diff --git a/.gitignore b/.gitignore
index 4fa1d43508..30215e9549 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,7 @@
 __pycache__/
 *.py[cod]
 *$py.class
+/.pydevproject
 
 # Distribution / packaging
 dist/
@@ -11,7 +12,6 @@ build/
 
 # IDEs and editors
 .idea/
-.vscode/
 *.pyc
 
 # Local development settings
@@ -44,8 +44,6 @@ build/
 /dist
 /repo
 /test
-/.ivy
-/.myrobotlab
 /.settings
 /libraries
 /haarcascades
@@ -53,8 +51,6 @@ build/
 /lbpcascades
 /myrobotlab.log
 /audioFile
-/obj
-/ProgramAB/
 /build/
 /myrobotlab.jar
 /*.mp4
@@ -63,38 +59,26 @@ build/
 /MRLComm/
 /*.log
 /*.json
-/notifyEntries.runtime.xml
 /mary
 /opennlp/
 /mimic/
-/inmoov/
 /serial.rx.hex
 /serial.tx.hex
 /pids/
-/voicetest.bat
-/generatedPython/
 /InMoov/
 /tts/
 /tools/
-/START_INMOOV.bat
-/start_inmoov.sh
-/.pydevproject
 /OpenAL64.dll
 /lwjgl64.dll
-/audacity-win-2.1.0.exe
-/text.txt
-/gestures/
 /target/
 /training/
 /dependencies.xml
 /.gradle/
 /dependencies/
-/gradle/
 /pom/
 /install*
 /libraries*
 /ivy*
-/maven.eclipse.project
 /pom*.xml
 /yolo/
 /jinput-natives/
@@ -102,21 +86,12 @@ build/
 /target/
 /Solr/
 /OpenCV/
-/models/*
 /models/
 /bulletjme.dll
-/Harry-export.py
-/Harry.py
 /backup-routes.py
-/worke.py
-/myrobotlab*.jar
 /libbulletjme.so
 /liblwjgl64.so
-/copyToRaspi.sh
-/lastRestart.py
 /.factorypath
 start.yml
-config
-src/main/resources/resource/InMoov2
-src/main/resources/resource/ProgramAB
-*.iml
+/config
+
diff --git a/.vscode/launch.json b/.vscode/launch.json
index 0ad59dd7dd..e2826c6c69 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -4,1628 +4,21 @@
     // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
     "version": "0.2.0",
     "configurations": [
-        {
-            "type": "java",
-            "name": "Current File",
-            "request": "launch",
-            "mainClass": "${file}"
-        },
-        {
-            "type": "java",
-            "name": "PeerDiscovery",
-            "request": "launch",
-            "mainClass": "PeerDiscovery",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "ArduinoMsgGenerator",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.arduino.ArduinoMsgGenerator",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Msg",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.arduino.Msg",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "VirtualMsg",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.arduino.VirtualMsg",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "CaptureCalibrationImagesApp",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.CaptureCalibrationImagesApp",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "CreateRgbPointCloudFileApp",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.CreateRgbPointCloudFileApp",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "DisplayKinectPointCloudApp",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.DisplayKinectPointCloudApp",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "ExampleDepthPointCloud",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.ExampleDepthPointCloud",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "ExampleVisualOdometryDepth",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.ExampleVisualOdometryDepth",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "IntrinsicToDepthParameters",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.IntrinsicToDepthParameters",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "LogKinectDataApp",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.LogKinectDataApp",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OpenKinectOdometry",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.OpenKinectOdometry",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OpenKinectPointCloud",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.OpenKinectPointCloud",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OpenKinectStreamingTest",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.OpenKinectStreamingTest",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OverlayRgbDepthStreamsApp",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.OverlayRgbDepthStreamsApp",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "PlaybackKinectLogApp",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.boofcv.PlaybackKinectLogApp",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "CmdLine",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.cmdline.CmdLine",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "CodecUtils",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.codec.CodecUtils",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "PolymorphicSerializer",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.codec.PolymorphicSerializer",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "RecorderPythonFile",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.codec.RecorderPythonFile",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "CvData",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.cv.CvData",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WikipediaIndexer",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.document.connector.WikipediaIndexer",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Index",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.Index",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MRLListener",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.MRLListener",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Message",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.Message",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MethodCacheTest",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.MethodCacheTest",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "NameGenerator",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.NameGenerator",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Platform",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.Platform",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Status",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.Status",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TypeConverter",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.TypeConverter",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "IvyWrapper",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.repo.IvyWrapper",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MavenWrapper",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.repo.MavenWrapper",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "ServiceData",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.framework.repo.ServiceData",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "I2CFactory",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.i2c.I2CFactory",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "SerializableImage",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.image.SerializableImage",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "FileIO",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.io.FileIO",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "FindFile",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.io.FindFile",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Zip",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.io.Zip",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TestPhysicsHingeJoint",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.jme3.TestPhysicsHingeJoint",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TestSimplePhysics",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.jme3.TestSimplePhysics",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TestJmeIMModel",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.kinematics.TestJmeIMModel",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TestJmeIntegratedMovement",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.kinematics.TestJmeIntegratedMovement",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MapperLinearTest",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.math.MapperLinearTest",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Node",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.memory.Node",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Email",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.net.Email",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Http",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.net.Http",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "HttpRequest",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.net.HttpRequest",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "InstallCert",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.net.InstallCert",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MjpegServer",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.net.MjpegServer",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "NanoHTTPD",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.net.NanoHTTPD",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TcpSerialHub",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.net.TcpSerialHub",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TcpServer",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.net.TcpServer",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WsClient",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.net.WsClient",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OculusDisplay",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.oculus.OculusDisplay",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OpenCVData",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.opencv.OpenCVData",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OpenCVFaceRecognizer",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.opencv.OpenCVFaceRecognizer",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OpenCVFilterAddMask",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.opencv.OpenCVFilterAddMask",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OpenCVFilterKinectFloorFinder",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.opencv.OpenCVFilterKinectFloorFinder",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OpenCVFilterKinectPointCloud",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.opencv.OpenCVFilterKinectPointCloud",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "InProcessCli",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.process.InProcessCli",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Launcher",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.process.Launcher",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "RTTTLParser",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.roomba.RTTTLParser",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "RTTTLPlay",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.roomba.RTTTLPlay",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "ProcParser",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.runtime.ProcParser",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Adafruit16CServoDriver",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Adafruit16CServoDriver",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "AdafruitIna219",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.AdafruitIna219",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "AdafruitMotorHat4Pi",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.AdafruitMotorHat4Pi",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Ads1115",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Ads1115",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Amt203Encoder",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Amt203Encoder",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Android",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Android",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Arduino",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Arduino",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Arm",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Arm",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "As5048AEncoder",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.As5048AEncoder",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "AudioCapture",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.AudioCapture",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "AudioFile",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.AudioFile",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "AzureTranslator",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.AzureTranslator",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "BeagleBoardBlack",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.BeagleBoardBlack",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Blender",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Blender",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Blocks",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Blocks",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Bno055",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Bno055",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "BodyPart",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.BodyPart",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "BoofCv",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.BoofCv",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Chassis",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Chassis",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "ChessGame",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.ChessGame",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Clock",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Clock",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Cron",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Cron",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Database",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Database",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Deeplearning4j",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Deeplearning4j",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "DiscordBot",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.DiscordBot",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "DiyServo",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.DiyServo",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Docker",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Docker",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "DocumentPipeline",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.DocumentPipeline",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "DruppNeck",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.DruppNeck",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "EddieControlBoard",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.EddieControlBoard",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Elasticsearch",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Elasticsearch",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Emoji",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Emoji",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Esp8266",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Esp8266",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Esp8266_01",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Esp8266_01",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "FiniteStateMachine",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.FiniteStateMachine",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Git",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Git",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "GoPro",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.GoPro",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "GoogleCloud",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.GoogleCloud",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "GoogleSearch",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.GoogleSearch",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "GoogleTranslate",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.GoogleTranslate",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Gps",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Gps",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Gpt3",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Gpt3",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Hd44780",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Hd44780",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "HtmlFilter",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.HtmlFilter",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "HtmlParser",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.HtmlParser",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "HttpClient",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.HttpClient",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "I2cMux",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.I2cMux",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "IBus",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.IBus",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "ImageDisplay",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.ImageDisplay",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "ImapEmailConnector",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.ImapEmailConnector",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "InMoov2",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.InMoov2",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "InMoov2Hand",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.InMoov2Hand",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "InMoov2Head",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.InMoov2Head",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "InMoov2Torso",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.InMoov2Torso",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "IndianTts",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.IndianTts",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "IntegratedMovement",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.IntegratedMovement",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Intro",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Intro",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "InverseKinematics",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.InverseKinematics",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "InverseKinematics3D",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.InverseKinematics3D",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "IpCamera",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.IpCamera",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "JFugue",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.JFugue",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "JMonkeyEngine",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.JMonkeyEngine",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "JMonkeyEngineTest",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.JMonkeyEngineTest",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "JavaScript",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.JavaScript",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Joystick",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Joystick",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "KafkaConnector",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.KafkaConnector",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "Keyboard",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Keyboard",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "KeyboardSim",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.KeyboardSim",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "LeapMotion",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.LeapMotion",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "LeapMotion2",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.LeapMotion2",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Lidar",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Lidar",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "LidarVlp16",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.LidarVlp16",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Lloyd",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Lloyd",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Lm75a",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Lm75a",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "LocalSpeech",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.LocalSpeech",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Log",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Log",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Mail",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Mail",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MarySpeech",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.MarySpeech",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "Maven",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Maven",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MobilePlatform",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.MobilePlatform",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Motor",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Motor",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MotorDualPwm",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.MotorDualPwm",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MotorHat4Pi",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.MotorHat4Pi",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MotorPort",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.MotorPort",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MouseSim",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.MouseSim",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MouthControl",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.MouthControl",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Mpr121",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Mpr121",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Mpu6050",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Mpu6050",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Mqtt",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Mqtt",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MqttBroker",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.MqttBroker",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MultiWii",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.MultiWii",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "MyoThalmic",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.MyoThalmic",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "NeoPixel",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.NeoPixel",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OakD",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.OakD",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OculusDiy",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.OculusDiy",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OculusRift",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.OculusRift",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OledSsd1306",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.OledSsd1306",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "OpenCV",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.OpenCV",
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-        {
-            "type": "java",
-            "name": "OpenCVTest",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.OpenCVTest",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "OpenNi",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.OpenNi",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "OpenWeatherMap",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.OpenWeatherMap",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "Osc",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Osc",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "Pcf8574",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Pcf8574",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "Pid",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Pid",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "Pingdar",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Pingdar",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Pir",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Pir",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "Polly",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Polly",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "ProgramAB",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.ProgramAB",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "Py4j",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Py4j",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Python",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Python",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "RSSConnector",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.RSSConnector",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Random",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Random",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "RasPi",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.RasPi",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Rekognition",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Rekognition",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Relay",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Relay",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "RoboClaw",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.RoboClaw",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Roomba",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Roomba",
-            "projectName": "mrl"
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-        {
-            "type": "java",
-            "name": "Ros",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Ros",
-            "projectName": "mrl"
-        },
         {
             "type": "java",
             "name": "Runtime",
             "request": "launch",
             "mainClass": "org.myrobotlab.service.Runtime",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Sabertooth",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Sabertooth",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Security",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Security",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "SegmentDisplay",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.SegmentDisplay",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "SensorMonitor",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.SensorMonitor",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Serial",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Serial",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "SerialRelay",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.SerialRelay",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Servo",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Servo",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "ServoMixer",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.ServoMixer",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Shoutbox",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Shoutbox",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "SlackBot",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.SlackBot",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Solr",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Solr",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Sphinx",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Sphinx",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "SpotMicro",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.SpotMicro",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Ssc32UsbServoController",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Ssc32UsbServoController",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TarsosDsp",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.TarsosDsp",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Tensorflow",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Tensorflow",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TesseractOcr",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.TesseractOcr",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Test",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Test",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TestCatcher",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.TestCatcher",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "ThingSpeak",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.ThingSpeak",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "TopCodes",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.TopCodes",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Tracking",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Tracking",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Twitter",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Twitter",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "UltrasonicSensor",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.UltrasonicSensor",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "UltrasonicSensorTest",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.UltrasonicSensorTest",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Updater",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Updater",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "VideoStreamer",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.VideoStreamer",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "VirtualArduino",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.VirtualArduino",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "VoiceRss",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.VoiceRss",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WatchDogTimer",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.WatchDogTimer",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WebGui",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.WebGui",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WebSocketConnector",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.WebSocketConnector",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Webcam",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Webcam",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WebkitSpeechRecognition",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.WebkitSpeechRecognition",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WebkitSpeechSynthesis",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.WebkitSpeechSynthesis",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Wii",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Wii",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WiiDar",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.WiiDar",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WikiDataFetcher",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.WikiDataFetcher",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Wikipedia",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Wikipedia",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WolframAlpha",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.WolframAlpha",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "WorkE",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.WorkE",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Xmpp",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.Xmpp",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "YahooFinanceStockQuote",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.YahooFinanceStockQuote",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "_TemplateService",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service._TemplateService",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "Pin",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.data.Pin",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "SpeechSynthesisTest",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.service.interfaces.SpeechSynthesisTest",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "StringUtil",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.string.StringUtil",
-            "projectName": "mrl"
-        },
-        {
-            "type": "java",
-            "name": "AbstractTest",
-            "request": "launch",
-            "mainClass": "org.myrobotlab.test.AbstractTest",
-            "projectName": "mrl"
+            "projectName": "mrl",
+            "args": [
+                "--log-level",
+                "info",
+                "-s",
+                "webgui", "WebGui", "intro", "Intro", "python", "Python",
+                "-c",
+                "dev"
+              ]
+
         }
     ]
 }
\ No newline at end of file