diff --git a/ARFrames.py b/ARFrames.py
new file mode 100644
index 0000000..8f8b827
--- /dev/null
+++ b/ARFrames.py
@@ -0,0 +1,724 @@
+import FreeCAD
+import ARTools
+if FreeCAD.GuiUp:
+    import FreeCADGui
+    from pivy import coin
+    from PySide import QtCore, QtGui, QtSvg
+    import Part
+    import os
+
+__title__ = "ARFrames"
+__author__ = "Mathias Hauan Arbo"
+__workbenchname__ = "ARBench"
+__version__ = "0.1"
+__url__ = "https://github.com/mahaarbo/ARBench"
+__doc__ = """"""
+
+
+############################################################
+# Frame Objects
+############################################################
+
+
+class Frame(object):
+    """Basic freestanding frame"""
+    def __init__(self, obj):
+        obj.addProperty("App::PropertyPlacement",
+                        "Placement", "Base",
+                        "Placement of the frame")
+        obj.Placement = FreeCAD.Placement()
+        obj.Proxy = self
+
+    def onChanged(self, fp, prop):
+        pass
+
+    def execute(self, obj):
+        pass
+
+    def __getstate__(self):
+        return None
+
+    def __setstate__(self, state):
+        return None
+
+
+class PartFrame(Frame):
+    """Frame rigidly attached to a part frame.
+    Inherits the base placement from the part's frame, and placement is
+    relative to the part frame.
+    """
+    def __init__(self, obj, partobj):
+        Frame.__init__(self, obj)
+        obj.addProperty("App::PropertyPlacementLink",
+                        "Part", "Parent",
+                        "The part to attach to.")
+        obj.Part = partobj
+        obj.setEditorMode("Part", 1)
+
+    def execute(self, obj):
+        if FreeCAD.GuiUp:
+            obj.ViewObject.Proxy.updateData(obj, "Placement")
+
+
+class FeatureFrame(PartFrame):
+    """Frame rigidly attached to a feature.
+    The feature frame is attached to a feature on a part. It gives both the
+    placement of the feature w.r.t. the part, and the placement from the
+    feature."""
+    def __init__(self, obj, partobj, featurePlacement):
+        PartFrame.__init__(self, obj, partobj)
+        obj.addProperty("App::PropertyPlacement",
+                        "FeaturePlacement", "Feature",
+                        "The frame attached to the feature.")
+        obj.addProperty("App::PropertyString",
+                        "PrimitiveType", "Feature",
+                        "The primitive type of the feature.")
+        obj.addProperty("App::PropertyString",
+                        "ShapeType", "Feature",
+                        "The shape type of the feature.")
+        obj.addProperty("App::PropertyString",
+                        "Positioning", "Feature",
+                        "The type of positioning used during creation.")
+        obj.FeaturePlacement = featurePlacement
+
+
+############################################################
+# ViewProvider to the frames
+############################################################
+
+
+class ViewProviderFrame(object):
+    """ViewProvider for the basic frame.
+    Uses the SOAxiscrosskit to create axises with constant length regardless
+    of zoom. Updates position when placement is changed.
+    """
+    def __init__(self, vobj):
+        vobj.addProperty("App::PropertyFloat", "Scale")
+        vobj.Scale = 0.12
+        vobj.addProperty("App::PropertyFloat", "HeadSize")
+        vobj.HeadSize = 3.0
+        vobj.addProperty("App::PropertyFloat", "LineWidth")
+        vobj.LineWidth = 2.0
+        vobj.Proxy = self
+
+    def attach(self, vobj):
+        # We only have a shaded visual group
+        self.shaded = coin.SoGroup()
+
+        # Takes heavily from SoAxisCrosskit.h,
+        # and Toggle_DH_Frames by galou_breizh on the forums
+        self.vframe = coin.SoType.fromName("SoShapeScale").createInstance()
+        self.vframe.setPart("shape", coin.SoType.fromName("SoAxisCrossKit").createInstance())
+        self.vframe.scaleFactor.setValue(0.1)
+        ax = self.vframe.getPart("shape", 0)
+        cone = ax.getPart("xHead.shape", 0)
+        cone.bottomRadius.setValue(vobj.HeadSize)
+        cone = ax.getPart("yHead.shape", 0)
+        cone.bottomRadius.setValue(vobj.HeadSize)
+        cone = ax.getPart("zHead.shape", 0)
+        cone.bottomRadius.setValue(vobj.HeadSize)
+        lwstring = "lineWidth {0}".format(vobj.LineWidth)
+        ax.set("xAxis.appearance.drawStyle", lwstring)
+        ax.set("yAxis.appearance.drawStyle", lwstring)
+        ax.set("zAxis.appearance.drawStyle", lwstring)
+        ax.set("xAxis.pickStyle", "style SHAPE")
+        ax.set("yAxis.pickStyle", "style SHAPE")
+        ax.set("zAxis.pickStyle", "style SHAPE")
+
+        # Then remember to make it selectable in the viewer
+        selectionNode = coin.SoType.fromName("SoFCSelection").createInstance()
+        selectionNode.documentName.setValue(FreeCAD.ActiveDocument.Name)
+        selectionNode.objectName.setValue(vobj.Object.Name)
+        selectionNode.subElementName.setValue("Frame")
+        selectionNode.addChild(self.vframe)
+
+        # We would like to place it where we want
+        self.transform = coin.SoTransform()
+        self.shaded.addChild(self.transform)
+        self.shaded.addChild(self.vframe)
+        self.shaded.addChild(selectionNode)
+        vobj.addDisplayMode(self.shaded, "Shaded")
+
+    def updateData(self, fp, prop):
+        if prop == "Placement":
+            pl = fp.getPropertyByName("Placement")
+            self.transform.translation = (pl.Base.x,
+                                          pl.Base.y,
+                                          pl.Base.Z)
+            self.transform.rotation = pl.Rotation.Q
+
+    def getDisplayModes(self, vobj):
+        modes = ["Shaded"]
+        return modes
+
+    def getDefaultDisplayMode(self):
+        return "Shaded"
+
+    def getIcon(self):
+        icondir = os.path.join(FreeCAD.getUserAppDataDir(), "Mod", __workbenchname__, "UI", "icons")
+        return str(os.path.join(icondir, "frame.svg"))
+
+    def onChanged(self, vp, prop):
+        if prop == "Scale":
+            s = vp.getPropertyByName("Scale")
+            self.vframe.scaleFactor.setValue(float(s))
+        elif prop == "HeadSize":
+            hs = vp.getPropertyByName("HeadSize")
+            xcone = self.vframe.getPart("shape", 0).getPart("xHead.shape", 0)
+            xcone.bottomRadius.setValue(float(hs))
+            ycone = self.vframe.getPart("shape", 0).getPart("yHead.shape", 0)
+            ycone.bottomRadius.setValue(float(hs))
+            zcone = self.vframe.getPart("shape", 0).getPart("zHead.shape", 0)
+            zcone.bottomRadius.setValue(float(hs))
+        elif prop == "LineWidth":
+            lw = vp.getPropertyByName("LineWidth")
+            lwstring = "lineWidth {0}".format(lw)
+            ax = self.vframe.getPart("shape", 0)
+            ax.set("xAxis.appearance.drawStyle", lwstring)
+            ax.set("yAxis.appearance.drawStyle", lwstring)
+            ax.set("zAxis.appearance.drawStyle", lwstring)
+
+    def __getstate__(self):
+        return None
+
+    def __setstate__(self, state):
+        pass
+
+
+class ViewProviderPartFrame(ViewProviderFrame):
+    """View provider to the part frame."""
+    def updateData(self, fp, prop):
+        if prop == "Placement":
+            parentpl = fp.getPropertyByName("Part").Placement
+            localpl = fp.Placement
+            pl = parentpl.multiply(localpl)
+            self.transform.translation = (pl.Base.x,
+                                          pl.Base.y,
+                                          pl.Base.z)
+            self.transform.rotation = pl.Rotation.Q
+
+
+class ViewProviderFeatureFrame(ViewProviderFrame):
+    """View provider to the feature frames."""
+    def updateData(self, fp, prop):
+        if prop == "Placement":
+            parentpl = fp.getPropertyByName("Part").Placement
+            featurepl = fp.getPropertyByName("FeaturePlacement")
+            localpl = fp.Placement
+            pl = parentpl.multiply(featurepl.multiply(localpl))
+            self.transform.translation = (pl.Base.x,
+                                          pl.Base.y,
+                                          pl.Base.z)
+            self.transform.rotation = pl.Rotation.Q
+
+
+###################################################################
+# Base functions
+###################################################################
+
+def makeFrame(placement=FreeCAD.Placement()):
+    obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "Frame")
+    Frame(obj)
+    if FreeCAD.GuiUp:
+        ViewProviderFrame(obj.ViewObject)
+    return obj
+
+
+def makePartFrame(part):
+    obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "PartFrame")
+    PartFrame(obj, part)
+    if FreeCAD.GuiUp:
+        ViewProviderPartFrame(obj.ViewObject)
+    return obj
+
+
+def makeFeatureFrame(part, featurepl):
+    obj = FreeCAD.ActiveDocument.addObject("App::FeaturePython", "FeatureFrame")
+    FeatureFrame(obj, part, featurepl)
+    if FreeCAD.GuiUp:
+        ViewProviderFeatureFrame(obj.ViewObject)
+    return obj
+
+
+def makeAllPartFrames():
+    dc = FreeCAD.activeDocument()
+    for part in dc.Objects:
+        if isinstance(part, Part.Feature):
+            pf = makePartFrame(part)
+            pf.Label = "Frame"+str(part.Label)
+
+
+def spawnFeatureFrameCreator():
+    ffpanel = FeatureFramePanel()
+    FreeCADGui.Control.showDialog(ffpanel)
+
+
+###################################################################
+# GUI Related
+###################################################################
+uidir = os.path.join(FreeCAD.getUserAppDataDir(),
+                     "Mod", __workbenchname__, "UI")
+icondir = os.path.join(uidir, "icons")
+
+ARTools.spawnClassCommand("FrameCommand",
+                          makeFrame,
+                          {"Pixmap": str(os.path.join(icondir, "frame.svg")),
+                           "MenuText": "Make a free frame",
+                           "ToolTip": "Make a freestanding reference frame."})
+
+ARTools.spawnClassCommand("AllPartFramesCommand",
+                          makeAllPartFrames,
+                          {"Pixmap": str(os.path.join(icondir, "allpartframes.svg")),
+                           "MenuText": "All part frames",
+                           "ToolTip": "Make all part frames."})
+ARTools.spawnClassCommand("FeatureFrameCommand",
+                          spawnFeatureFrameCreator,
+                          {"Pixmap": str(os.path.join(icondir, "featureframecreator.svg")),
+                           "MenuText": "Feature frame creator",
+                           "ToolTip": "Create a feature frame on selected primitive."})
+
+
+###################################################################
+# GUI buttons
+###################################################################
+class FeatureFramePanel:
+    """Spawn panel choices for a feature."""
+    def __init__(self):
+        selected = FreeCADGui.Selection.getSelectionEx()
+        # Check selection
+        if len(selected) == 1:
+            selected = selected[0]
+            self.selected = selected
+        else:
+            FreeCAD.Console.PrintError("Multipart selection not available.")
+            self.reject()
+    
+        if not selected.HasSubObjects:
+            FreeCAD.Console.PrintError("Part selected not feature.")
+            self.reject()
+        elif not len(selected.SubObjects) == 1:
+            FreeCAD.Console.PrintError("Multifeature selection not available")
+            self.reject()
+
+        # Choices related to selection
+        so_desc = ARTools.describeSubObject(selected.SubObjects[0])
+        self.so_desc = so_desc
+        shape_choices = {
+            "Vertex": [],
+            "Edge": ["PointOnEdge"],
+            "Face": ["PointOnSurface"]
+        }
+        prim_choices = {
+            "ArcOfCircle": ["Center"],
+            "ArcOfEllipse": ["Center"],
+            "ArcOfHyperBola": ["Center"],
+            "ArcOfParabola": ["Center"],
+            "BSplineCurve": ["Center"],
+            "BezierCurve": ["Center"],
+            "Circle": ["Center"],
+            "Ellipse": ["Center"],
+            "Hyperbola": ["Center"],
+            "Parabola": ["Center"],
+            "Line": [],
+            "BSplineSurface": ["Center"],
+            "BezierSurface": ["Center"],
+            "Cylinder": ["PointOnCenterline"],
+            "Plane": ["Center"],
+            "Sphere": ["Center"],
+            "Toroid": ["Center"],
+            "Cone": ["PointOnCenterline"]
+        }
+        self.choices = ["PickedPoint"]
+        self.choices = self.choices + shape_choices[so_desc[1]]
+        self.choices = self.choices + prim_choices[so_desc[0]]
+        # Setting up QT form
+        uiform_path = os.path.join(uidir, "FeatureFrameCreator.ui")
+        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
+        self.form.ChoicesBox.addItems(self.choices)
+        self.form.PickedTypeLabel.setText(so_desc[0])
+        QtCore.QObject.connect(self.form.ChoicesBox,
+                               QtCore.SIGNAL("currentIndexChanged(QString)"),
+                               self.choiceChanged)
+        # Setting up relevant illustrations
+        self.scenes = {}
+        for choice in self.choices:
+            sc = QtGui.QGraphicsScene()
+            icon = str(os.path.join(icondir, choice+".svg"))
+            sc.addItem(QtSvg.QGraphicsSvgItem(icon))
+            self.scenes[choice] = sc
+        self.choiceChanged(self.form.ChoicesBox.currentText())
+
+    def choiceChanged(self, choice):
+        if choice in self.scenes.keys():
+            self.form.Preview.setScene(self.scenes[choice])
+
+    def accept(self):
+        sel_choice = self.form.ChoicesBox.currentText()
+        paneldict = {"PickedPoint": PickedPointPanel,
+                     "PointOnEdge": PointOnEdgePanel,
+                     "PointOnSurface": PointOnSurfacePanel,
+                     "Center": CenterPanel,
+                     "PointOnCenterline": PointOnCenterlinePanel}
+        new_panel = paneldict[sel_choice](self.selected, self.so_desc)
+        FreeCADGui.Control.closeDialog()
+        FreeCADGui.Control.showDialog(new_panel)
+
+    def reject(self):
+        FreeCADGui.Control.closeDialog()
+
+
+class BaseFeaturePanel(object):
+    """Base feature panel to be inherited from."""
+    def __init__(self, selected, so_desc):
+        # Handle selected and FF placement
+        self.selected = selected
+        self.so_desc = so_desc
+        # Connect offset to spinboxes
+        QtCore.QObject.connect(self.form.XBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.offsetChanged)
+        QtCore.QObject.connect(self.form.YBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.offsetChanged)
+        QtCore.QObject.connect(self.form.ZBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.offsetChanged)
+        QtCore.QObject.connect(self.form.RollBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.offsetChanged)
+        QtCore.QObject.connect(self.form.PitchBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.offsetChanged)
+        QtCore.QObject.connect(self.form.YawBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.offsetChanged)
+        QtCore.QObject.connect(self.form.ScaleBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.scaleChanged)
+
+    def createFrame(self):
+        self.fframe = makeFeatureFrame(self.selected.Object, self.local_ffpl)
+        self.fframe.PrimitiveType = self.so_desc[0]
+        self.fframe.ShapeType = self.so_desc[1]
+
+    def scaleChanged(self):
+        scale = self.form.ScaleBox.value()
+        self.fframe.ViewObject.Scale = scale
+
+    def offsetChanged(self):
+        disp = FreeCAD.Vector(self.form.XBox.value(),
+                              self.form.YBox.value(),
+                              self.form.ZBox.value())
+        rot = FreeCAD.Rotation(self.form.YawBox.value(),
+                               self.form.PitchBox.value(),
+                               self.form.RollBox.value())
+        offset = FreeCAD.Placement(disp, rot)
+        self.fframe.Placement = offset
+
+    def accept(self):
+        framelabel = self.form.FrameLabelField.toPlainText()
+        if not len(framelabel) == 0:
+            self.fframe.Label = framelabel
+        # self.storeFeatureProperties()
+        FreeCADGui.Control.closeDialog()
+
+    def reject(self):
+        FreeCAD.activeDocument().removeObject(self.fframe.Name)
+        FreeCADGui.Control.closeDialog()
+
+
+class PickedPointPanel(BaseFeaturePanel):
+    """Create a feature frame at the picked point."""
+    # Not very clever. It just places the frame with default rotation.
+    def __init__(self, selected, so_desc):
+        uiform_path = os.path.join(uidir, "FramePlacer.ui")
+        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
+        BaseFeaturePanel.__init__(self, selected, so_desc)
+        parent_pl = selected.Object.Placement
+        abs_pl = FreeCAD.Placement(selected.PickedPoints[0],
+                                   FreeCAD.Rotation())
+        self.local_ffpl = parent_pl.inverse().multiply(abs_pl)
+        self.createFrame()
+        self.fframe.Positioning = "PickedPoint"
+
+
+class PointOnEdgePanel(BaseFeaturePanel):
+    """Create a feature frame on an edge."""
+    def __init__(self, selected, so_desc):
+        uiform_path = os.path.join(uidir, "FramePlacer.ui")
+        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
+        # Enable the first parameter
+        self.form.VLabel.setEnabled(True)
+        self.form.VLabel.setVisible(True)
+        self.form.VLabel.setText("u")
+        self.form.VBox.setEnabled(True)
+        self.form.VBox.setVisible(True)
+        QtCore.QObject.connect(self.form.VBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.parameterChanged)
+
+        # Enable percentage or param selection
+        self.form.OptionsLabel.setEnabled(True)
+        self.form.OptionsLabel.setVisible(True)
+        self.form.OptionsLabel.setText("Arc param.")
+        self.form.OptionsBox.setEnabled(True)
+        self.form.OptionsBox.setVisible(True)
+        self.form.OptionsBox.addItems(["mm", "%"])
+        QtCore.QObject.connect(self.form.OptionsBox,
+                               QtCore.SIGNAL("currentIndexChanged(QString)"),
+                               self.choiceChanged)
+        BaseFeaturePanel.__init__(self, selected, so_desc)
+
+        # Place the frame wherever the values are atm
+        self.local_ffpl = FreeCAD.Placement()
+        self.createFrame()
+        self.fframe.Positioning = "PointOnEdge"
+        self.choiceChanged(self.form.OptionsBox.currentText())
+        self.parameterChanged()
+
+    def parameterChanged(self):
+        value = self.form.VBox.value()
+        if self.form.OptionsBox.currentText() == "%":
+            value = self.p2mm(value)
+        edge = self.selected.SubObjects[0]
+        point = edge.valueAt(value)
+        tangentdir = edge.tangentAt(value)
+        rot = FreeCAD.Rotation(FreeCAD.Vector(1, 0, 0),
+                               tangentdir)
+        abs_ffpl = FreeCAD.Placement(point, rot)
+        parent_pl = self.selected.Object.Placement
+        self.local_ffpl = parent_pl.inverse().multiply(abs_ffpl)
+        self.fframe.FeaturePlacement = self.local_ffpl
+        # force recompute of placement?
+        self.fframe.Placement = self.fframe.Placement
+
+    def choiceChanged(self, choice):
+        value = self.form.VBox.value()
+        if choice == "mm":
+            value = self.p2mm(value)
+            self.form.VBox.setSuffix("mm")
+            parameter_range = self.selected.SubObjects[0].ParameterRange
+            self.form.VBox.setRange(*parameter_range)
+            self.form.VBox.setSingleStep(0.1)
+        elif choice == "%":
+            value = self.mm2p(value)
+            self.form.VBox.setSuffix("%")
+            self.form.VBox.setRange(0, 100.0)
+            self.form.VBox.setSingleStep(1.0)
+        self.form.VBox.setValue(value)
+
+    def p2mm(self, value):
+        parameter_range = self.selected.SubObjects[0].ParameterRange
+        delta = parameter_range[1] - parameter_range[0]
+        return 0.01*value*delta + parameter_range[0]
+
+    def mm2p(self, value):
+        parameter_range = self.selected.SubObjects[0].ParameterRange
+        delta = parameter_range[1] - parameter_range[0]
+        return 100.0*(value - parameter_range[0])/delta
+
+
+class PointOnSurfacePanel(BaseFeaturePanel):
+    """Create a feature on a surface."""
+    def __init__(self, selected, so_desc):
+        uiform_path = os.path.join(uidir, "FramePlacer.ui")
+        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
+        # Enable both parameters
+        self.form.ULabel.setVisible(True)
+        self.form.VLabel.setVisible(True)
+        self.form.UBox.setVisible(True)
+        self.form.VBox.setVisible(True)
+        QtCore.QObject.connect(self.form.VBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.parameterChanged)
+        QtCore.QObject.connect(self.form.UBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.parameterChanged)
+        # Enable percentage or param selection
+        self.form.OptionsLabel.setEnabled(True)
+        self.form.OptionsLabel.setVisible(True)
+        self.form.OptionsLabel.setText("Surf. param.")
+        self.form.OptionsBox.setEnabled(True)
+        self.form.OptionsBox.setVisible(True)
+        self.form.OptionsBox.addItems(["mm", "%"])
+        QtCore.QObject.connect(self.form.OptionsBox,
+                               QtCore.SIGNAL("currentIndexChanged(QString)"),
+                               self.choiceChanged)
+        BaseFeaturePanel.__init__(self, selected, so_desc)
+
+        # Place the frame wherever the values are atm
+        self.local_ffpl = FreeCAD.Placement()
+        self.createFrame()
+        self.fframe.Positioning = "PointOnSurface"
+        self.choiceChanged(self.form.OptionsBox.currentText())
+        self.parameterChanged()
+
+    def parameterChanged(self):
+        value = (self.form.UBox.value(), self.form.VBox.value())
+        if self.form.OptionsBox.currentText() == "%":
+            value = self.p2mm(value)
+        face = self.selected.SubObjects[0]
+        point = face.valueAt(*value)
+        normaldir = face.normalAt(*value)
+        rotation = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1),
+                                    normaldir)
+        abs_ffpl = FreeCAD.Placement(point, rotation)
+        parent_pl = self.selected.Object.Placement
+        self.local_ffpl = parent_pl.inverse().multiply(abs_ffpl)
+        self.fframe.FeaturePlacement = self.local_ffpl
+        # Force recompute of placement
+        self.fframe.Placement = self.fframe.Placement
+
+    def choiceChanged(self, choice):
+        value = (self.form.UBox.value(), self.form.VBox.value())
+        if choice == "mm":
+            value = self.p2mm(value)
+            parameter_range = self.selected.SubObjects[0].ParameterRange
+            self.form.UBox.setRange(parameter_range[0], parameter_range[1])
+            self.form.UBox.setSuffix("mm")
+            self.form.UBox.setSingleStep(0.1)
+            self.form.VBox.setRange(parameter_range[2], parameter_range[3])
+            self.form.VBox.setSuffix("mm")
+            self.form.VBox.setSingleStep(0.1)
+        elif choice == "%":
+            value = self.mm2p(value)
+            self.form.UBox.setRange(0.0, 100.0)
+            self.form.UBox.setSuffix("%")
+            self.form.VBox.setRange(0.0, 100.0)
+            self.form.UBox.setSingleStep(1.0)
+            self.form.VBox.setSuffix("%")
+            self.form.VBox.setSingleStep(1.0)
+        self.form.UBox.setValue(value[0])
+        self.form.VBox.setValue(value[1])
+
+
+    def p2mm(self, value):
+        parameter_range = self.selected.SubObjects[0].ParameterRange
+        delta = [parameter_range[1] - parameter_range[0],
+                 parameter_range[3] - parameter_range[2]]
+        u = 0.01*value[0]*delta[0] + parameter_range[0]
+        v = 0.01*value[1]*delta[1] + parameter_range[2]
+        return (u, v)
+
+    def mm2p(self, value):
+        parameter_range = self.selected.SubObjects[0].ParameterRange
+        delta = [parameter_range[1] - parameter_range[0],
+                 parameter_range[3] - parameter_range[2]]
+        u = 100.0*(value[0] - parameter_range[0])/delta[0]
+        v = 100.0*(value[1] - parameter_range[2])/delta[1]
+        return (u, v)
+
+
+class CenterPanel(BaseFeaturePanel):
+    """Create a feature frame on center."""
+    def __init__(self, selected, so_desc):
+        uiform_path = os.path.join(uidir, "FramePlacer.ui")
+        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
+        BaseFeaturePanel.__init__(self, selected, so_desc)
+        edge_curve_list = ["ArcOfCircle",
+                           "ArcOfEllipse",
+                           "ArcOfHyperbola",
+                           "ArcOfParabola",
+                           "Circle",
+                           "Ellipse",
+                           "Hyperbola",
+                           "Parabola"]
+        face_surf_list = ["Sphere",
+                          "Toroid"]
+        if so_desc[0] in edge_curve_list:
+            edge = selected.SubObjects[0]
+            axis = edge.Curve.Axis
+            rotation = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1),
+                                        axis)
+            center_point = edge.Curve.Center
+        elif so_desc[0] in face_surf_list:
+            face = selected.SubObjects[0]
+            axis = face.Surface.Axis
+            rotation = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1),
+                                        axis)
+            center_point = face.Surface.Center
+        else:
+            rotation = FreeCAD.Rotation()
+            center_point = selected.SubObjects[0].CenterOfMass
+        parent_pl = selected.Object.Placement
+        abs_pl = FreeCAD.Placement(center_point,
+                                   rotation)
+        self.local_ffpl = parent_pl.inverse().multiply(abs_pl)
+        self.createFrame()
+        self.fframe.Positioning = "Center"
+
+
+class PointOnCenterlinePanel(BaseFeaturePanel):
+    """Create a point on centerline of primitive."""
+    def __init__(self, selected, so_desc):
+        uiform_path = os.path.join(uidir, "FramePlacer.ui")
+        self.form = FreeCADGui.PySideUic.loadUi(uiform_path)
+        BaseFeaturePanel.__init__(self, selected, so_desc)
+        # Enable the along line parameter
+        self.form.VLabel.setVisible(True)
+        self.form.VLabel.setText("u")
+        self.form.VBox.setVisible(True)
+        QtCore.QObject.connect(self.form.VBox,
+                               QtCore.SIGNAL("valueChanged(double)"),
+                               self.parameterChanged)
+        # Enable percentage of param selection
+        self.form.OptionsLabel.setVisible(True)
+        self.form.OptionsLabel.setText("Line param.")
+        self.form.OptionsBox.setVisible(True)
+        self.form.OptionsBox.addItems(["mm", "%"])
+        QtCore.QObject.connect(self.form.OptionsBox,
+                               QtCore.SIGNAL("currentIndexChanged(QString)"),
+                               self.choiceChanged)
+        # Place the frame wherever the values are atm
+        self.local_ffpl = FreeCAD.Placement()
+        self.createFrame()
+        self.fframe.Positioning = "PointOnCenterline"
+        self.parameterChanged()
+
+    def parameterChanged(self):
+        value = self.form.VBox.value()
+        if self.form.OptionsBox.currentText() == "%":
+            value = self.p2mm(value)
+        displacement_pl = FreeCAD.Placement(FreeCAD.Vector(0, 0, value),
+                                            FreeCAD.Rotation())
+        # Find the center
+        axis = self.selected.SubObjects[0].Surface.Axis
+        rotation = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1),
+                                    axis)
+        center_point = self.selected.SubObjects[0].Surface.Center
+        center_pl = FreeCAD.Placement(center_point, rotation)
+        abs_ffpl = center_pl.multiply(displacement_pl)
+        parent_pl = self.selected.Object.Placement
+        self.local_ffpl = parent_pl.inverse().multiply(abs_ffpl)
+        self.fframe.FeaturePlacement = self.local_ffpl
+        # force recompute of placement
+        self.fframe.Placement = self.fframe.Placement
+        FreeCAD.Console.PrintMessage("paramChanged:"+str(value)+"\n")
+
+    def choiceChanged(self, choice):
+        FreeCAD.Console.PrintMessage("choiceChanged\n")
+        value = self.form.VBox.value()
+        FreeCAD.Console.PrintMessage("preval:"+str(value)+"\n")
+        if choice == "mm":
+            value = self.p2mm(value)
+            self.form.VBox.setSuffix("mm")
+            parameter_range = self.selected.SubObjects[0].ParameterRange[2:]
+            self.form.VBox.setRange(*parameter_range)
+            self.form.VBox.setSingleStep(0.1)
+        elif choice == "%":
+            value = self.mm2p(value)
+            self.form.VBox.setSuffix("%")
+            self.form.VBox.setRange(0, 100)
+            self.form.VBox.setSingleStep(1.0)
+        self.form.VBox.setValue(value)
+        FreeCAD.Console.PrintMessage("postval:"+str(value)+"\n")
+
+    def p2mm(self, value):
+        parameter_range = self.selected.SubObjects[0].ParameterRange[2:]
+        delta = parameter_range[1] - parameter_range[0]
+        return 0.01*value*delta + parameter_range[0]
+
+    def mm2p(self, value):
+        parameter_range = self.selected.SubObjects[0].ParameterRange[2:]
+        delta = parameter_range[1] - parameter_range[0]
+        return 100.0*(value - parameter_range[0])/delta
diff --git a/ARTools.py b/ARTools.py
new file mode 100644
index 0000000..64afad3
--- /dev/null
+++ b/ARTools.py
@@ -0,0 +1,119 @@
+import FreeCAD
+import Part
+if FreeCAD.GuiUp:
+    import FreeCADGui
+
+
+__title__ = "ARTools"
+__author__ = "Mathias Hauan Arbo"
+__workbenchname__ = "ARBench"
+__version__ = "0.1"
+__url__ = "https://github.com/mahaarbo/ARBench"
+__doc__ = """"""
+
+
+def vector2list(vec, scale=1e-3):
+    """Gives the vector as a list, set scale for scaling factor.
+    default scale = 1e-3 for units in m."""
+    return [vec.x*scale, vec.y*scale, vec.z*scale]
+
+
+def matrix2list(mat, scale=1e-3):
+    """Gives the transformation matrix as a list, set scale 1 to get in mm."""
+    return [[mat.A11, mat.A12, mat.A13, mat.A14*scale],
+            [mat.A21, mat.A22, mat.A23, mat.A24*scale],
+            [mat.A31, mat.A32, mat.A33, mat.A34*scale],
+            [mat.A41, mat.A42, mat.A43, mat.A44]]
+
+
+def placement2axisvec(pl):
+    """Gives the placement as an dictionary of origin and rotation.
+    origin: [x,y,z], rotation:{axis:[ax,ay,az], angle:ang}"""
+    return {"origin": vector2list(pl.Base),
+            "rotation": {"axis": vector2list(pl.Rotation.Axis, scale=1),
+                         "angle": pl.Rotation.Angle}}
+
+
+def describeSubObject(subobj):
+    """Returns PrimitiveType, ShapeType."""
+    if isinstance(subobj, Part.Vertex):
+        return "Vertex", "Vertex"
+    elif isinstance(subobj, Part.Edge):
+        if isinstance(subobj.Curve, Part.Arc):
+            return "Arc", "Edge"
+        elif isinstance(subobj.Curve, Part.ArcOfCircle):
+            return "ArcOfCircle", "Edge"
+        elif isinstance(subobj.Curve, Part.ArcOfEllipse):
+            return "ArcOfEllipse", "Edge"
+        elif isinstance(subobj.Curve, Part.ArcOfHyperbola):
+            return "ArcOfHyperbola", "Edge"
+        elif isinstance(subobj.Curve, Part.ArcOfParabola):
+            return "ArcOfParabola", "Edge"
+        elif isinstance(subobj.Curve, Part.BSplineCurve):
+            return "BSplineCurve", "Edge"
+        elif isinstance(subobj.Curve, Part.BezierCurve):
+            return "BezierCurve", "Edge"
+        elif isinstance(subobj.Curve, Part.Circle):
+            return "Circle", "Edge"
+        elif isinstance(subobj.Curve, Part.Ellipse):
+            return "Ellipse", "Edge"
+        elif isinstance(subobj.Curve, Part.Hyperbola):
+            return "Hyperbola", "Edge"
+        elif isinstance(subobj.Curve, Part.Line):
+            return "Line", "Edge"
+        elif isinstance(subobj.Curve, Part.Parabola):
+            return "Parabola", "Edge"
+        else:
+            FreeCAD.Console.PrintError("Unknown edge type")
+    elif isinstance(subobj, Part.Face):
+        if isinstance(subobj.Surface, Part.BSplineSurface):
+            return "BSplineSurface", "Face"
+        elif isinstance(subobj.Surface, Part.BezierSurface):
+            return "BezierSurface", "Face"
+        elif isinstance(subobj.Surface, Part.Cylinder):
+            return "Cylinder", "Face"
+        elif isinstance(subobj.Surface, Part.Plane):
+            return "Plane", "Face"
+        elif isinstance(subobj.Surface, Part.Sphere):
+            return "Sphere", "Face"
+        elif isinstance(subobj.Surface, Part.Toroid):
+            return "Toroid", "Face"
+        elif isinstance(subobj.Surface, Part.Cone):
+            return "Cone", "Face"
+        else:
+            FreeCAD.Console.PrintError("Unknown surface type")
+    # Better strategy desirable for the following:
+    elif isinstance(subobj, Part.Wire):
+        return "Wire", "Wire"
+    elif isinstance(subobj, Part.Shell):
+        return "Shell", "Shell"
+    elif isinstance(subobj, Part.Solid):
+        return "Solid", "Solid"
+    elif isinstance(subobj, Part.Compsolid):
+        return "Compsolid", "Compsolid"
+    elif isinstance(subobj, Part.Compound):
+        return "Compound", "Compound"
+    else:
+        FreeCAD.Console.PrintError("Unable to identify subobject.")
+
+
+def closeToZero(a, tol=1e-10):
+    return abs(a) < tol
+
+
+def spawnClassCommand(classname, function, resources):
+    """
+    Commands, or buttons, are tedious to write. So this function spawns
+    one if the function to be executed takes no arguments.
+    Example usage:
+    spawnClassCommand("testcommand", testfunc,
+    {"Pixmap":"", "MenuText":"menutext","ToolTip":"tooltiptext"})
+    then add "testcommand" to commandlist in InitGui.py"""
+    def Activated(s):
+        function()
+
+    def GetResources(s):
+        return resources
+    CommandClass = type("classname", (object,), {"Activated": Activated,
+                                                 "GetResources": GetResources})
+    FreeCADGui.addCommand(classname, CommandClass())
diff --git a/Init.py b/Init.py
new file mode 100644
index 0000000..2b677df
--- /dev/null
+++ b/Init.py
@@ -0,0 +1 @@
+#I made this?
diff --git a/InitGui.py b/InitGui.py
new file mode 100644
index 0000000..f4b984c
--- /dev/null
+++ b/InitGui.py
@@ -0,0 +1,36 @@
+class ARBench(Workbench):
+    MenuText = "ARBench"
+    ToolTip = "Annotation for Robotics workbench"
+    Icon = """"""
+
+    def __init__(self):
+        import os
+        self.Icon = os.path.join(FreeCAD.getUserAppDataDir(), "Mod", "ARBench", "UI", "icons", "frame.svg")
+ 
+    def Initialize(self):
+        """This function is executed when FreeCAD starts"""
+        import ARFrames
+        self.framecommands = ["FrameCommand",
+                              "AllPartFramesCommand",
+                              "FeatureFrameCommand"]
+        self.appendToolbar("AR Frames", self.framecommands)
+
+    def Activated(self):
+        """This function is executed when the workbench is activated."""
+        #
+        return
+
+    def Deactivated(self):
+        """This function is executed when the workbench is deactivated."""
+        #
+        return
+
+    def ContextMenu(self, recipient):
+        """This is execcuted whenever the user right-clicks on screen."""
+        pass
+
+    def GetClassName(self):
+        #This function is mandatory if this is a full python workbench
+        return "Gui::PythonWorkbench"
+
+Gui.addWorkbench(ARBench())
diff --git a/UI/FeatureFrameCreator.ui b/UI/FeatureFrameCreator.ui
new file mode 100644
index 0000000..1eb41b6
--- /dev/null
+++ b/UI/FeatureFrameCreator.ui
@@ -0,0 +1,73 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>FeatureFrameCreator</class>
+ <widget class="QDialog" name="FeatureFrameCreator">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>235</width>
+    <height>238</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>235</width>
+    <height>238</height>
+   </size>
+  </property>
+  <property name="baseSize">
+   <size>
+    <width>235</width>
+    <height>238</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Feature Frame</string>
+  </property>
+  <widget class="QGraphicsView" name="Preview">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>29</y>
+     <width>170</width>
+     <height>151</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="ChoicesBox">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>190</y>
+     <width>171</width>
+     <height>27</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PickedTypeLabel">
+   <property name="geometry">
+    <rect>
+     <x>35</x>
+     <y>10</y>
+     <width>161</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>TextLabel</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignCenter</set>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/UI/FramePlacer.ui b/UI/FramePlacer.ui
new file mode 100644
index 0000000..335f3a7
--- /dev/null
+++ b/UI/FramePlacer.ui
@@ -0,0 +1,520 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>dialog</class>
+ <widget class="QDialog" name="dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>299</width>
+    <height>292</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>299</width>
+    <height>292</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Part Frame Creator</string>
+  </property>
+  <widget class="QDoubleSpinBox" name="XBox">
+   <property name="geometry">
+    <rect>
+     <x>52</x>
+     <y>85</y>
+     <width>103</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>Offset in part frame x direction</string>
+   </property>
+   <property name="suffix">
+    <string> mm</string>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="YBox">
+   <property name="geometry">
+    <rect>
+     <x>52</x>
+     <y>118</y>
+     <width>103</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>offset in part frame z direction</string>
+   </property>
+   <property name="suffix">
+    <string> mm</string>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="ZBox">
+   <property name="geometry">
+    <rect>
+     <x>52</x>
+     <y>151</y>
+     <width>103</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>offset in part frame z direction</string>
+   </property>
+   <property name="suffix">
+    <string> mm</string>
+   </property>
+   <property name="decimals">
+    <number>2</number>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="XLabel">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>85</y>
+     <width>16</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>x</string>
+   </property>
+   <property name="buddy">
+    <cstring>XBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="YLabel">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>118</y>
+     <width>16</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>y</string>
+   </property>
+   <property name="buddy">
+    <cstring>YBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="ZLabel">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>151</y>
+     <width>16</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>z</string>
+   </property>
+   <property name="buddy">
+    <cstring>ZBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="RollLabel">
+   <property name="geometry">
+    <rect>
+     <x>161</x>
+     <y>85</y>
+     <width>24</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>roll offset from part frame</string>
+   </property>
+   <property name="text">
+    <string>roll</string>
+   </property>
+   <property name="buddy">
+    <cstring>RollBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PitchLabel">
+   <property name="geometry">
+    <rect>
+     <x>161</x>
+     <y>118</y>
+     <width>35</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>pitch offset from part frame</string>
+   </property>
+   <property name="text">
+    <string>pitch</string>
+   </property>
+   <property name="buddy">
+    <cstring>PitchBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="YawLabel">
+   <property name="geometry">
+    <rect>
+     <x>161</x>
+     <y>151</y>
+     <width>29</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>yaw offset from part frame</string>
+   </property>
+   <property name="text">
+    <string>yaw</string>
+   </property>
+   <property name="buddy">
+    <cstring>YawBox</cstring>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="RollBox">
+   <property name="geometry">
+    <rect>
+     <x>228</x>
+     <y>85</y>
+     <width>61</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>roll offset from part frame</string>
+   </property>
+   <property name="suffix">
+    <string>°</string>
+   </property>
+   <property name="decimals">
+    <number>1</number>
+   </property>
+   <property name="maximum">
+    <double>360.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="PitchBox">
+   <property name="geometry">
+    <rect>
+     <x>228</x>
+     <y>118</y>
+     <width>61</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>pitch offset from part frame</string>
+   </property>
+   <property name="suffix">
+    <string>°</string>
+   </property>
+   <property name="decimals">
+    <number>1</number>
+   </property>
+   <property name="maximum">
+    <double>360.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="YawBox">
+   <property name="geometry">
+    <rect>
+     <x>228</x>
+     <y>151</y>
+     <width>61</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>yaw offset from part frame</string>
+   </property>
+   <property name="suffix">
+    <string>°</string>
+   </property>
+   <property name="decimals">
+    <number>1</number>
+   </property>
+   <property name="maximum">
+    <double>360.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QPlainTextEdit" name="FrameLabelField">
+   <property name="geometry">
+    <rect>
+     <x>94</x>
+     <y>9</y>
+     <width>195</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="sizePolicy">
+    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+     <horstretch>0</horstretch>
+     <verstretch>0</verstretch>
+    </sizepolicy>
+   </property>
+   <property name="toolTip">
+    <string>Label of the frame</string>
+   </property>
+   <property name="statusTip">
+    <string>Label of the new frame</string>
+   </property>
+   <property name="whatsThis">
+    <string>Label of the new frame, must be unique</string>
+   </property>
+   <property name="verticalScrollBarPolicy">
+    <enum>Qt::ScrollBarAlwaysOff</enum>
+   </property>
+  </widget>
+  <widget class="QLabel" name="FrameLabelLabel">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>9</y>
+     <width>79</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Frame label</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="OffsetLabel">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>48</y>
+     <width>281</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>Define an offset from the part frame if needed</string>
+   </property>
+   <property name="text">
+    <string>Offset from part frame</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignCenter</set>
+   </property>
+  </widget>
+  <widget class="QLabel" name="ScaleLabel">
+   <property name="geometry">
+    <rect>
+     <x>160</x>
+     <y>180</y>
+     <width>71</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="statusTip">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="whatsThis">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="text">
+    <string>Axis scale</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="ScaleBox">
+   <property name="geometry">
+    <rect>
+     <x>230</x>
+     <y>180</y>
+     <width>60</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="statusTip">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="whatsThis">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="minimum">
+    <double>0.100000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>2.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.010000000000000</double>
+   </property>
+   <property name="value">
+    <double>0.110000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="OptionsLabel">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>220</y>
+     <width>66</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>Options</string>
+   </property>
+   <property name="buddy">
+    <cstring>OptionsBox</cstring>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="OptionsBox">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>210</x>
+     <y>220</y>
+     <width>78</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="UBox">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>250</y>
+     <width>62</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="VBox">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>220</x>
+     <y>250</y>
+     <width>62</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+  </widget>
+  <widget class="QLabel" name="ULabel">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>80</x>
+     <y>250</y>
+     <width>16</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>u</string>
+   </property>
+   <property name="buddy">
+    <cstring>UBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="VLabel">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>200</x>
+     <y>250</y>
+     <width>16</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>v</string>
+   </property>
+   <property name="buddy">
+    <cstring>VBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="CoordsLabel">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>256</y>
+     <width>51</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>Coords:</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/UI/InsertTaskCreator.ui b/UI/InsertTaskCreator.ui
new file mode 100644
index 0000000..f2830c3
--- /dev/null
+++ b/UI/InsertTaskCreator.ui
@@ -0,0 +1,262 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Dialog</class>
+ <widget class="QDialog" name="Dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>323</width>
+    <height>325</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>316</width>
+    <height>325</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QLabel" name="TaskLabel">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>20</y>
+     <width>71</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Task Label</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="SelectButton">
+   <property name="geometry">
+    <rect>
+     <x>150</x>
+     <y>290</y>
+     <width>161</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Get from selection</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="TaskLabelField">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>20</y>
+     <width>211</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>0</width>
+     <height>0</height>
+    </size>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleLabel">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>50</y>
+     <width>31</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Hole</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegLabel">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>130</y>
+     <width>31</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Peg</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HolePartLabel">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>70</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Part:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleFaceLabel">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>90</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Face:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegPartLabel">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>150</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Part:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegFaceLabel">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>170</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Face:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HolePartField">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>70</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>PartLabel</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleFaceIDField">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>90</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>FaceID</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegFaceIDField">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>170</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>FaceID</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegPartField">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>150</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>PartLabel</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleFeatureSummary">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>110</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Feature Description</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleFeatureLabel">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>110</y>
+     <width>61</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Feature:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegFeatureSummary">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>190</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Feature Description</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegFeatureLabel">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>190</y>
+     <width>61</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Feature:</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="AnimateButton">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>290</y>
+     <width>131</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Animate</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/UI/InsertTaskCreator.ui~ b/UI/InsertTaskCreator.ui~
new file mode 100644
index 0000000..3338ac2
--- /dev/null
+++ b/UI/InsertTaskCreator.ui~
@@ -0,0 +1,401 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Dialog</class>
+ <widget class="QDialog" name="Dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>323</width>
+    <height>325</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>316</width>
+    <height>325</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QLabel" name="TaskLabel">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>20</y>
+     <width>71</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Task Label</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="PushButton">
+   <property name="geometry">
+    <rect>
+     <x>150</x>
+     <y>290</y>
+     <width>161</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Get from selection</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="lineEdit">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>20</y>
+     <width>211</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>0</width>
+     <height>0</height>
+    </size>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleLabel">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>50</y>
+     <width>31</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Hole</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegLabel">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>130</y>
+     <width>31</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Peg</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HolePartLabel">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>70</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Part:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleFaceLabel">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>90</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Face:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegPartLabel">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>150</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Part:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegFaceLabel">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>170</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Face:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HolePartField">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>70</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>PartLabel</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleFaceIDField">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>90</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>FaceID</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegFaceIDField">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>170</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>FaceID</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegPartField">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>150</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>PartLabel</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleFeatureSummary">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>110</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Feature Description</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleFeatureLabel">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>110</y>
+     <width>61</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Feature:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegFeatureSummary">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>190</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Feature Description</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegFeatureLabel">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>190</y>
+     <width>61</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Feature:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="YLabel">
+   <property name="geometry">
+    <rect>
+     <x>80</x>
+     <y>250</y>
+     <width>16</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>y</string>
+   </property>
+   <property name="buddy">
+    <cstring>YBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="XLabel">
+   <property name="geometry">
+    <rect>
+     <x>80</x>
+     <y>230</y>
+     <width>16</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>x</string>
+   </property>
+   <property name="buddy">
+    <cstring>XBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="ZLabel">
+   <property name="geometry">
+    <rect>
+     <x>80</x>
+     <y>270</y>
+     <width>16</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>z</string>
+   </property>
+   <property name="buddy">
+    <cstring>ZBox</cstring>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="YBox">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>250</y>
+     <width>61</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>offset in part frame z direction</string>
+   </property>
+   <property name="suffix">
+    <string/>
+   </property>
+   <property name="minimum">
+    <double>-1.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.100000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="XBox">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>230</y>
+     <width>61</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>Offset in part frame x direction</string>
+   </property>
+   <property name="suffix">
+    <string/>
+   </property>
+   <property name="minimum">
+    <double>-1.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.100000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="ZBox">
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>270</y>
+     <width>61</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>offset in part frame z direction</string>
+   </property>
+   <property name="suffix">
+    <string/>
+   </property>
+   <property name="decimals">
+    <number>2</number>
+   </property>
+   <property name="minimum">
+    <double>-1.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.100000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="AssemblyAxisLabel">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>210</y>
+     <width>121</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Assembly Axis</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="AnimateButton">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>290</y>
+     <width>131</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Animate</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/UI/PartFrameCreator.ui b/UI/PartFrameCreator.ui
new file mode 100644
index 0000000..335f3a7
--- /dev/null
+++ b/UI/PartFrameCreator.ui
@@ -0,0 +1,520 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>dialog</class>
+ <widget class="QDialog" name="dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>299</width>
+    <height>292</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>299</width>
+    <height>292</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Part Frame Creator</string>
+  </property>
+  <widget class="QDoubleSpinBox" name="XBox">
+   <property name="geometry">
+    <rect>
+     <x>52</x>
+     <y>85</y>
+     <width>103</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>Offset in part frame x direction</string>
+   </property>
+   <property name="suffix">
+    <string> mm</string>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="YBox">
+   <property name="geometry">
+    <rect>
+     <x>52</x>
+     <y>118</y>
+     <width>103</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>offset in part frame z direction</string>
+   </property>
+   <property name="suffix">
+    <string> mm</string>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="ZBox">
+   <property name="geometry">
+    <rect>
+     <x>52</x>
+     <y>151</y>
+     <width>103</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>offset in part frame z direction</string>
+   </property>
+   <property name="suffix">
+    <string> mm</string>
+   </property>
+   <property name="decimals">
+    <number>2</number>
+   </property>
+   <property name="minimum">
+    <double>-1000.000000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>1000.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="XLabel">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>85</y>
+     <width>16</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>x</string>
+   </property>
+   <property name="buddy">
+    <cstring>XBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="YLabel">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>118</y>
+     <width>16</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>y</string>
+   </property>
+   <property name="buddy">
+    <cstring>YBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="ZLabel">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>151</y>
+     <width>16</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>z</string>
+   </property>
+   <property name="buddy">
+    <cstring>ZBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="RollLabel">
+   <property name="geometry">
+    <rect>
+     <x>161</x>
+     <y>85</y>
+     <width>24</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>roll offset from part frame</string>
+   </property>
+   <property name="text">
+    <string>roll</string>
+   </property>
+   <property name="buddy">
+    <cstring>RollBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PitchLabel">
+   <property name="geometry">
+    <rect>
+     <x>161</x>
+     <y>118</y>
+     <width>35</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>pitch offset from part frame</string>
+   </property>
+   <property name="text">
+    <string>pitch</string>
+   </property>
+   <property name="buddy">
+    <cstring>PitchBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="YawLabel">
+   <property name="geometry">
+    <rect>
+     <x>161</x>
+     <y>151</y>
+     <width>29</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>yaw offset from part frame</string>
+   </property>
+   <property name="text">
+    <string>yaw</string>
+   </property>
+   <property name="buddy">
+    <cstring>YawBox</cstring>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="RollBox">
+   <property name="geometry">
+    <rect>
+     <x>228</x>
+     <y>85</y>
+     <width>61</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>roll offset from part frame</string>
+   </property>
+   <property name="suffix">
+    <string>°</string>
+   </property>
+   <property name="decimals">
+    <number>1</number>
+   </property>
+   <property name="maximum">
+    <double>360.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="PitchBox">
+   <property name="geometry">
+    <rect>
+     <x>228</x>
+     <y>118</y>
+     <width>61</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>pitch offset from part frame</string>
+   </property>
+   <property name="suffix">
+    <string>°</string>
+   </property>
+   <property name="decimals">
+    <number>1</number>
+   </property>
+   <property name="maximum">
+    <double>360.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="YawBox">
+   <property name="geometry">
+    <rect>
+     <x>228</x>
+     <y>151</y>
+     <width>61</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>yaw offset from part frame</string>
+   </property>
+   <property name="suffix">
+    <string>°</string>
+   </property>
+   <property name="decimals">
+    <number>1</number>
+   </property>
+   <property name="maximum">
+    <double>360.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QPlainTextEdit" name="FrameLabelField">
+   <property name="geometry">
+    <rect>
+     <x>94</x>
+     <y>9</y>
+     <width>195</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="sizePolicy">
+    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+     <horstretch>0</horstretch>
+     <verstretch>0</verstretch>
+    </sizepolicy>
+   </property>
+   <property name="toolTip">
+    <string>Label of the frame</string>
+   </property>
+   <property name="statusTip">
+    <string>Label of the new frame</string>
+   </property>
+   <property name="whatsThis">
+    <string>Label of the new frame, must be unique</string>
+   </property>
+   <property name="verticalScrollBarPolicy">
+    <enum>Qt::ScrollBarAlwaysOff</enum>
+   </property>
+  </widget>
+  <widget class="QLabel" name="FrameLabelLabel">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>9</y>
+     <width>79</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Frame label</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="OffsetLabel">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>48</y>
+     <width>281</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>Define an offset from the part frame if needed</string>
+   </property>
+   <property name="text">
+    <string>Offset from part frame</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignCenter</set>
+   </property>
+  </widget>
+  <widget class="QLabel" name="ScaleLabel">
+   <property name="geometry">
+    <rect>
+     <x>160</x>
+     <y>180</y>
+     <width>71</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="statusTip">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="whatsThis">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="text">
+    <string>Axis scale</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="ScaleBox">
+   <property name="geometry">
+    <rect>
+     <x>230</x>
+     <y>180</y>
+     <width>60</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="toolTip">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="statusTip">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="whatsThis">
+    <string>Scale of the axis arrows</string>
+   </property>
+   <property name="minimum">
+    <double>0.100000000000000</double>
+   </property>
+   <property name="maximum">
+    <double>2.000000000000000</double>
+   </property>
+   <property name="singleStep">
+    <double>0.010000000000000</double>
+   </property>
+   <property name="value">
+    <double>0.110000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="OptionsLabel">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>220</y>
+     <width>66</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>Options</string>
+   </property>
+   <property name="buddy">
+    <cstring>OptionsBox</cstring>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="OptionsBox">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>210</x>
+     <y>220</y>
+     <width>78</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="UBox">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>100</x>
+     <y>250</y>
+     <width>62</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+  </widget>
+  <widget class="QDoubleSpinBox" name="VBox">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>220</x>
+     <y>250</y>
+     <width>62</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+  </widget>
+  <widget class="QLabel" name="ULabel">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>80</x>
+     <y>250</y>
+     <width>16</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>u</string>
+   </property>
+   <property name="buddy">
+    <cstring>UBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="VLabel">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>200</x>
+     <y>250</y>
+     <width>16</width>
+     <height>31</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>v</string>
+   </property>
+   <property name="buddy">
+    <cstring>VBox</cstring>
+   </property>
+  </widget>
+  <widget class="QLabel" name="CoordsLabel">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>256</y>
+     <width>51</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="visible">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>Coords:</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/UI/ScrewTaskCreator.ui b/UI/ScrewTaskCreator.ui
new file mode 100644
index 0000000..fc20be0
--- /dev/null
+++ b/UI/ScrewTaskCreator.ui
@@ -0,0 +1,239 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Dialog</class>
+ <widget class="QDialog" name="Dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>337</width>
+    <height>322</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>337</width>
+    <height>322</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QLabel" name="HoleLabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>50</y>
+     <width>31</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Hole</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegPartLabel">
+   <property name="geometry">
+    <rect>
+     <x>60</x>
+     <y>150</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Part:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegFaceLabel">
+   <property name="geometry">
+    <rect>
+     <x>60</x>
+     <y>170</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Face:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegFaceIDField">
+   <property name="geometry">
+    <rect>
+     <x>110</x>
+     <y>170</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>FaceID</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="TaskLabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>20</y>
+     <width>71</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Task Label</string>
+   </property>
+  </widget>
+  <widget class="QLineEdit" name="TaskLabelField">
+   <property name="geometry">
+    <rect>
+     <x>110</x>
+     <y>20</y>
+     <width>211</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="minimumSize">
+    <size>
+     <width>0</width>
+     <height>0</height>
+    </size>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="AnimateButton">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>290</y>
+     <width>131</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Animate</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="SelectButton">
+   <property name="geometry">
+    <rect>
+     <x>160</x>
+     <y>290</y>
+     <width>161</width>
+     <height>27</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Get from selection</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleFaceIDField">
+   <property name="geometry">
+    <rect>
+     <x>110</x>
+     <y>90</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>FaceID</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HolePartLabel">
+   <property name="geometry">
+    <rect>
+     <x>60</x>
+     <y>70</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Part:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HoleFaceLabel">
+   <property name="geometry">
+    <rect>
+     <x>60</x>
+     <y>90</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Face:</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegLabel">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>130</y>
+     <width>41</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Screw</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="HolePartField">
+   <property name="geometry">
+    <rect>
+     <x>110</x>
+     <y>70</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>PartLabel</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="PegPartField">
+   <property name="geometry">
+    <rect>
+     <x>110</x>
+     <y>150</y>
+     <width>231</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>PartLabel</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="ScrewTypeLabel">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>190</y>
+     <width>66</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Type:</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+  <widget class="QLabel" name="ScrewTypeField">
+   <property name="geometry">
+    <rect>
+     <x>110</x>
+     <y>190</y>
+     <width>161</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>ThreadType</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
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new file mode 100644
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+        <dc:contributor>
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