
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge97:
-    interface: rfullsplit.topedge97
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge98:
-    interface: rfullsplit.topedge98
-    subcomponent: servostackbattery
-  servostackbattery.rfullsplit.topedge99:
-    interface: rfullsplit.topedge99
-    subcomponent: servostackbattery
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-    interface: servosandstack.doubleServoMount.lServoInterface
-    subcomponent: servostackbattery
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-    interface: servosandstack.doubleServoMount.lServoMount.leftInterface
-    subcomponent: servostackbattery
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-    interface: servosandstack.doubleServoMount.lServoMount.rightInterface
-    subcomponent: servostackbattery
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-    interface: servosandstack.doubleServoMount.rServoInterface
-    subcomponent: servostackbattery
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-    interface: servosandstack.doubleServoMount.rServoMount.leftInterface
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.doubleServoMount.rServoMount.rightInterface:
-    interface: servosandstack.doubleServoMount.rServoMount.rightInterface
-    subcomponent: servostackbattery
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-    interface: servosandstack.lmountandservosplit
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge0
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge1
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge10
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge11
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge12
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge13
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge14
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge15
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge16
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge17
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge18
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge19
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge2
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge20
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge21
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge22
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge23
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge24
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge25
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge26
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge27
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge28
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge29
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge3
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge30
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge31
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge32
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge33
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge34
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge35
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge36
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge37
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge38
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge39
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.portsplit.botedge4:
-    interface: servosandstack.portsplit.botedge4
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge40
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge41
-    subcomponent: servostackbattery
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-    interface: servosandstack.portsplit.botedge42
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-    interface: servosandstack.starsplit.topedge53
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge54:
-    interface: servosandstack.starsplit.topedge54
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge55:
-    interface: servosandstack.starsplit.topedge55
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge56:
-    interface: servosandstack.starsplit.topedge56
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge57:
-    interface: servosandstack.starsplit.topedge57
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge58:
-    interface: servosandstack.starsplit.topedge58
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge59:
-    interface: servosandstack.starsplit.topedge59
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge6:
-    interface: servosandstack.starsplit.topedge6
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge60:
-    interface: servosandstack.starsplit.topedge60
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge61:
-    interface: servosandstack.starsplit.topedge61
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge62:
-    interface: servosandstack.starsplit.topedge62
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge63:
-    interface: servosandstack.starsplit.topedge63
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge64:
-    interface: servosandstack.starsplit.topedge64
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge65:
-    interface: servosandstack.starsplit.topedge65
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge66:
-    interface: servosandstack.starsplit.topedge66
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge67:
-    interface: servosandstack.starsplit.topedge67
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge68:
-    interface: servosandstack.starsplit.topedge68
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge69:
-    interface: servosandstack.starsplit.topedge69
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge7:
-    interface: servosandstack.starsplit.topedge7
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge70:
-    interface: servosandstack.starsplit.topedge70
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge71:
-    interface: servosandstack.starsplit.topedge71
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge72:
-    interface: servosandstack.starsplit.topedge72
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge73:
-    interface: servosandstack.starsplit.topedge73
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge74:
-    interface: servosandstack.starsplit.topedge74
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge75:
-    interface: servosandstack.starsplit.topedge75
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge76:
-    interface: servosandstack.starsplit.topedge76
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge77:
-    interface: servosandstack.starsplit.topedge77
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge78:
-    interface: servosandstack.starsplit.topedge78
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge79:
-    interface: servosandstack.starsplit.topedge79
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge8:
-    interface: servosandstack.starsplit.topedge8
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge80:
-    interface: servosandstack.starsplit.topedge80
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge81:
-    interface: servosandstack.starsplit.topedge81
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge82:
-    interface: servosandstack.starsplit.topedge82
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge83:
-    interface: servosandstack.starsplit.topedge83
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge84:
-    interface: servosandstack.starsplit.topedge84
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge85:
-    interface: servosandstack.starsplit.topedge85
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge86:
-    interface: servosandstack.starsplit.topedge86
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge87:
-    interface: servosandstack.starsplit.topedge87
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge88:
-    interface: servosandstack.starsplit.topedge88
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge89:
-    interface: servosandstack.starsplit.topedge89
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge9:
-    interface: servosandstack.starsplit.topedge9
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge90:
-    interface: servosandstack.starsplit.topedge90
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge91:
-    interface: servosandstack.starsplit.topedge91
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge92:
-    interface: servosandstack.starsplit.topedge92
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge93:
-    interface: servosandstack.starsplit.topedge93
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge94:
-    interface: servosandstack.starsplit.topedge94
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge95:
-    interface: servosandstack.starsplit.topedge95
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge96:
-    interface: servosandstack.starsplit.topedge96
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge97:
-    interface: servosandstack.starsplit.topedge97
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge98:
-    interface: servosandstack.starsplit.topedge98
-    subcomponent: servostackbattery
-  servostackbattery.servosandstack.starsplit.topedge99:
-    interface: servosandstack.starsplit.topedge99
-    subcomponent: servostackbattery
-parameters:
-  depth:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  height:
-    defaultValue: 30
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 200
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 60
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/HouseboatWithServoMountAndStackBuilder.py
-subcomponents:
-  boat:
-    classname: Tug
-    kwargs: {}
-    parameters:
-      depth: 70
-      height:
-        parameter: height
-      length: 228
-      width: 90
-  servostackbattery:
-    classname: ServoStackBatteryMount
-    kwargs: {}
-    parameters: {}
diff --git a/rocolib/library/HouseboatWithServoStackBattery.yaml b/rocolib/library/HouseboatWithServoStackBattery.yaml
deleted file mode 100644
index bd202122a0c3f67b10852ccf0d95276d00f943fd..0000000000000000000000000000000000000000
--- a/rocolib/library/HouseboatWithServoStackBattery.yaml
+++ /dev/null
@@ -1,2569 +0,0 @@
-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
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-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/MountedServo.yaml b/rocolib/library/MountedServo.yaml
index 26efb16cbf4d42c456afd5f89320ec0d78231197..3a41255ee69f0452b4ae6e4a4b7f373f2b239608 100644
--- a/rocolib/library/MountedServo.yaml
+++ b/rocolib/library/MountedServo.yaml
@@ -143,7 +143,7 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
-source: ..\builders\MountedServoBuilder.py
+source: ../builders/MountedServoBuilder.py
 subcomponents:
   mount:
     classname: ServoMount
diff --git a/rocolib/library/NewBrainsTwoWheels.py b/rocolib/library/NewBrainsTwoWheels.py
deleted file mode 100644
index 35bac76b8bce7dbed101c02030447b0a9c55e764..0000000000000000000000000000000000000000
--- a/rocolib/library/NewBrainsTwoWheels.py
+++ /dev/null
@@ -1,17 +0,0 @@
-from rocolib.api.components import Component
-from rocolib.utils.utils import copyDecorations
-
-
-class NewBrainsTwoWheels(Component):
-    def assemble(self):
-        copyDecorations(self, ("frightservoface", ("fright", "face0", -1, 0)),
-                        ("frightservosheath", ("sheath0", "face3", -1, 0)))
-        copyDecorations(self, ("bleftservoface", ("bleft", "face0", 2, 1)),
-                        ("bleftservosheath", ("sheath0", "face1", 0, -1)))
-        copyDecorations(self, ("brainface", ("holder", "face0", 0, 1)),
-                        ("brainsheath", ("sheath0", "face0", 1, 2)))
-
-        copyDecorations(self, ("brainface1", ("holder", "face2", 0, 1)),
-                        ("brainsheath1", ("sheath0", "face2", 1, 2)))
-if __name__ == "__main__":
-    NewBrainsTwoWheels.test()
\ No newline at end of file
diff --git a/rocolib/library/NewBrainsTwoWheels.yaml b/rocolib/library/NewBrainsTwoWheels.yaml
deleted file mode 100644
index aafae1f7d91e2f094dffa4fe589ceb5a5bfea0c9..0000000000000000000000000000000000000000
--- a/rocolib/library/NewBrainsTwoWheels.yaml
+++ /dev/null
@@ -1,960 +0,0 @@
-connections:
-  connection0:
-  - - fright
-    - topedge2
-  - - between0
-    - topedge1
-  - angle: 90
-  connection1:
-  - - between0
-    - botedge1
-  - - bleft
-    - botedge2
-  - angle: 90
-    tabWidth: 10
-  connection10:
-  - &id002
-    - sheath0
-    - face1
-  - - accessoryHole0
-    - decoration
-  - mode: hole
-    offset:
-      function: (x[0] * -0.10, -x[1] * 0.45)
-      parameter: &id001
-      - height
-      - length
-    rotate: true
-  connection11:
-  - &id003
-    - sheath0
-    - face3
-  - - accessoryHole1
-    - decoration
-  - mode: hole
-    offset:
-      function: (x[0] * -0.04, -x[1] * 0.45)
-      parameter: *id001
-    rotate: true
-  connection12:
-  - *id002
-  - - accessoryHole2
-    - decoration
-  - mode: hole
-    offset:
-      function: (x[0] * -0.10, x[1] * 0.05)
-      parameter: *id001
-    rotate: true
-  connection13:
-  - *id003
-  - - accessoryHole3
-    - decoration
-  - mode: hole
-    offset:
-      function: (x[0] * -0.04, x[1] * 0.05)
-      parameter: *id001
-    rotate: true
-  connection2:
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-    - botedge1
-  - - split0
-    - topedge0
-  - {}
-  connection3:
-  - - split0
-    - botedge0
-  - - fright
-    - botedge0
-  - angle: -90
-  connection4:
-  - - holder
-    - topedge1
-  - - split1
-    - topedge0
-  - {}
-  connection5:
-  - - split1
-    - botedge1
-  - - bleft
-    - topedge0
-  - angle: -90
-  connection6:
-  - - bleft
-    - botedge1
-  - - sheathsplit0
-    - botedge1
-  - angle: 180
-  connection7:
-  - - sheathsplit0
-    - topedge0
-  - - sheath0
-    - topedge2
-  - {}
-  connection8:
-  - *id002
-  - - sidehole0
-    - decoration
-  - mode: hole
-    offset:
-      function: (x[0] * -0.10, getDim(x[1], 'width') - 3)
-      parameter: &id004
-      - height
-      - brains
-    rotate: true
-  connection9:
-  - *id003
-  - - sidehole1
-    - decoration
-  - mode: hole
-    offset:
-      function: (x[0] * -0.04, getDim(x[1], 'width') - 3)
-      parameter: *id004
-    rotate: true
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-    subcomponent: sheath0
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-    subcomponent: sheath0
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-    interface: botedge3
-    subcomponent: sheath0
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-    subcomponent: sheath0
-  sheath0.face1:
-    interface: face1
-    subcomponent: sheath0
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-    interface: face2
-    subcomponent: sheath0
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-    interface: face3
-    subcomponent: sheath0
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-    interface: slotedge
-    subcomponent: sheath0
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-    interface: tabedge
-    subcomponent: sheath0
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-    interface: topedge0
-    subcomponent: sheath0
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-    interface: topedge1
-    subcomponent: sheath0
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-    interface: topedge2
-    subcomponent: sheath0
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-    interface: topedge3
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-    interface: botedge0
-    subcomponent: sheathsplit0
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-    interface: botedge1
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-    interface: botedge10
-    subcomponent: sheathsplit0
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-    interface: botedge11
-    subcomponent: sheathsplit0
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-    interface: botedge12
-    subcomponent: sheathsplit0
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-    interface: botedge13
-    subcomponent: sheathsplit0
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-    interface: botedge14
-    subcomponent: sheathsplit0
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-    interface: botedge15
-    subcomponent: sheathsplit0
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-    interface: botedge16
-    subcomponent: sheathsplit0
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-    interface: botedge17
-    subcomponent: sheathsplit0
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-    interface: botedge18
-    subcomponent: sheathsplit0
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-    interface: botedge19
-    subcomponent: sheathsplit0
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-    interface: botedge2
-    subcomponent: sheathsplit0
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-    interface: botedge20
-    subcomponent: sheathsplit0
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-    interface: botedge21
-    subcomponent: sheathsplit0
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-    interface: botedge22
-    subcomponent: sheathsplit0
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-    interface: botedge23
-    subcomponent: sheathsplit0
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-    interface: botedge24
-    subcomponent: sheathsplit0
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-    interface: botedge25
-    subcomponent: sheathsplit0
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-    interface: botedge26
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-    interface: botedge29
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-    interface: botedge30
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-    interface: botedge32
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-    interface: botedge34
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-    interface: botedge35
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-    interface: botedge36
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-    interface: botedge38
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-    interface: botedge39
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-    interface: botedge4
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-    interface: botedge41
-    subcomponent: sheathsplit0
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-    interface: botedge42
-    subcomponent: sheathsplit0
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-    interface: botedge43
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-    interface: botedge44
-    subcomponent: sheathsplit0
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-    interface: botedge45
-    subcomponent: sheathsplit0
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-    interface: botedge46
-    subcomponent: sheathsplit0
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-    interface: botedge47
-    subcomponent: sheathsplit0
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-    interface: botedge48
-    subcomponent: sheathsplit0
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-    interface: botedge49
-    subcomponent: sheathsplit0
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-    interface: botedge5
-    subcomponent: sheathsplit0
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-    interface: botedge50
-    subcomponent: sheathsplit0
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-    interface: botedge51
-    subcomponent: sheathsplit0
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-    interface: botedge52
-    subcomponent: sheathsplit0
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-    interface: botedge53
-    subcomponent: sheathsplit0
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-    interface: botedge54
-    subcomponent: sheathsplit0
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-    interface: botedge55
-    subcomponent: sheathsplit0
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-    interface: botedge56
-    subcomponent: sheathsplit0
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-    interface: botedge57
-    subcomponent: sheathsplit0
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-    interface: botedge58
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge59:
-    interface: botedge59
-    subcomponent: sheathsplit0
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-    interface: botedge6
-    subcomponent: sheathsplit0
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-    interface: botedge60
-    subcomponent: sheathsplit0
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-    interface: botedge61
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge62:
-    interface: botedge62
-    subcomponent: sheathsplit0
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-    interface: botedge63
-    subcomponent: sheathsplit0
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-    interface: botedge64
-    subcomponent: sheathsplit0
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-    interface: botedge65
-    subcomponent: sheathsplit0
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-    interface: botedge66
-    subcomponent: sheathsplit0
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-    interface: botedge67
-    subcomponent: sheathsplit0
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-    interface: botedge68
-    subcomponent: sheathsplit0
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-    interface: botedge69
-    subcomponent: sheathsplit0
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-    interface: botedge7
-    subcomponent: sheathsplit0
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-    interface: botedge70
-    subcomponent: sheathsplit0
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-    interface: botedge71
-    subcomponent: sheathsplit0
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-    interface: botedge72
-    subcomponent: sheathsplit0
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-    interface: botedge73
-    subcomponent: sheathsplit0
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-    interface: botedge74
-    subcomponent: sheathsplit0
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-    interface: botedge75
-    subcomponent: sheathsplit0
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-    interface: botedge76
-    subcomponent: sheathsplit0
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-    interface: botedge77
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge78:
-    interface: botedge78
-    subcomponent: sheathsplit0
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-    interface: botedge79
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge8:
-    interface: botedge8
-    subcomponent: sheathsplit0
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-    interface: botedge80
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge81:
-    interface: botedge81
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge82:
-    interface: botedge82
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge83:
-    interface: botedge83
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge84:
-    interface: botedge84
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge85:
-    interface: botedge85
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge86:
-    interface: botedge86
-    subcomponent: sheathsplit0
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-    interface: botedge87
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge88:
-    interface: botedge88
-    subcomponent: sheathsplit0
-  sheathsplit0.botedge89:
-    interface: botedge89
-    subcomponent: sheathsplit0
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-    interface: botedge9
-    subcomponent: sheathsplit0
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-    interface: botedge90
-    subcomponent: sheathsplit0
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-    interface: botedge91
-    subcomponent: sheathsplit0
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-    interface: botedge92
-    subcomponent: sheathsplit0
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-    interface: botedge93
-    subcomponent: sheathsplit0
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-    interface: botedge94
-    subcomponent: sheathsplit0
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-    interface: botedge95
-    subcomponent: sheathsplit0
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-    interface: botedge96
-    subcomponent: sheathsplit0
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-    interface: botedge97
-    subcomponent: sheathsplit0
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-    interface: botedge98
-    subcomponent: sheathsplit0
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-    interface: botedge99
-    subcomponent: sheathsplit0
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-    interface: topedge0
-    subcomponent: sheathsplit0
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-    interface: topedge1
-    subcomponent: sheathsplit0
-  sheathsplit0.topedge10:
-    interface: topedge10
-    subcomponent: sheathsplit0
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-    interface: topedge11
-    subcomponent: sheathsplit0
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-    interface: topedge12
-    subcomponent: sheathsplit0
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-    interface: topedge13
-    subcomponent: sheathsplit0
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-    interface: topedge14
-    subcomponent: sheathsplit0
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-    interface: topedge15
-    subcomponent: sheathsplit0
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-    interface: topedge16
-    subcomponent: sheathsplit0
-  sheathsplit0.topedge17:
-    interface: topedge17
-    subcomponent: sheathsplit0
-  sheathsplit0.topedge18:
-    interface: topedge18
-    subcomponent: sheathsplit0
-  sheathsplit0.topedge19:
-    interface: topedge19
-    subcomponent: sheathsplit0
-  sheathsplit0.topedge2:
-    interface: topedge2
-    subcomponent: sheathsplit0
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-    interface: topedge20
-    subcomponent: sheathsplit0
-  sheathsplit0.topedge21:
-    interface: topedge21
-    subcomponent: sheathsplit0
-  sheathsplit0.topedge22:
-    interface: topedge22
-    subcomponent: sheathsplit0
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-    interface: topedge23
-    subcomponent: sheathsplit0
-  sheathsplit0.topedge24:
-    interface: topedge24
-    subcomponent: sheathsplit0
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-    interface: topedge25
-    subcomponent: sheathsplit0
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-    interface: topedge26
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-    interface: topedge27
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-    interface: topedge28
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-    interface: topedge29
-    subcomponent: sheathsplit0
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-    interface: topedge3
-    subcomponent: sheathsplit0
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-    interface: topedge30
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-    interface: topedge31
-    subcomponent: sheathsplit0
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-    interface: topedge32
-    subcomponent: sheathsplit0
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-    interface: topedge33
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-    interface: topedge34
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-    interface: topedge35
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-    interface: topedge36
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-    interface: topedge54
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-    interface: topedge61
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-    spec:
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-      minValue: null
-      units: degrees
-      valueType: (float, int)
-  brains:
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-    spec:
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-    spec:
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-    spec:
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-      minValue: null
-      units: degrees
-      valueType: (float, int)
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-    spec:
-      minValue: 36
-      units: mm
-      valueType: (float, int)
-  length:
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-    spec:
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-      units: mm
-      valueType: (float, int)
-  width:
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-    spec:
-      minValue: 60
-      units: mm
-      valueType: (float, int)
-source: ..\builders\BrainsTwoWheelsBuilder.py
-subcomponents:
-  accessoryHole0:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: x * 0.03
-        parameter: height
-      dy:
-        function: x * 0.5
-        parameter: height
-  accessoryHole1:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: x * 0.03
-        parameter: height
-      dy:
-        function: x * 0.5
-        parameter: height
-  accessoryHole2:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: x * 0.03
-        parameter: height
-      dy:
-        function: x * 0.5
-        parameter: height
-  accessoryHole3:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: x * 0.03
-        parameter: height
-      dy:
-        function: x * 0.5
-        parameter: height
-  between0:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-      length:
-        function: x[0]- 2 * getDim(x[1], 'motorheight')
-        parameter:
-        - width
-        - driveservo
-      width:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-  bleft:
-    classname: Wheel
-    kwargs:
-      invert: true
-    parameters:
-      angle:
-        parameter: bleft.angle
-      center: false
-      length:
-        function: ((x[0] - getDim(x[1], "width")))
-        parameter: &id005
-        - length
-        - brains
-      radius:
-        function: (getDim(x, "height") / 1.35)
-        parameter: brains
-      servo:
-        parameter: driveservo
-  fright:
-    classname: Wheel
-    kwargs:
-      invert: true
-    parameters:
-      angle:
-        parameter: fright.angle
-      center: false
-      flip: true
-      length:
-        function: ((x[0] - getDim(x[1], "width")))
-        parameter: *id005
-      radius:
-        function: (getDim(x, "height") / 1.35)
-        parameter: brains
-      servo:
-        parameter: driveservo
-  holder:
-    classname: SubESP32Stack
-    kwargs: {}
-    parameters:
-      length:
-        parameter: width
-  sheath0:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: height
-      length:
-        parameter: length
-      width:
-        parameter: width
-  sheathsplit0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[1] - getDim(x[0],'motorheight'),               getDim(x[0],'motorheight'))
-        parameter:
-        - driveservo
-        - width
-      toplength:
-        function: (x,)
-        parameter: width
-  sidehole0:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: x * 0.39
-        parameter: height
-      dy:
-        function: x * 0.7
-        parameter: height
-  sidehole1:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: x * 0.39
-        parameter: height
-      dy:
-        function: x * 0.5
-        parameter: height
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[1], "motorwidth"), getDim(x[0], "height") - getDim(x[1],
-          "motorwidth"))
-        parameter: &id006
-        - brains
-        - driveservo
-      toplength:
-        function: (getDim(x, "height"),)
-        parameter: brains
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[0], "height") - getDim(x[1], "motorwidth"), getDim(x[1],
-          "motorwidth"))
-        parameter: *id006
-      toplength:
-        function: (getDim(x, "height"),)
-        parameter: brains
diff --git a/rocolib/library/PaddleWheel.yaml b/rocolib/library/PaddleWheel.yaml
deleted file mode 100644
index 86c67cb338f5d36c9c8810ea3563df97ce6646b9..0000000000000000000000000000000000000000
--- a/rocolib/library/PaddleWheel.yaml
+++ /dev/null
@@ -1,535 +0,0 @@
-connections:
-  connection0:
-  - - flapsplitR0
-    - topedge0
-  - - right
-    - flap0R
-  - {}
-  connection1:
-  - - flapsplitL0
-    - topedge0
-  - - left
-    - flap0L
-  - {}
-  connection10:
-  - - flapsplitL3
-    - topedge0
-  - - left
-    - flap3L
-  - {}
-  connection11:
-  - - flapsplitL3
-    - botedge2
-  - - flapsplitR3
-    - botedge2
-  - angle: 0
-    tabWidth: 5
-  connection12:
-  - - flapsplitR4
-    - topedge0
-  - - right
-    - flap4R
-  - {}
-  connection13:
-  - - flapsplitL4
-    - topedge0
-  - - left
-    - flap4L
-  - {}
-  connection14:
-  - - flapsplitL4
-    - botedge2
-  - - flapsplitR4
-    - botedge2
-  - angle: 0
-    tabWidth: 5
-  connection15:
-  - - flapsplitR5
-    - topedge0
-  - - right
-    - flap5R
-  - {}
-  connection16:
-  - - flapsplitL5
-    - topedge0
-  - - left
-    - flap5L
-  - {}
-  connection17:
-  - - flapsplitL5
-    - botedge2
-  - - flapsplitR5
-    - botedge2
-  - angle: 0
-    tabWidth: 5
-  connection18:
-  - - flapsplitR6
-    - topedge0
-  - - right
-    - flap6R
-  - {}
-  connection19:
-  - - flapsplitL6
-    - topedge0
-  - - left
-    - flap6L
-  - {}
-  connection2:
-  - - flapsplitL0
-    - botedge2
-  - - flapsplitR0
-    - botedge2
-  - angle: 0
-    tabWidth: 5
-  connection20:
-  - - flapsplitL6
-    - botedge2
-  - - flapsplitR6
-    - botedge2
-  - angle: 0
-    tabWidth: 5
-  connection21:
-  - - flapsplitR7
-    - topedge0
-  - - right
-    - flap7R
-  - {}
-  connection22:
-  - - flapsplitL7
-    - topedge0
-  - - left
-    - flap7L
-  - {}
-  connection23:
-  - - flapsplitL7
-    - botedge2
-  - - flapsplitR7
-    - botedge2
-  - angle: 0
-    tabWidth: 5
-  connection24:
-  - - flapsplitRsup0
-    - botedge0
-  - - flapsplitR0
-    - botedge1
-  - {}
-  connection25:
-  - - flapsplitRsup0
-    - topedge0
-  - - flapsplitL0
-    - botedge1
-  - angle: 0
-    tabWidth: 5
-  connection26:
-  - - flapsplitRsup1
-    - botedge0
-  - - flapsplitR1
-    - botedge1
-  - {}
-  connection27:
-  - - flapsplitRsup1
-    - topedge0
-  - - flapsplitL1
-    - botedge1
-  - angle: 0
-    tabWidth: 5
-  connection28:
-  - - flapsplitRsup2
-    - botedge0
-  - - flapsplitR2
-    - botedge1
-  - {}
-  connection29:
-  - - flapsplitRsup2
-    - topedge0
-  - - flapsplitL2
-    - botedge1
-  - angle: 0
-    tabWidth: 5
-  connection3:
-  - - flapsplitR1
-    - topedge0
-  - - right
-    - flap1R
-  - {}
-  connection30:
-  - - flapsplitRsup3
-    - botedge0
-  - - flapsplitR3
-    - botedge1
-  - {}
-  connection31:
-  - - flapsplitRsup3
-    - topedge0
-  - - flapsplitL3
-    - botedge1
-  - angle: 0
-    tabWidth: 5
-  connection32:
-  - - flapsplitRsup4
-    - botedge0
-  - - flapsplitR4
-    - botedge1
-  - {}
-  connection33:
-  - - flapsplitRsup4
-    - topedge0
-  - - flapsplitL4
-    - botedge1
-  - angle: 0
-    tabWidth: 5
-  connection34:
-  - - flapsplitRsup5
-    - botedge0
-  - - flapsplitR5
-    - botedge1
-  - {}
-  connection35:
-  - - flapsplitRsup5
-    - topedge0
-  - - flapsplitL5
-    - botedge1
-  - angle: 0
-    tabWidth: 5
-  connection36:
-  - - flapsplitRsup6
-    - botedge0
-  - - flapsplitR6
-    - botedge1
-  - {}
-  connection37:
-  - - flapsplitRsup6
-    - topedge0
-  - - flapsplitL6
-    - botedge1
-  - angle: 0
-    tabWidth: 5
-  connection38:
-  - - flapsplitRsup7
-    - botedge0
-  - - flapsplitR7
-    - botedge1
-  - {}
-  connection39:
-  - - flapsplitRsup7
-    - topedge0
-  - - flapsplitL7
-    - botedge1
-  - angle: 0
-    tabWidth: 5
-  connection4:
-  - - flapsplitL1
-    - topedge0
-  - - left
-    - flap1L
-  - {}
-  connection5:
-  - - flapsplitL1
-    - botedge2
-  - - flapsplitR1
-    - botedge2
-  - angle: 0
-    tabWidth: 5
-  connection6:
-  - - flapsplitR2
-    - topedge0
-  - - right
-    - flap2R
-  - {}
-  connection7:
-  - - flapsplitL2
-    - topedge0
-  - - left
-    - flap2L
-  - {}
-  connection8:
-  - - flapsplitL2
-    - botedge2
-  - - flapsplitR2
-    - botedge2
-  - angle: 0
-    tabWidth: 5
-  connection9:
-  - - flapsplitR3
-    - topedge0
-  - - right
-    - flap3R
-  - {}
-interfaces: {}
-parameters:
-  PanelLength:
-    defaultValue: 45
-    spec:
-      paramtype: length
-  Radius:
-    defaultValue: 60
-    spec:
-      paramtype: length
-  Spokes:
-    defaultValue: 8
-    spec:
-      paramtype: count
-source: ../builders/boat/PaddleWheelBuilder.py
-subcomponents:
-  flapsplitL0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: &id001
-        - Radius
-        - PanelLength
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitL1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitL2:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitL3:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitL4:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitL5:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitL6:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitL7:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitR0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitR1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitR2:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitR3:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitR4:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitR5:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitR6:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitR7:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24, 3.*x[0]/24, 3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/8]'
-        parameter: *id001
-  flapsplitRsup0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-  flapsplitRsup1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-  flapsplitRsup2:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-  flapsplitRsup3:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-  flapsplitRsup4:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-  flapsplitRsup5:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-  flapsplitRsup6:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-  flapsplitRsup7:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-      toplength:
-        function: '[3.*x[0]/24]'
-        parameter: *id001
-  left:
-    classname: PaddlewheelL
-    kwargs: {}
-    parameters:
-      PanelLength:
-        parameter: PanelLength
-      Radius:
-        parameter: Radius
-      Spokes:
-        parameter: Spokes
-  right:
-    classname: PaddlewheelR
-    kwargs: {}
-    parameters:
-      PanelLength:
-        parameter: PanelLength
-      Radius:
-        parameter: Radius
-      Spokes:
-        parameter: Spokes
diff --git a/rocolib/library/PaddleboatWithCamera.yaml b/rocolib/library/PaddleboatWithCamera.yaml
deleted file mode 100644
index 929a8cfa6a4b6a2051cc743cc3dc10d5fe43c81a..0000000000000000000000000000000000000000
--- a/rocolib/library/PaddleboatWithCamera.yaml
+++ /dev/null
@@ -1,299 +0,0 @@
-connections:
-  connection0:
-  - - boat
-    - staredge
-  - - split0
-    - topedge0
-  - {}
-  connection1:
-  - - boat
-    - portedge
-  - - split1
-    - topedge0
-  - {}
-  connection2:
-  - - mount0
-    - botedge3
-  - - split0
-    - botedge2
-  - angle: -180
-  connection3:
-  - - mount1
-    - topedge3
-  - - split1
-    - botedge1
-  - angle: -180
-  connection4:
-  - - split0
-    - botedge1
-  - - flopSupport
-    - r
-  - angle: 90
-  connection5:
-  - - split1
-    - botedge2
-  - - flopSupport
-    - l
-  - angle: 90
-    tabWidth: 6
-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.bow._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.bow._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.bow._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.bow._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.bow._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.bow._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.bow._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.bow.point:
-    defaultValue: 50
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.depth:
-    defaultValue: 80
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.length:
-    defaultValue: 130
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  boat.stern._dx:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.stern._dy:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.stern._dz:
-    defaultValue: 0
-    spec:
-      minValue: null
-      units: mm
-      valueType: (float, int)
-  boat.stern._q_a:
-    defaultValue: 1
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.stern._q_i:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.stern._q_j:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.stern._q_k:
-    defaultValue: 0
-    spec:
-      maxValue: 1
-      minValue: -1
-      valueType: (int, float)
-  boat.width:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  driveservo:
-    defaultValue: fs90r
-    spec:
-      valueType: str
-source: ../builders/PaddleboatWithCameraBuilder.py
-subcomponents:
-  boat:
-    classname: BoatBaseFlat
-    kwargs: {}
-    parameters:
-      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
-      bow._dx:
-        parameter: boat.bow._dx
-      bow._dy:
-        parameter: boat.bow._dy
-      bow._dz:
-        parameter: boat.bow._dz
-      bow._q_a:
-        parameter: boat.bow._q_a
-      bow._q_i:
-        parameter: boat.bow._q_i
-      bow._q_j:
-        parameter: boat.bow._q_j
-      bow._q_k:
-        parameter: boat.bow._q_k
-      bow.point:
-        parameter: boat.bow.point
-      depth:
-        parameter: boat.depth
-      length:
-        parameter: boat.length
-      stern._dx:
-        parameter: boat.stern._dx
-      stern._dy:
-        parameter: boat.stern._dy
-      stern._dz:
-        parameter: boat.stern._dz
-      stern._q_a:
-        parameter: boat.stern._q_a
-      stern._q_i:
-        parameter: boat.stern._q_i
-      stern._q_j:
-        parameter: boat.stern._q_j
-      stern._q_k:
-        parameter: boat.stern._q_k
-      width:
-        parameter: boat.width
-  flopSupport:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: boat.width
-      w:
-        function: '15'
-        parameter: boat.width
-  mount0:
-    classname: SideServoMount
-    kwargs: {}
-    parameters:
-      servo:
-        parameter: driveservo
-  mount1:
-    classname: SideServoMount
-    kwargs: {}
-    parameters:
-      servo:
-        parameter: driveservo
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[0] - 74 - 15 - getDim(x[1], "motorlength"), 15, getDim(x[1],
-          "motorlength"), 74)
-        parameter: &id001
-        - boat.length
-        - driveservo
-      toplength:
-        function: (x,)
-        parameter: boat.length
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (74, getDim(x[1], "motorlength"), 15, x[0] - 74 - 15 - getDim(x[1],
-          "motorlength"))
-        parameter: *id001
-      toplength:
-        function: (x,)
-        parameter: boat.length
-  stack:
-    classname: SubESP32Stack
-    kwargs: {}
-    parameters: {}
diff --git a/rocolib/library/PaddleboatWtihCamera.yaml b/rocolib/library/PaddleboatWtihCamera.yaml
deleted file mode 100644
index b21b4aa93f4d5f9c2cedb8b0676e7dd75be0593f..0000000000000000000000000000000000000000
--- a/rocolib/library/PaddleboatWtihCamera.yaml
+++ /dev/null
@@ -1,98 +0,0 @@
-connections:
-  connection0:
-  - - boat
-    - staredge
-  - - split0
-    - topedge0
-  - {}
-  connection1:
-  - - boat
-    - portedge
-  - - split1
-    - topedge0
-  - {}
-interfaces: {}
-parameters:
-  driveservo:
-    defaultValue: fs90r
-    spec:
-      valueType: str
-source: ../builders/PaddleboatWithCameraBuilder.py
-subcomponents:
-  boat:
-    classname: BoatBaseFlat
-    kwargs: {}
-    parameters: {}
-  mount0:
-    classname: MountedServo
-    kwargs: {}
-    parameters:
-      center: false
-      length:
-        parameter: width
-      servo:
-        parameter: driveservo
-  mount1:
-    classname: MountedServo
-    kwargs: {}
-    parameters:
-      center: false
-      length:
-        parameter: width
-      servo:
-        parameter: driveservo
-  mount2:
-    classname: MountedServo
-    kwargs: {}
-    parameters:
-      center: false
-      length:
-        parameter: width
-      servo:
-        parameter: driveservo
-  rect0:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: depth
-      w:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-  rect1:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: depth
-      w:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1],
-          "motorwidth"),getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), x[0]-
-          9 * getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),getDim(x[1],
-          "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))
-        parameter: &id001
-        - length
-        - driveservo
-      toplength:
-        function: (x,)
-        parameter: length
-  split1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1],
-          "motorwidth"),getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"), x[0]-
-          9 * getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"),getDim(x[1],
-          "motorwidth"), getDim(x[1], "motorwidth"), getDim(x[1], "motorwidth"))
-        parameter: *id001
-      toplength:
-        function: (x,)
-        parameter: length
diff --git a/rocolib/library/PaddlewheelL.py b/rocolib/library/PaddlewheelL.py
deleted file mode 100644
index f8198d2b7facd0f5b3f3c7e5490b74ab29ed8a87..0000000000000000000000000000000000000000
--- a/rocolib/library/PaddlewheelL.py
+++ /dev/null
@@ -1,55 +0,0 @@
-from rocolib.api.components import Component
-from rocolib.api.composables.graph.Face import Face, Rectangle, RegularNGon as Shape
-from rocolib.api.composables import GraphComposable as Graph
-from rocolib.api.ports.EdgePort import EdgePort
-import rocolib.utils.numsym as math
-
-
-class PaddlewheelL(Component):
-
-    _test_params = {
-        'Radius': 60,
-        'Spokes': 8,
-        'PanelLength': 45,
-    }
-
-    def define(self):
-        self.addParameter("Radius", 60, paramtype="length")
-        self.addParameter("Spokes", 8, paramtype="count")
-        self.addParameter("PanelLength", 45, paramtype="length")
-        for i in range(12):
-            self.addInterface("flap%dL"%i, EdgePort(self, None, "PanelLength"))
-
-    def assemble(self):
-        R = self.getParameter("Radius")
-        S = self.getParameter("Spokes")
-        P = self.getParameter("PanelLength")
-
-        # XXX TODO: add min and max values to Parameter objects
-        p = max(P, R/3)
-        p = min(p, R-10)
-        s = max(S, 4)
-        s = min(s, 12)
-        r = R-p
-        an = 180./s
-        cl = 2*r*math.sin(math.deg2rad(an))
-        x = math.sin(math.deg2rad(an))*p
-        y = x*math.cos(math.deg2rad(an))
-        b = x*math.sin(math.deg2rad(an))
-        a = y*math.tan(math.deg2rad(90-2*an))
-
-        graph = Graph()
-        graph.addFace(Shape("", s, cl), "center")
-
-        for i in range(0, s):
-             h = Face("", ((p,0), (cl*math.sin(math.deg2rad(an))+p, cl*math.cos(math.deg2rad(an))), (cl*math.sin(math.deg2rad(an)), cl*math.cos(math.deg2rad(an))), (0,0)))
-             graph.attachEdge("center.e%d" % i, h, "e1", "leg%d" % i, angle=0)
-             g = Face("", ((0,0), (p, 0), (p-b, y), (a,y)))
-             graph.attachEdge("leg%d.e0" % i, g, "e1", "flap%dL" % i, angle=-90)
-             self.setInterface("flap%dL"%i, EdgePort(self, "flap%dL.e3"%i, "PanelLength"))
-
-        self.composables["graph"] = graph
-
-if __name__ == "__main__":
-    h = PaddlewheelL()
-    h.test()
\ No newline at end of file
diff --git a/rocolib/library/PaddlewheelR.py b/rocolib/library/PaddlewheelR.py
deleted file mode 100644
index 4bd9835cdbc3a9cd924c7735012a5fffdb118751..0000000000000000000000000000000000000000
--- a/rocolib/library/PaddlewheelR.py
+++ /dev/null
@@ -1,55 +0,0 @@
-from rocolib.api.components import Component
-from rocolib.api.composables.graph.Face import Face, Rectangle, RegularNGon as Shape
-from rocolib.api.composables import GraphComposable as Graph
-from rocolib.api.ports.EdgePort import EdgePort
-import rocolib.utils.numsym as math
-
-class PaddlewheelR(Component):
-
-    _test_params = {
-        'Radius': 60,
-        'Spokes': 8,
-        'PanelLength': 45,
-    }
-
-    def define(self):
-        self.addParameter("Radius", 60, paramtype="length")
-        self.addParameter("Spokes", 8, paramtype="count")
-        self.addParameter("PanelLength", 45, paramtype="length")
-        for i in range(12):
-            self.addInterface("flap%dR"%i, EdgePort(self, None, "PanelLength"))
-
-    def assemble(self):
-        R = self.getParameter("Radius")
-        S = self.getParameter("Spokes")
-        P = self.getParameter("PanelLength")
-
-        # XXX TODO: add min and max values to Parameter objects
-        p = max(P, R/3)
-        p = min(p, R-10)
-        s = max(S, 4)
-        s = min(s, 12)
-        r = R-p
-        an = 180./s
-        cl = 2*r*math.sin(math.deg2rad(an))
-        x = math.sin(math.deg2rad(an))*p
-        y = x*math.cos(math.deg2rad(an))
-        b = x*math.sin(math.deg2rad(an))
-        a = y*math.tan(math.deg2rad(90-2*an))
-
-        graph = Graph()
-        graph.addFace(Shape("", s, cl), "center")
-
-        for i in range(0, s):
-             h = Face("", ((p,0), (cl*math.sin(math.deg2rad(an))+p, cl*math.cos(math.deg2rad(an))), (cl*math.sin(math.deg2rad(an)), cl*math.cos(math.deg2rad(an))), (0,0)))
-             graph.attachEdge("center.e%d" % i, h, "e1", "leg%d" % i, angle=0)
-             g = Face("", ((0,0), (p, 0), (p-b, y), (a,y)))
-             graph.attachEdge("leg%d.e0" % i, g, "e1", "flap%dR" % i, angle=90)
-             self.setInterface("flap%dR"%i, EdgePort(self, "flap%dR.e3"%i, "PanelLength"))
-
-
-        self.composables["graph"] = graph
-
-if __name__ == "__main__":
-    h = PaddlewheelR()
-    h.test()
\ No newline at end of file
diff --git a/rocolib/library/Paperbot.yaml b/rocolib/library/Paperbot.yaml
index 869fd0f99e59929f0ea25f270664f878295447b0..a01cac005a5dcf83d4d98bbeda8c456a491119bc 100644
--- a/rocolib/library/Paperbot.yaml
+++ b/rocolib/library/Paperbot.yaml
@@ -19,6 +19,12 @@ parameters:
       minValue: 77
       units: mm
       valueType: (float, int)
+  tire_thickness:
+    defaultValue: 0
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
   width:
     defaultValue: 60
     spec:
@@ -37,5 +43,7 @@ subcomponents:
         parameter: height
       length:
         parameter: length
+      tire_thickness:
+        parameter: tire_thickness
       width:
         parameter: width
diff --git a/rocolib/library/RegularNGon.py b/rocolib/library/RegularNGon.py
index 6970987ca230c29a02af07eb7dad208e81ea57d8..e1897fe05050e5a6692e07df6c2f73e0fb3fd740 100644
--- a/rocolib/library/RegularNGon.py
+++ b/rocolib/library/RegularNGon.py
@@ -17,7 +17,7 @@ class RegularNGon(FoldedComponent):
     self.addFace(Shape("r", n, l))
 
     for i in range(n):
-        try:
+        try: 
             self.setEdgeInterface("e%d" % i, "e%d" % i, "radius")
         except KeyError:
             self.addEdgeInterface("e%d"%i, "e%d" % i, "radius")
diff --git a/rocolib/library/Scooper.yaml b/rocolib/library/Scooper.yaml
deleted file mode 100644
index 00be0fb7b8659d77ea9e940ac309974f7b992a17..0000000000000000000000000000000000000000
--- a/rocolib/library/Scooper.yaml
+++ /dev/null
@@ -1,76 +0,0 @@
-connections:
-  connection0:
-  - - r0
-    - b
-  - - side0
-    - topedge
-  - angle: -90
-  connection1:
-  - - side0
-    - redge
-  - - r1
-    - t
-  - angle: -90
-  connection2:
-  - - side0
-    - ledge
-  - - r2
-    - t
-  - angle: -90
-interfaces:
-  botedge:
-    interface: botedge
-    subcomponent: side0
-  sideedge:
-    interface: t
-    subcomponent: r0
-parameters:
-  length:
-    defaultValue: 73
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 147
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ..\builders\ScooperBuilder.py
-subcomponents:
-  r0:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: width
-      w:
-        parameter: length
-  r1:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: float(15 * np.sqrt(2.))
-        parameter: width
-      w:
-        parameter: length
-  r2:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        function: float(15 * np.sqrt(2.))
-        parameter: width
-      w:
-        parameter: length
-  side0:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      depth:
-        function: '15'
-        parameter: width
-      width:
-        parameter: width
diff --git a/rocolib/library/ServoHolder1.py b/rocolib/library/ServoHolder1.py
deleted file mode 100644
index c79bc9bd4d5ea2a767990e335e41822d8b36977d..0000000000000000000000000000000000000000
--- a/rocolib/library/ServoHolder1.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from rocolib.api.components import Component
-from rocolib.api.composables.graph.Face import Face, Rectangle, RightTriangle
-from rocolib.api.composables import GraphComposable as Graph
-from rocolib.api.ports.EdgePort import EdgePort
-
-class ServoHolder1(Component):
-    _test_params = {
-        'Length': 62.5
-    }
-
-    def define(self):
-        self.addParameter("Length", 62.5)
-        self.addInterface("SH1port", EdgePort(self, None, "Length"))
-        self.addInterface("SH1star", EdgePort(self, None, "Length"))
-
-    def assemble(self):
-        l = float(self.getParameter("Length"))
-
-        graph = Graph()
-        base = Rectangle("", l - 38, 40)
-        graph.addFace(base, "base")
-        sideR = Rectangle("", 12, 40)
-        graph.attachEdge("base.e1", sideR, "e3", prefix="sideR", angle=90)
-        bottomR = Rectangle("", 19, 40)
-        graph.attachEdge("sideR.e1", bottomR, "e3", prefix="bottomR", angle=-90)
-        sideL = Rectangle("", 12, 40)
-        graph.attachEdge("base.e3", sideL, "e1", prefix="sideL", angle=90)
-        bottomL = Rectangle("", 19, 40)
-        graph.attachEdge("sideL.e3", bottomL, "e1", prefix="bottomL", angle=-90)
-
-        self.composables["graph"] = graph
-        self.setInterface("SH1port", EdgePort(self, "bottomL.e3", "Length"))
-        self.setInterface("SH1star", EdgePort(self, "bottomR.e1", "Length"))
-
-if __name__ == "__main__":
-    h = ServoHolder1()
-    h.test()
\ No newline at end of file
diff --git a/rocolib/library/ServoHolder2.py b/rocolib/library/ServoHolder2.py
deleted file mode 100644
index 608b6b0f547a5fdd4bb755b7fb99c00aa8d8ec64..0000000000000000000000000000000000000000
--- a/rocolib/library/ServoHolder2.py
+++ /dev/null
@@ -1,29 +0,0 @@
-from rocolib.api.components import Component
-from rocolib.api.composables.graph.Face import Face, Rectangle, RightTriangle
-from rocolib.api.composables import GraphComposable as Graph
-from rocolib.api.ports.EdgePort import EdgePort
-
-class ServoHolder2(Component):
-    _test_params = {
-        'Length': 62.5
-    }
-
-    def define(self):
-        self.addParameter("Length", 62.5)
-        self.addInterface("SH2port", EdgePort(self, None, "Length"))
-        self.addInterface("SH2star", EdgePort(self, None, "Length"))
-
-    def assemble(self):
-        l = float(self.getParameter("Length"))
-
-        graph = Graph()
-        base = Rectangle("", l, 40)
-        graph.addFace(base, "base")
-
-        self.composables["graph"] = graph
-        self.setInterface("SH2port", EdgePort(self, "base.e3", "Length"))
-        self.setInterface("SH2star", EdgePort(self, "base.e1", "Length"))
-
-if __name__ == "__main__":
-    h = ServoHolder2()
-    h.test()
\ No newline at end of file
diff --git a/rocolib/library/ServoStackMount.yaml b/rocolib/library/ServoStackMount.yaml
deleted file mode 100644
index 5ba87b09920d67271bf495be49baa86c874e9eff..0000000000000000000000000000000000000000
--- a/rocolib/library/ServoStackMount.yaml
+++ /dev/null
@@ -1,1320 +0,0 @@
-connections:
-  connection0:
-  - - doubleServoMount
-    - lServoInterface
-  - - portsplit
-    - botedge2
-  - {}
-  connection1:
-  - - espStack
-    - leftArmInterface
-  - - portsplit
-    - botedge0
-  - {}
-  connection2:
-  - - doubleServoMount
-    - rServoInterface
-  - - starsplit
-    - botedge1
-  - {}
-  connection3:
-  - - starsplit
-    - botedge3
-  - - espStack
-    - rightArmInterface
-  - 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
-  lservosplit:
-    interface: topedge2
-    subcomponent: portsplit
-  lstacksplit:
-    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
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-    subcomponent: starsplit
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-    subcomponent: starsplit
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-    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/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[2], 10, x[0], x[0]+x[1]*2+10)
-        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]+x[1]*2+10, x[0], 10, x[2])
-        parameter: *id001
diff --git a/rocolib/library/ServoStrap.py b/rocolib/library/ServoStrap.py
deleted file mode 100644
index d836369413b27a008f354ab54018f38444b23b54..0000000000000000000000000000000000000000
--- a/rocolib/library/ServoStrap.py
+++ /dev/null
@@ -1,32 +0,0 @@
-from rocolib.api.components import Component
-from rocolib.api.composables.graph.Face import Face, Rectangle, RegularNGon as Shape
-from rocolib.api.composables import GraphComposable as Graph
-from rocolib.api.ports.EdgePort import EdgePort
-import rocolib.utils.numsym as math
-
-class ServoStrap(Component):
-    _test_params = {
-        'length': 50
-    }
-
-    def define(self):
-        self.addParameter("length", 50)
-        self.addInterface("beltEdge", EdgePort(self, None, "length"))
-        self.addInterface("boatEdge", EdgePort(self, None, "length"))
-        self.addInterface("tabEdge", EdgePort(self, None, "length"))
-
-    def assemble(self):
-        L = float(self.getParameter("length"))
-        l = 12 + L
-        graph = Graph()
-        strap = Rectangle("", l, 9)
-        graph.addFace(strap, "strap")
-
-        self.composables["graph"] = graph
-        self.setInterface("beltEdge", EdgePort(self, "strap.e3", "length"))
-        self.setInterface("boatEdge", EdgePort(self, "strap.e1", "length"))
-        self.setInterface("tabEdge", EdgePort(self, "strap.e0", "length"))
-
-if __name__ == "__main__":
-    h = ServoStrap()
-    h.test()
\ No newline at end of file
diff --git a/rocolib/library/SideServoMount.yaml b/rocolib/library/SideServoMount.yaml
deleted file mode 100644
index 8480ffdf3a7e97ecdea6c17da5620e46a04f8249..0000000000000000000000000000000000000000
--- a/rocolib/library/SideServoMount.yaml
+++ /dev/null
@@ -1,140 +0,0 @@
-connections:
-  connection0:
-  - - beam
-    - face0
-  - - servoArm0
-    - decoration
-  - mode: hole
-    offset:
-      function: (7, 0)
-      parameter: dxServoArm
-  connection1:
-  - &id001
-    - beam
-    - face2
-  - - servoArm1
-    - decoration
-  - mode: hole
-    offset:
-      function: (-7, 0)
-      parameter: dxServoArm
-  connection2:
-  - - beam
-    - face1
-  - - mount
-    - decoration
-  - mode: hole
-  connection3:
-  - *id001
-  - - wires
-    - decoration
-  - mode: hole
-    offset:
-      function: (5, 0)
-      parameter: wiresDx
-interfaces:
-  leftInterface:
-    interface: topedge3
-    subcomponent: beam
-  rightInterface:
-    interface: botedge3
-    subcomponent: beam
-parameters:
-  depth:
-    defaultValue: 24
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  dxServo:
-    defaultValue: 23
-    spec:
-      parameterType: length
-  dxServoArm:
-    defaultValue: 4
-    spec:
-      parameterType: length
-  dyServo:
-    defaultValue: 12
-    spec:
-      parameterType: length
-  dyServoArm:
-    defaultValue: 12
-    spec:
-      parameterType: length
-  length:
-    defaultValue: 34
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  offset:
-    defaultValue: null
-    spec:
-      optional: true
-      overrides:
-      - flip
-      - center
-      - shift
-  servo:
-    defaultValue: fs90r
-    spec:
-      valueType: str
-  width:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  wiresDx:
-    defaultValue: 4
-    spec:
-      parameterType: length
-  wiresDy:
-    defaultValue: 9
-    spec:
-      parameterType: length
-source: ../builders/SideServoMountBuilder.py
-subcomponents:
-  beam:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: depth
-      length:
-        parameter: length
-      width:
-        parameter: width
-  mount:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        parameter: dxServo
-      dy:
-        parameter: dyServo
-  servoArm0:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        parameter: dxServoArm
-      dy:
-        parameter: dyServoArm
-  servoArm1:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        parameter: dxServoArm
-      dy:
-        parameter: dyServoArm
-  wires:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        parameter: wiresDx
-      dy:
-        parameter: wiresDy
diff --git a/rocolib/library/StackMount.yaml b/rocolib/library/StackMount.yaml
deleted file mode 100644
index 2a4c92bd37980f305c514504f442e5a0095a4d1e..0000000000000000000000000000000000000000
--- a/rocolib/library/StackMount.yaml
+++ /dev/null
@@ -1,281 +0,0 @@
-connections:
-  connection0:
-  - - botCover
-    - l
-  - - stack
-    - topedge0
-  - angle: 0
-    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:
-  leftArmInterface:
-    interface: t
-    subcomponent: lArm
-  rightArmInterface:
-    interface: t
-    subcomponent: rArm
-parameters:
-  depth:
-    defaultValue: 70
-    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)
-  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)
-  stack.brains:
-    defaultValue: esp32stack
-    spec:
-      valueType: str
-  stack.dy1:
-    defaultValue: 18
-    spec:
-      parameterType: length
-  stack.length:
-    defaultValue: 61
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 70
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ../builders/boat/StackMountBuilder.py
-subcomponents:
-  botCover:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: stack.length
-      w:
-        function: getDim(x, 'width')
-        parameter: stack.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:
-        parameter: stack.length
-      w:
-        function: ((0.5 * x[0]) ** 2 + (x[2] - x[1]) ** 2) ** 0.5
-        parameter: &id002
-        - depth
-        - width
-        - stack.length
-  microUSB:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx: 6
-      dy: 10
-  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:
-        parameter: stack.length
-      w:
-        function: ((0.5 * x[0]) ** 2 + (x[2] - x[1]) ** 2) ** 0.5
-        parameter: *id002
-  servoPins:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx: 11
-      dy: 13
-  stack:
-    classname: SubESP32Stack
-    kwargs: {}
-    parameters:
-      brains:
-        parameter: stack.brains
-      dy1:
-        parameter: stack.dy1
-      length:
-        parameter: stack.length
-  topCover:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: stack.length
-      w:
-        function: getDim(x, 'width')
-        parameter: stack.brains
diff --git a/rocolib/library/SubESP32Stack.yaml b/rocolib/library/SubESP32Stack.yaml
deleted file mode 100644
index 2d2aa95732f7b36f70280f519482b183c1cebdd6..0000000000000000000000000000000000000000
--- a/rocolib/library/SubESP32Stack.yaml
+++ /dev/null
@@ -1,150 +0,0 @@
-connections:
-  connection0:
-  - - holder
-    - face0
-  - &id001
-    - header
-    - decoration
-  - mode: hole
-    offset:
-      function: (0, 0)
-      parameter: &id002
-      - length
-      - brains
-  connection1:
-  - - holder
-    - face2
-  - *id001
-  - mode: hole
-    offset:
-      function: (0, 0)
-      parameter: *id002
-  connection2:
-  - - holder
-    - face3
-  - - servohole0
-    - decoration
-  - mode: hole
-    offset:
-      function: (getDim(x[0], 'height') * -0.06, x[1] * 0.32)
-      parameter: &id003
-      - brains
-      - length
-    rotate: true
-  connection3:
-  - - holder
-    - face1
-  - - powerhole
-    - decoration
-  - mode: hole
-    offset:
-      function: (getDim(x[0], 'height') * 0.15, x[1] * 0.25)
-      parameter: *id003
-    rotate: true
-interfaces:
-  botedge0:
-    interface: botedge0
-    subcomponent: holder
-  botedge1:
-    interface: botedge1
-    subcomponent: holder
-  botedge2:
-    interface: botedge2
-    subcomponent: holder
-  botedge3:
-    interface: botedge3
-    subcomponent: holder
-  face0:
-    interface: face0
-    subcomponent: holder
-  face1:
-    interface: face1
-    subcomponent: holder
-  face2:
-    interface: face2
-    subcomponent: holder
-  face3:
-    interface: face3
-    subcomponent: holder
-  slotedge:
-    interface: slotedge
-    subcomponent: holder
-  tabedge:
-    interface: tabedge
-    subcomponent: holder
-  topedge0:
-    interface: topedge0
-    subcomponent: holder
-  topedge1:
-    interface: topedge1
-    subcomponent: holder
-  topedge2:
-    interface: topedge2
-    subcomponent: holder
-  topedge3:
-    interface: topedge3
-    subcomponent: holder
-parameters:
-  brains:
-    defaultValue: esp32stack
-    spec:
-      valueType: str
-  dy1:
-    defaultValue: 18
-    spec:
-      parameterType: length
-  length:
-    defaultValue: 60
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ..\..\SubESP32StackBuilder.py
-subcomponents:
-  header:
-    classname: Header
-    kwargs: {}
-    parameters:
-      colsep:
-        function: getDim(x, 'colsep')
-        parameter: brains
-      ncols:
-        function: getDim(x, 'ncols')
-        parameter: brains
-      nrows:
-        function: getDim(x, 'nrows')
-        parameter: brains
-      rowsep:
-        function: getDim(x, 'rowsep')
-        parameter: brains
-  holder:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        function: getDim(x, 'height')
-        parameter: brains
-      length:
-        parameter: length
-      width:
-        function: getDim(x, 'width')
-        parameter: brains
-  powerhole:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        parameter: dy1
-      dy:
-        function: getDim(x, 'height')/1.75
-        parameter: brains
-  servohole0:
-    classname: Cutout
-    kwargs: {}
-    parameters:
-      dx:
-        function: x-5
-        parameter: dy1
-      dy:
-        function: getDim(x, 'height')/1.75
-        parameter: brains
diff --git a/rocolib/library/Tank.yaml b/rocolib/library/Tank.yaml
deleted file mode 100644
index e29268be0a6bc3ed3cd4f54dc4d461bb50d5e48c..0000000000000000000000000000000000000000
--- a/rocolib/library/Tank.yaml
+++ /dev/null
@@ -1,119 +0,0 @@
-connections:
-  connection0:
-  - - tanktop
-    - ledge
-  - - support1
-    - topedge
-  - angle: -90
-  connection1:
-  - - tanktop
-    - redge
-  - - support2
-    - topedge
-  - angle: -90
-  connection2:
-  - - side0
-    - sideedge
-  - - support1
-    - botedge
-  - {}
-  connection3:
-  - - side1
-    - sideedge
-  - - support2
-    - botedge
-  - {}
-interfaces: {}
-parameters:
-  bangle:
-    defaultValue: 90
-    spec:
-      maxValue: 360
-      minValue: 0
-      units: degrees
-      valueType: (float, int)
-  tangle:
-    defaultValue: 45
-    spec:
-      maxValue: 360
-      minValue: 0
-      units: degrees
-      valueType: (float, int)
-  topdepth:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  toplength:
-    defaultValue: 55
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  topwidth:
-    defaultValue: 35
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ..\builders\TankBuilder.py
-subcomponents:
-  side0:
-    classname: TankSide
-    kwargs: {}
-    parameters:
-      length:
-        function: x*2
-        parameter: length
-  side1:
-    classname: TankSide
-    kwargs: {}
-    parameters:
-      length:
-        function: x*2
-        parameter: length
-  support1:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      bangle:
-        function: float(np.atan(((x[0] - x[1])/2.)/((2*x[2]-x[3])/2.))* 180 * 0.318309)
-        parameter: &id001
-        - width
-        - topwidth
-        - length
-        - toplength
-      depth:
-        function: (x[0] - x[1])/2.
-        parameter: &id002
-        - width
-        - topwidth
-      width:
-        parameter: toplength
-  support2:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      bangle:
-        function: float(np.atan(((x[0] - x[1])/2.)/((2*x[2]-x[3])/2.))* 180 * 0.318309)
-        parameter: *id001
-      depth:
-        function: (x[0] - x[1])/2.
-        parameter: *id002
-      width:
-        parameter: toplength
-  tanktop:
-    classname: TankTop
-    kwargs: {}
-    parameters:
-      bangle:
-        parameter: bangle
-      tangle:
-        parameter: tangle
-      topdepth:
-        parameter: topdepth
-      toplength:
-        parameter: toplength
-      topwidth:
-        parameter: topwidth
diff --git a/rocolib/library/TankSide.yaml b/rocolib/library/TankSide.yaml
deleted file mode 100644
index 8e4310cb94e1617c66be69dc77d6b419859310fd..0000000000000000000000000000000000000000
--- a/rocolib/library/TankSide.yaml
+++ /dev/null
@@ -1,92 +0,0 @@
-connections:
-  connection0:
-  - - r0
-    - l
-  - - side0
-    - topedge
-  - angle: 90
-  connection1:
-  - - side0
-    - redge
-  - - r1
-    - t
-  - angle: 90
-  connection2:
-  - - side0
-    - ledge
-  - - r2
-    - t
-  - angle: 90
-interfaces:
-  sideedge:
-    interface: r
-    subcomponent: r0
-parameters:
-  facewidth:
-    defaultValue: 17.67766952966369
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 96
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  topwidth:
-    defaultValue: 14
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 12.5
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ..\builders\TankSideBuilder.py
-subcomponents:
-  r0:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: topwidth
-      w:
-        parameter: length
-  r1:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: facewidth
-      w:
-        parameter: topwidth
-  r2:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: facewidth
-      w:
-        parameter: topwidth
-  side0:
-    classname: Trapezoid
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: width
-      width:
-        parameter: length
-  split0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: ((x - 55)/2., x - (x - 55), (x - 55)/2.)
-        parameter: length
-      toplength:
-        function: (x,)
-        parameter: length
diff --git a/rocolib/library/TankTop.yaml b/rocolib/library/TankTop.yaml
deleted file mode 100644
index 25de766b5cf3214d6133459b21ee345d8937ffc7..0000000000000000000000000000000000000000
--- a/rocolib/library/TankTop.yaml
+++ /dev/null
@@ -1,126 +0,0 @@
-connections:
-  connection0:
-  - - top
-    - topedge2
-  - - front
-    - l
-  - angle: 90
-  connection1:
-  - - top
-    - topedge0
-  - - front
-    - r
-  - angle: 90
-    tabWidth: 5
-  connection2:
-  - - top
-    - botedge1
-  - - back
-    - t
-  - angle: 90
-  connection3:
-  - - top
-    - botedge2
-  - - back
-    - r
-  - angle: 90
-    tabWidth: 5
-  connection4:
-  - - top
-    - botedge0
-  - - back
-    - l
-  - angle: 90
-    tabWidth: 5
-  connection5:
-  - - splittop
-    - topedge0
-  - - back
-    - b
-  - {}
-interfaces:
-  backedge:
-    interface: botedge1
-    subcomponent: splittop
-  ledge:
-    interface: ledge
-    subcomponent: top
-  redge:
-    interface: redge
-    subcomponent: top
-parameters:
-  bangle:
-    defaultValue: 90
-    spec:
-      maxValue: 360
-      minValue: 0
-      units: degrees
-      valueType: (float, int)
-  tangle:
-    defaultValue: 45
-    spec:
-      maxValue: 360
-      minValue: 0
-      units: degrees
-      valueType: (float, int)
-  topdepth:
-    defaultValue: 20
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  toplength:
-    defaultValue: 55
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  topwidth:
-    defaultValue: 35
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ..\builders\TankTopBuilder.py
-subcomponents:
-  back:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: topwidth
-      w:
-        parameter: topdepth
-  front:
-    classname: Rectangle
-    kwargs: {}
-    parameters:
-      l:
-        parameter: topwidth
-      w:
-        function: x * 1.4142
-        parameter: topdepth
-  splittop:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: ((x - 30)/2., x - (x - 30), (x - 30)/2.)
-        parameter: topwidth
-      toplength:
-        function: (x,)
-        parameter: topwidth
-  top:
-    classname: UChannel
-    kwargs: {}
-    parameters:
-      bangle:
-        parameter: bangle
-      depth:
-        parameter: topdepth
-      length:
-        parameter: toplength
-      tangle:
-        parameter: tangle
-      width:
-        parameter: topwidth
diff --git a/rocolib/library/TankWheels.yaml b/rocolib/library/TankWheels.yaml
deleted file mode 100644
index 64e6a3d539ad0b64849327ee6fb7caebb62db642..0000000000000000000000000000000000000000
--- a/rocolib/library/TankWheels.yaml
+++ /dev/null
@@ -1,229 +0,0 @@
-connections:
-  connection0:
-  - - drive
-    - mount
-  - - wheel1
-    - face1
-  - {}
-interfaces:
-  botedge0:
-    interface: botedge0
-    subcomponent: drive
-  botedge1:
-    interface: botedge1
-    subcomponent: drive
-  botedge2:
-    interface: botedge2
-    subcomponent: drive
-  botedge3:
-    interface: botedge3
-    subcomponent: drive
-  face0:
-    interface: face0
-    subcomponent: drive
-  face1:
-    interface: face1
-    subcomponent: drive
-  face2:
-    interface: face2
-    subcomponent: drive
-  face3:
-    interface: face3
-    subcomponent: drive
-  horn:
-    interface: horn
-    subcomponent: drive
-  mount:
-    interface: mount
-    subcomponent: drive
-  mount.decoration:
-    interface: mount.decoration
-    subcomponent: drive
-  slotedge:
-    interface: slotedge
-    subcomponent: drive
-  tabedge:
-    interface: tabedge
-    subcomponent: drive
-  topedge0:
-    interface: topedge0
-    subcomponent: drive
-  topedge1:
-    interface: topedge1
-    subcomponent: drive
-  topedge2:
-    interface: topedge2
-    subcomponent: drive
-  topedge3:
-    interface: topedge3
-    subcomponent: drive
-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
-  angle:
-    defaultValue: 0
-    spec:
-      maxValue: null
-      minValue: null
-      units: degrees
-      valueType: (float, int)
-  center:
-    defaultValue: true
-    spec:
-      valueType: bool
-  flip:
-    defaultValue: false
-    spec:
-      valueType: bool
-  length:
-    defaultValue: 100
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  n:
-    defaultValue: 9
-    spec:
-      valueType: int
-  offset:
-    defaultValue: null
-    spec:
-      optional: true
-      overrides:
-      - flip
-      - center
-      - shift
-  radius:
-    defaultValue: 25
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  servo:
-    defaultValue: fs90r
-    spec:
-      valueType: str
-  shift:
-    defaultValue: 0
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  slength:
-    defaultValue: 17.1
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-  twidth:
-    defaultValue: 10
-    spec:
-      minValue: 0
-      units: mm
-      valueType: (float, int)
-source: ..\builders\TankWheelsBuilder.py
-subcomponents:
-  drive:
-    classname: MountedServo
-    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
-      angle:
-        parameter: angle
-      center:
-        parameter: center
-      flip:
-        parameter: flip
-      length:
-        parameter: length
-      offset:
-        parameter: offset
-      servo:
-        parameter: servo
-      shift:
-        parameter: shift
-  wheel1:
-    classname: Tire
-    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
-      n:
-        parameter: n
-      radius:
-        parameter: radius
-      slength:
-        parameter: slength
-      twidth:
-        parameter: twidth
diff --git a/rocolib/library/Trapezoid.py b/rocolib/library/Trapezoid.py
index c4b6983707c43814e5c520c27749f03e4703e1d3..59d4021f2cb176115fa3611e0383afeae882e09d 100644
--- a/rocolib/library/Trapezoid.py
+++ b/rocolib/library/Trapezoid.py
@@ -17,6 +17,7 @@ class Trapezoid(FoldedComponent):
         self.addEdgeInterface("ledge", "r0.e1", "side")
         self.addEdgeInterface("redge", "r0.e3", "side")
         self.addEdgeInterface("botedge", "r0.e0", "width")
+        self.addFaceInterface("face0", "f")
 
     def assemble(self):
         d = self.getParameter("depth")
@@ -24,7 +25,7 @@ class Trapezoid(FoldedComponent):
         x = d / np.tan(np.deg2rad(self.getParameter("bangle")))
 
         rs = []
-        rs.append(Face("", ((0, 0), (x, -d), (x + w, -d), (x + x + w, 0))))
+        rs.append(Face("f", ((0, 0), (x, -d), (x + w, -d), (x + x + w, 0))))
         self.attachEdge(None, rs[0], "e0", prefix="r0", angle=90)
 
 
diff --git a/rocolib/library/Tug.yaml b/rocolib/library/Tug.yaml
index 2d0fe2db83070fb06ea28fde149d74b094627074..7444ea8f2200f4079955451b694a976cad470e16 100644
--- a/rocolib/library/Tug.yaml
+++ b/rocolib/library/Tug.yaml
@@ -1,56 +1,39 @@
 connections:
   connection0:
   - - cabin
-    - foreedge
-  - - portsplit
-    - botedge1
-  - {}
-  connection1:
+    - portedge
   - - boat
     - portedge
-  - - portsplit
-    - topedge0
-  - {}
-  connection2:
+  - angle: 0
+  connection1:
   - - cabin
-    - rearedge
-  - - starsplit
-    - botedge1
-  - tabWidth: 10
-  connection3:
+    - staredge
   - - boat
     - staredge
-  - - starsplit
-    - topedge0
-  - {}
-interfaces:
-  portedge:
-    interface: portedge
-    subcomponent: boat
-  staredge:
-    interface: staredge
-    subcomponent: boat
+  - angle: 0
+    tabWidth: 10
+interfaces: {}
 parameters:
-  cabin.depth:
+  depth:
     defaultValue: 50
     spec:
       minValue: 0
       units: mm
       valueType: (float, int)
-  tdepth:
-    defaultValue: 70
+  height:
+    defaultValue: 30
     spec:
       minValue: 0
       units: mm
       valueType: (float, int)
-  tlength:
-    defaultValue: 156
+  length:
+    defaultValue: 200
     spec:
       minValue: 0
       units: mm
       valueType: (float, int)
-  twidth:
-    defaultValue: 90
+  width:
+    defaultValue: 60
     spec:
       minValue: 0
       units: mm
@@ -63,44 +46,30 @@ subcomponents:
       root: true
     parameters:
       boat.depth:
-        parameter: tdepth
+        function: x/3.
+        parameter: width
       boat.length:
-        parameter: tlength
+        function: sum(x)
+        parameter:
+        - length
+        - depth
       boat.width:
-        parameter: twidth
+        parameter: width
       bow.point:
         function: x/2.
-        parameter: tlength
+        parameter: length
       stern.point:
         function: x/8.
-        parameter: tlength
+        parameter: length
   cabin:
     classname: Cabin
     kwargs: {}
     parameters:
       depth:
-        parameter: cabin.depth
+        parameter: depth
+      height:
+        parameter: height
+      length:
+        parameter: length
       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
+        parameter: width
diff --git a/rocolib/library/TwoWheels.py b/rocolib/library/TwoWheels.py
deleted file mode 100644
index 0bc099f0eb05fac7e14e4d1fc7a4a407e96c2c46..0000000000000000000000000000000000000000
--- a/rocolib/library/TwoWheels.py
+++ /dev/null
@@ -1,12 +0,0 @@
-from rocolib.api.components import Component
-from rocolib.utils.utils import copyDecorations
-
-class TwoWheels(Component):
-    def assemble(self):
-        copyDecorations(self, ("brightservoface", ("bright", "face0", -1, 0)),
-                        ("brightservosheath", ("sheath1", "face3", -1, 0)))
-        copyDecorations(self, ("fleftservoface", ("fleft", "face0", 2, 1)),
-                        ("fleftservosheath", ("sheath1", "face1", 0, -1)))
-
-if __name__ == "__main__":
-    TwoWheels.test()
\ No newline at end of file
diff --git a/rocolib/library/TwoWheels.yaml b/rocolib/library/TwoWheels.yaml
deleted file mode 100644
index ddbaf988f3975d52340f001cc703f65b26f2d04b..0000000000000000000000000000000000000000
--- a/rocolib/library/TwoWheels.yaml
+++ /dev/null
@@ -1,231 +0,0 @@
-connections:
-  connection0:
-  - - fleft
-    - topedge2
-  - - between1
-    - topedge1
-  - angle: 90
-  connection1:
-  - - between1
-    - botedge1
-  - - bright
-    - botedge2
-  - angle: 90
-  connection2:
-  - - between2
-    - topedge1
-  - - bright
-    - topedge2
-  - angle: 90
-  connection3:
-  - - between2
-    - botedge1
-  - - fleft
-    - botedge2
-  - angle: 90
-    tabWidth: 10
-  connection4:
-  - - sheathsplit0
-    - topedge0
-  - - sheath1
-    - topedge1
-  - {}
-  connection5:
-  - - sheathsplit1
-    - topedge0
-  - - sheath1
-    - topedge3
-  - {}
-  connection6:
-  - - fleft
-    - botedge0
-  - - sheathsplit0
-    - botedge0
-  - angle: 180
-interfaces:
-  sheath1.botedge0:
-    interface: botedge0
-    subcomponent: sheath1
-  sheath1.botedge1:
-    interface: botedge1
-    subcomponent: sheath1
-  sheath1.botedge2:
-    interface: botedge2
-    subcomponent: sheath1
-  sheath1.botedge3:
-    interface: botedge3
-    subcomponent: sheath1
-  sheath1.face0:
-    interface: face0
-    subcomponent: sheath1
-  sheath1.face1:
-    interface: face1
-    subcomponent: sheath1
-  sheath1.face2:
-    interface: face2
-    subcomponent: sheath1
-  sheath1.face3:
-    interface: face3
-    subcomponent: sheath1
-  sheath1.slotedge:
-    interface: slotedge
-    subcomponent: sheath1
-  sheath1.tabedge:
-    interface: tabedge
-    subcomponent: sheath1
-  sheath1.topedge0:
-    interface: topedge0
-    subcomponent: sheath1
-  sheath1.topedge1:
-    interface: topedge1
-    subcomponent: sheath1
-  sheath1.topedge2:
-    interface: topedge2
-    subcomponent: sheath1
-  sheath1.topedge3:
-    interface: topedge3
-    subcomponent: sheath1
-  splitedge0:
-    interface: botedge1
-    subcomponent: sheathsplit0
-  splitedge1:
-    interface: botedge0
-    subcomponent: sheathsplit1
-parameters:
-  brains:
-    defaultValue: esp32stack
-    spec:
-      valueType: str
-  bright.angle:
-    defaultValue: 0
-    spec:
-      maxValue: null
-      minValue: null
-      units: degrees
-      valueType: (float, int)
-  driveservo:
-    defaultValue: fs90r
-    spec:
-      valueType: str
-  fleft.angle:
-    defaultValue: 0
-    spec:
-      maxValue: null
-      minValue: null
-      units: degrees
-      valueType: (float, int)
-  height:
-    defaultValue: 36
-    spec:
-      minValue: 36
-      units: mm
-      valueType: (float, int)
-  length:
-    defaultValue: 65
-    spec:
-      minValue: 65
-      units: mm
-      valueType: (float, int)
-  width:
-    defaultValue: 60
-    spec:
-      minValue: 60
-      units: mm
-      valueType: (float, int)
-source: ..\builders\TwoWheelsBuilder.py
-subcomponents:
-  between1:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-      length:
-        function: x[0]- 2 * getDim(x[1], 'motorheight')
-        parameter: &id001
-        - width
-        - driveservo
-      width:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-  between2:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-      length:
-        function: x[0]- 2 * getDim(x[1], 'motorheight')
-        parameter: *id001
-      width:
-        function: getDim(x, 'motorwidth')
-        parameter: driveservo
-  bright:
-    classname: Wheel
-    kwargs:
-      invert: true
-    parameters:
-      angle:
-        parameter: bright.angle
-      center: false
-      flip: true
-      length:
-        function: ((x[0] - getDim(x[1], "width")))
-        parameter: &id002
-        - length
-        - brains
-      radius:
-        function: (getDim(x, "height") / 1.35)
-        parameter: brains
-      servo:
-        parameter: driveservo
-  fleft:
-    classname: Wheel
-    kwargs:
-      invert: true
-    parameters:
-      angle:
-        parameter: fleft.angle
-      center: false
-      length:
-        function: ((x[0] - getDim(x[1], "width")))
-        parameter: *id002
-      radius:
-        function: (getDim(x, "height") / 1.35)
-        parameter: brains
-      servo:
-        parameter: driveservo
-  sheath1:
-    classname: SimpleRectBeam
-    kwargs: {}
-    parameters:
-      depth:
-        parameter: height
-      length:
-        parameter: length
-      width:
-        parameter: width
-  sheathsplit0:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (getDim(x[0],'motorwidth'), x[1] - getDim(x[0],'motorwidth'))
-        parameter: &id003
-        - driveservo
-        - height
-      toplength:
-        function: (x,)
-        parameter: height
-  sheathsplit1:
-    classname: SplitEdge
-    kwargs: {}
-    parameters:
-      botlength:
-        function: (x[1] - getDim(x[0],'motorwidth'), getDim(x[0],'motorwidth'))
-        parameter: *id003
-      toplength:
-        function: (x,)
-        parameter: height
diff --git a/rocolib/library/Wheel.yaml b/rocolib/library/Wheel.yaml
index a63097a42b8527df0f97d6d5d4e3481dcf9caaea..ed257d986c91906f882668734584376ecbb92dec 100644
--- a/rocolib/library/Wheel.yaml
+++ b/rocolib/library/Wheel.yaml
@@ -149,7 +149,13 @@ parameters:
       minValue: 0
       units: mm
       valueType: (float, int)
-source: ..\builders\WheelBuilder.py
+  tire_thickness:
+    defaultValue: 0
+    spec:
+      minValue: 0
+      units: mm
+      valueType: (float, int)
+source: ../builders/WheelBuilder.py
 subcomponents:
   drive:
     classname: MountedServo
@@ -186,9 +192,10 @@ subcomponents:
       shift:
         parameter: shift
   tire:
-    classname: RegularNGon
+    classname: Tire
     kwargs: {}
     parameters:
-      n: 40
       radius:
         parameter: radius
+      tire_thickness:
+        parameter: tire_thickness
diff --git a/rocolib/library/__init__.py b/rocolib/library/__init__.py
index 73f661300aa6844880f4f4d9c418aeb3bb2b53ee..c52a250b91658d444773f673cffc862a09dfcd17 100644
--- a/rocolib/library/__init__.py
+++ b/rocolib/library/__init__.py
@@ -1,3 +1,4 @@
+import networkx as nx
 from os import system
 from os.path import dirname, realpath, basename, join
 from glob import glob
@@ -22,18 +23,16 @@ def getSubcomponents(c):
     except FileNotFoundError:
         return set()
 
+def getComponentNx():
+    net = nx.DiGraph()
+    net.add_nodes_from(allComponents)
+    for c in allComponents:
+        for sc in getSubcomponents(c):
+            net.add_edge(sc, c)
+    return net
+
 def getComponentTree():
-    tree = []
-    ac = set(allComponents)
-    while ac:
-        leaves = []
-        for c in ac:
-            subcomponents = getSubcomponents(c)
-            if not subcomponents.intersection(ac):
-                leaves.append(c)
-        tree.append(sorted(leaves))
-        ac -= set(leaves)
-    return tree
+    return nx.topological_generations(getComponentNx())
 
 def getComponent(c, **kwargs):
     '''
diff --git a/rocolib/output/BatteryMount/graph-anim.svg b/rocolib/output/BatteryMount/graph-anim.svg
deleted file mode 100644
index 439708edbc633821ada5a2e745c91d1c4b1ad429..0000000000000000000000000000000000000000
--- a/rocolib/output/BatteryMount/graph-anim.svg
+++ /dev/null
@@ -1,48 +0,0 @@
-<?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="410.000000mm" version="1.1" viewBox="0.000000 0.000000 160.827625 410.000000" width="160.827625mm">
-  <defs/>
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-</svg>
diff --git a/rocolib/output/BatteryMount/graph-autofold-default.dxf b/rocolib/output/BatteryMount/graph-autofold-default.dxf
deleted file mode 100644
index a25b8456dfc171992789f5fe0143b88a1a225a37..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/BatteryStackHolder/graph-lasercutter.svg b/rocolib/output/BatteryStackHolder/graph-lasercutter.svg
deleted file mode 100644
index 4375bc18174e2fe42db37b70b1af514a659067a3..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/BoatBaseFlat/graph-lasercutter.svg b/rocolib/output/BoatBaseFlat/graph-lasercutter.svg
deleted file mode 100644
index fa7f9503679cb38e8508bfb0cdcff68564ef6b9d..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/BoatWithBottomServo/graph-autofold-graph.dxf b/rocolib/output/BoatWithBottomServo/graph-autofold-graph.dxf
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index e01af2ecad8826c9802841c9ec08d49459ef425a..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/BoatWithDCMount/graph-autofold-graph.dxf b/rocolib/output/BoatWithDCMount/graph-autofold-graph.dxf
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index 8dec98569ad0a7bcad53b781d4676a01caf583b1..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/BoatWithMount/graph-autofold-graph.dxf b/rocolib/output/BoatWithMount/graph-autofold-graph.dxf
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diff --git a/rocolib/output/BoatWithServoMount/graph-lasercutter.svg b/rocolib/output/BoatWithServoMount/graph-lasercutter.svg
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diff --git a/rocolib/output/BoatWithServoMountAndStack/graph-autofold-default.dxf b/rocolib/output/BoatWithServoMountAndStack/graph-autofold-default.dxf
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diff --git a/rocolib/output/BoatWithServoMountAndStack/graph-autofold-graph.dxf b/rocolib/output/BoatWithServoMountAndStack/graph-autofold-graph.dxf
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diff --git a/rocolib/output/BoatWithServoStackBattery/graph-autofold-graph.dxf b/rocolib/output/BoatWithServoStackBattery/graph-autofold-graph.dxf
deleted file mode 100644
index 9f76dd5a86b73015539b104b14ccb2b8bf6f7df3..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/BoatWithStack/graph-autofold-graph.dxf b/rocolib/output/BoatWithStack/graph-autofold-graph.dxf
deleted file mode 100644
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diff --git a/rocolib/output/Boat_StackMount/graph-autofold-graph.dxf b/rocolib/output/Boat_StackMount/graph-autofold-graph.dxf
deleted file mode 100644
index 33b0a2f670af70ebe1d24804550a1c191bc80a60..0000000000000000000000000000000000000000
--- a/rocolib/output/Boat_StackMount/graph-autofold-graph.dxf
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diff --git a/rocolib/output/Cabin/graph-lasercutter.svg b/rocolib/output/Cabin/graph-lasercutter.svg
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index 5c580f097e65b3ef24fc03af31b9d121a1fbc0ab..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/DCStackMount/graph-lasercutter.svg b/rocolib/output/DCStackMount/graph-lasercutter.svg
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index 1089f34ce8fe732958daf307f29a0d4a50a4bc5c..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/HouseboatWithServoMountAndStack/graph-autofold-graph.dxf b/rocolib/output/HouseboatWithServoMountAndStack/graph-autofold-graph.dxf
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diff --git a/rocolib/output/HouseboatWithServoMountAndStack/graph-lasercutter.svg b/rocolib/output/HouseboatWithServoMountAndStack/graph-lasercutter.svg
deleted file mode 100644
index a2e9ab7f0595bc6f73a12ab2827fab6982bede91..0000000000000000000000000000000000000000
--- a/rocolib/output/HouseboatWithServoMountAndStack/graph-lasercutter.svg
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diff --git a/rocolib/output/HouseboatWithServoMountAndStack/graph-silhouette.dxf b/rocolib/output/HouseboatWithServoMountAndStack/graph-silhouette.dxf
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diff --git a/rocolib/output/MountedServo/graph-anim.svg b/rocolib/output/MountedServo/graph-anim.svg
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diff --git a/rocolib/output/PaddleWheel/graph-anim.svg b/rocolib/output/PaddleWheel/graph-anim.svg
deleted file mode 100644
index 24e36dd725adc0b9c8d6cd6fd48ff55e02b6c480..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/PaddleboatWithCamera/graph-autofold-graph.dxf b/rocolib/output/PaddleboatWithCamera/graph-autofold-graph.dxf
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diff --git a/rocolib/output/PaddleboatWithCamera/graph-silhouette.dxf b/rocolib/output/PaddleboatWithCamera/graph-silhouette.dxf
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diff --git a/rocolib/output/ServoStackBatteryMount/graph-autofold-graph.dxf b/rocolib/output/ServoStackBatteryMount/graph-autofold-graph.dxf
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index d1b773e89e5ceceacd101acc81a9aeba3916ec71..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/ServoStackBatteryMount/graph-silhouette.dxf b/rocolib/output/ServoStackBatteryMount/graph-silhouette.dxf
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diff --git a/rocolib/output/SubESP32Stack/graph-lasercutter.svg b/rocolib/output/SubESP32Stack/graph-lasercutter.svg
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index 8412057c2f9cabf96898e1b00e9840e719ab1e40..0000000000000000000000000000000000000000
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diff --git a/rocolib/output/SubESP32Stack/tree.png b/rocolib/output/SubESP32Stack/tree.png
deleted file mode 100644
index 6da6e73220a05c5db21aa426dbeacf715c6b4ed3..0000000000000000000000000000000000000000
Binary files a/rocolib/output/SubESP32Stack/tree.png and /dev/null differ
diff --git a/rocolib/utils/dimensions.py b/rocolib/utils/dimensions.py
index 1a392659aa7274264bfd1172d27becf3b435e53d..0e451f7721ae55f6f7a9b22f32c0000c704b39a7 100644
--- a/rocolib/utils/dimensions.py
+++ b/rocolib/utils/dimensions.py
@@ -50,7 +50,6 @@ dims["esp32stack"] = { "type" : "brains",
     "colsep"    : 20,
 }
 
-
 '''
 Servo dimension parameters:
 
diff --git a/rocolib/utils/utils.py b/rocolib/utils/utils.py
index 20df92137105711e7dbed27aaa1cdf0cd93a5b27..a82784d96ce50fac6a11135e6b92a455f62455a7 100644
--- a/rocolib/utils/utils.py
+++ b/rocolib/utils/utils.py
@@ -1,74 +1,102 @@
 import rocolib.utils.numsym as np
 from rocolib.utils.transforms import RotateZ, Translate
 
+
 def prefix(s1, s2):
-  if s1 and s2:
-    return s1 + "." + s2
-  return s1 or s2
+    if s1 and s2:
+        return s1 + "." + s2
+    return s1 or s2
+
 
 def tryImport(module, attribute):
-  try:
-    mod = __import__(module, fromlist=[attribute])
-    obj = getattr(mod, attribute)
-    return obj
-  except ImportError:
-    mod = __import__("rocolib.library." + module, fromlist=[attribute])
-    obj = getattr(mod, attribute)
-    return obj
+    try:
+        mod = __import__(module, fromlist=[attribute])
+        obj = getattr(mod, attribute)
+        return obj
+    except ImportError:
+        mod = __import__("rocolib.library." + module, fromlist=[attribute])
+        obj = getattr(mod, attribute)
+        return obj
+
 
 def decorateGraph(face, decoration, offset=(0, 0), rotate=False, mode=None):
-  try:
-    dfaces = decoration.faces
-  except AttributeError:
-    dfaces = [decoration]
+    try:
+        dfaces = decoration.faces
+    except AttributeError:
+        dfaces = [decoration]
+
+    if mode is None:
+        mode = "hole"
 
-  if mode is None:
-    mode = "hole"
+    if rotate is False:
+        rotate = 0
+    elif rotate is True:
+        rotate = -90
 
-  if rotate is False:
-    rotate = 0
-  elif rotate is True:
-    rotate = -90
+    for f in dfaces:
+        t2d = transformDecorations(face, f.pts2d, offset=offset, rotate=rotate, mode=mode)
+        f.transform2D = t2d
+        f.addFace(face, np.inv(t2d))
 
-  for f in dfaces:
-    t2d = transformDecorations(face, f.pts2d, offset=offset, rotate=rotate, mode=mode)
-    f.transform2D = t2d
-    f.addFace(face, np.inv(t2d))
 
-def transformDecorations(face, pts2d, offset=(0,0), rotate=0, flip=False, mode=None):
+def transformDecorations(face, pts2d, offset=(0, 0), rotate=0, flip=False, mode=None):
     a = np.deg2rad(rotate)
     c = np.cos(a)
     s = np.sin(a)
 
     face.addDecoration(([
-        (c*p[0] - s*p[1] + offset[0], s*p[0] + c*p[1] + offset[1])
-        for p in pts2d], mode))
+                            (c * p[0] - s * p[1] + offset[0], s * p[0] + c * p[1] + offset[1])
+                            for p in pts2d], mode))
 
     return np.dot(Translate([offset[0], offset[1], 0]), RotateZ(rotate))
 
+
 def copyDecorations(self, deco_1, deco_2):
-  (ni1, (sc1, i1, p1a, p1b)) = deco_1
-  (ni2, (sc2, i2, p2a, p2b)) = deco_2
-
-  self.inheritInterface(ni1, (sc1, i1))
-  self.inheritInterface(ni2, (sc2, i2))
-
-  f1 = self.getInterface(ni1).getFace()
-  f2 = self.getInterface(ni2).getFace()
-
-  p1o = f1.pts2d[p1a]
-  p1x = f1.pts2d[p1b]
-  p2o = f2.pts2d[p2a]
-  p2x = f2.pts2d[p2b]
-
-  a1 = np.arctan2(p1x[1]-p1o[1], p1x[0]-p1o[0])
-  a2 = np.arctan2(p2x[1]-p2o[1], p2x[0]-p2o[0])
-
-  for pts, mode in f1.decorations:
-      transformDecorations(
-        f2,
-        [(px - p1o[0], py - p1o[1]) for (px, py) in pts],
-        offset = p2o,
-        rotate = np.rad2deg(a2-a1),
-        mode = mode
-      )
+    (ni1, (sc1, i1, p1a, p1b)) = deco_1
+    (ni2, (sc2, i2, p2a, p2b)) = deco_2
+
+    self.inheritInterface(ni1, (sc1, i1))
+    self.inheritInterface(ni2, (sc2, i2))
+
+    f1 = self.getInterface(ni1).getFace()
+    f2 = self.getInterface(ni2).getFace()
+
+    p1o = f1.pts2d[p1a]
+    p1x = f1.pts2d[p1b]
+    p2o = f2.pts2d[p2a]
+    p2x = f2.pts2d[p2b]
+
+    a1 = np.arctan2(p1x[1] - p1o[1], p1x[0] - p1o[0])
+    a2 = np.arctan2(p2x[1] - p2o[1], p2x[0] - p2o[0])
+
+    for pts, mode in f1.decorations:
+        transformDecorations(
+            f2,
+            [(px - p1o[0], py - p1o[1]) for (px, py) in pts],
+            offset=p2o,
+            rotate=np.rad2deg(a2 - a1),
+            mode=mode
+        )
+
+
+def copyDecorations2(self, deco_1, deco_2, angle):
+    (ni1, (sc1, i1, p1a)) = deco_1
+    (ni2, (sc2, i2, p2a)) = deco_2
+
+    self.inheritInterface(ni1, (sc1, i1))
+    self.inheritInterface(ni2, (sc2, i2))
+
+    f1 = self.getInterface(ni1).getFace()
+    f2 = self.getInterface(ni2).getFace()
+
+    p1o = f1.pts2d[p1a]
+    p2o = f2.pts2d[p2a]
+
+    for pts, mode in f1.decorations:
+        transformDecorations(
+            f2,
+            [(px - p1o[0], py - p1o[1]) for (px, py) in pts],
+            offset=p2o,
+            rotate=angle,
+            mode=mode
+        )
\ No newline at end of file