diff --git a/controllers/link.js b/controllers/link.js
index ba3b3c2aa..6a0ba2240 100644
--- a/controllers/link.js
+++ b/controllers/link.js
@@ -19,7 +19,7 @@ function getLinkData(fullEntry, wasAdded) {
     var linkAddedData = null;
 
     if (fullEntry) {
-        console.log('getLinkData', fullEntry);
+        // console.log('getLinkData', fullEntry);
 
         var linkObjectA = fullEntry['objectA'];
         var linkObjectB = fullEntry['objectB'];
@@ -65,6 +65,7 @@ function getLinkData(fullEntry, wasAdded) {
  * @param {Link} body
  */
 const newLink = function (objectID, frameID, linkID, body) {
+
     var updateStatus = 'nothing happened';
 
     var foundFrame = utilities.getFrame(objects, objectID, frameID);
@@ -77,9 +78,22 @@ const newLink = function (objectID, frameID, linkID, body) {
             body.frameA === body.frameB &&
             body.nodeA === body.nodeB);
 
-        foundFrame.links[linkID] = body;
+        utilities.forEachLinkInFrame(utilities.getFrame(objects, body.objectA, body.frameA), function (thisLink) {
+            if (!body.loop) {
+                console.log('link already exists');
+                body.loop = (body.objectA === thisLink.objectA &&
+                    body.objectB === thisLink.objectB &&
+                    body.frameA === thisLink.frameA &&
+                    body.frameB === thisLink.frameB &&
+                    body.nodeA === thisLink.nodeA &&
+                    body.nodeB === thisLink.nodeB
+                );
+            }
+        });
+
 
         if (!body.loop) {
+            foundFrame.links[linkID] = body;
             console.log('added link: ' + linkID);
             // write the object state to the permanent storage.
             utilities.writeObjectToFile(objects, objectID, objectsPath, globalVariables.saveToDisk);
@@ -230,7 +244,7 @@ const deleteLinkLock = function (objectKey, frameKey, linkKey, password) {
     return updateStatus;
 };
 
-const setup = function(objects_, knownObjects_, socketArray_, globalVariables_, hardwareAPI_, objectsPath_, socketUpdater_) {
+const setup = function (objects_, knownObjects_, socketArray_, globalVariables_, hardwareAPI_, objectsPath_, socketUpdater_) {
     objects = objects_;
     knownObjects = knownObjects_;
     socketArray = socketArray_;
@@ -246,4 +260,4 @@ module.exports = {
     addLinkLock: addLinkLock,
     deleteLinkLock: deleteLinkLock,
     setup: setup
-};
\ No newline at end of file
+};
diff --git a/libraries/hardwareInterfaces.js b/libraries/hardwareInterfaces.js
index 05a6e91c5..a5dff9eb8 100644
--- a/libraries/hardwareInterfaces.js
+++ b/libraries/hardwareInterfaces.js
@@ -241,7 +241,7 @@ exports.getKnownObjects = function () {
     return knownObjects;
 };
 
-exports.getSceneGraph = function() {
+exports.getSceneGraph = function () {
     // send acyclic version of sceneGraph by removing linkedVehicles if needed
     sceneGraphReference.recomputeGraph();
     let sceneGraphCopy = {};
@@ -252,18 +252,18 @@ exports.getSceneGraph = function() {
     return sceneGraphCopy;
 };
 
-exports.getWorldGraph = function() {
+exports.getWorldGraph = function () {
     if (!worldGraphReference) {
         return {};
     }
     return worldGraphReference.compile().getSerializableCopy();
 };
 
-exports.getDistanceOneToMany = function(id1, ids) {
+exports.getDistanceOneToMany = function (id1, ids) {
     sceneGraphReference.recomputeGraph();
     let distances = {};
     distances[id1] = {};
-    ids.forEach(function(id2) {
+    ids.forEach(function (id2) {
         let computedDistance = sceneGraphReference.getDistanceBetween(id1, id2);
         console.log(computedDistance);
         distances[id1][id2] = computedDistance;
@@ -271,7 +271,7 @@ exports.getDistanceOneToMany = function(id1, ids) {
     return distances;
 };
 
-exports.onSceneGraphUpdated = function(callback) {
+exports.onSceneGraphUpdated = function (callback) {
     sceneGraphReference.onUpdate(callback);
 };
 
@@ -733,7 +733,7 @@ let setHardwareInterfaceSettingsImpl = null;
  * @param {Array.<string>} limitToKeys - if provided, only affects the properties of settings whose keys are included in this array
  * @param {successCallback} callback
  */
-exports.setHardwareInterfaceSettings = function(interfaceName, settings, limitToKeys, callback) {
+exports.setHardwareInterfaceSettings = function (interfaceName, settings, limitToKeys, callback) {
     return setHardwareInterfaceSettingsImpl(interfaceName, settings, limitToKeys, callback);
 };
 
@@ -745,7 +745,7 @@ exports.setHardwareInterfaceSettings = function(interfaceName, settings, limitTo
  * Complement to setup() which is necessary due to the unique positioning of
  * the setHardwareInterfaceSettings function
  */
-exports.setHardwareInterfaceSettingsImpl = function(setHardwareInterfaceSettings) {
+exports.setHardwareInterfaceSettingsImpl = function (setHardwareInterfaceSettings) {
     setHardwareInterfaceSettingsImpl = setHardwareInterfaceSettings;
 };
 
diff --git a/libraries/nodeUtilities.js b/libraries/nodeUtilities.js
index 94cc5de34..79b241a68 100644
--- a/libraries/nodeUtilities.js
+++ b/libraries/nodeUtilities.js
@@ -3,14 +3,16 @@ const Link = require('../models/Link');
 var linkController;
 // Pointers populated from server.js with setup()
 var objects = {};
+var sceneGraph = {};
 var knownObjects = {};
 var socketArray = {};
 var globalVariables = {};
 var hardwareAPI = {};
 var objectsPath = {};
 
-exports.setup = function (_objects, _knownObjects, _socketArray, _globalVariables, _hardwareAPI, _objectsPath, _linkController) {
+exports.setup = function (_objects, _sceneGraph, _knownObjects, _socketArray, _globalVariables, _hardwareAPI, _objectsPath, _linkController) {
     objects = _objects;
+    sceneGraph = _sceneGraph;
     knownObjects = _knownObjects;
     socketArray = _socketArray;
     globalVariables = _globalVariables;
@@ -21,33 +23,45 @@ exports.setup = function (_objects, _knownObjects, _socketArray, _globalVariable
 
 exports.deepCopy = utilities.deepCopy;
 
-exports.searchNodeByType = function (nodeType, object, tool, node, callback) {
-
-    let thisObject = utilities.getObject(objects, object);
-
+exports.searchNodeByType = function (nodeType, _object, tool, node, callback) {
+    let thisObjectKey = _object;
+    if (!(_object in objects)) {
+        thisObjectKey = utilities.getObjectIdFromTargetOrObjectFile(_object, objectsPath);
+    }
+    let thisObject = utilities.getObject(objects, thisObjectKey);
     if (!tool && !node) {
         utilities.forEachFrameInObject(thisObject, function (thisTool, toolKey) {
             utilities.forEachNodeInFrame(thisTool, function (thisNode, nodeKey) {
-                if (thisNode.type === nodeType) callback(object, toolKey, nodeKey);
+                if (thisNode.type === nodeType) callback(thisObjectKey, toolKey, nodeKey);
             });
         });
     } else if (!node) {
-        let thisTool = utilities.getFrame(objects, object, tool);
+        let thisTool = utilities.getFrame(objects, thisObjectKey, tool);
+        if (!thisTool) {
+            thisTool = utilities.getFrame(objects, thisObjectKey, thisObjectKey + tool);
+        }
         utilities.forEachNodeInFrame(thisTool, function (thisNode, nodeKey) {
-            if (thisNode.type === nodeType) callback(object, tool, nodeKey);
+            if (thisNode.type === nodeType) {
+                callback(thisObjectKey, tool, nodeKey);
+            }
         });
 
     } else if (!tool) {
         utilities.forEachFrameInObject(thisObject, function (tool, toolKey) {
-            let thisNode = utilities.getFrame(objects, toolKey, node);
+            let thisNode = utilities.getFrame(objects, thisObjectKey, toolKey, node);
             if (!thisNode) {
-                if (thisNode.type === nodeType) callback(object, toolKey, node);
+                if (thisNode.type === nodeType) callback(thisObjectKey, toolKey, node);
             }
         });
     }
 };
 
-exports.createLink = function (originObject, originTool, originNode, destinationObject, destinationTool, destinationNode) {
+exports.createLink = function (originObject, _originTool, originNode, destinationObject, destinationTool, destinationNode) {
+
+    let originTool = _originTool;
+    if (!utilities.getFrame(objects, originObject, _originTool)) {
+        originTool = originObject + _originTool;
+    }
     var linkBody = new Link();
     linkBody.objectA = originObject;
     linkBody.frameA = originTool;
@@ -63,12 +77,16 @@ exports.deleteLink = function (object, tool, link) {
 };
 
 exports.getWorldObject = function (object) {
-    //todo @Ben how do I find out what world object is assosiated with the object?
+    let thisObject = utilities.getObject(objects, object);
+    if (thisObject) {
+        if (thisObject.hasOwnProperty('worldId')) {
+            return thisObject.worldId;
+        }
+    }
     return null;
 };
 
-exports.getWorldLocation = function (object) {
-    //todo @Ben how do I find out the world location
-    return null;
+exports.getWorldLocation = function (objectID) {
+    return sceneGraph.getWorldPosition(objectID);
 };
 
diff --git a/libraries/recorder.js b/libraries/recorder.js
index 7d7c3a72d..e1ffdd1e8 100644
--- a/libraries/recorder.js
+++ b/libraries/recorder.js
@@ -84,6 +84,7 @@ recorder.recurse = function (obj, objectInTime, keyString) {
 
 recorder.getItemFromArray = function (object, array) {
     let item = object;
+    if (!item) return null;
     let returnItem = {};
     array.forEach(function (data) {
         if (data !== '') {
@@ -97,6 +98,7 @@ recorder.getItemFromArray = function (object, array) {
             }
             // let newItem = item[data];
             returnItem = item;
+            if(item[data])
             item = item[data];
         }
     });
diff --git a/libraries/utilities.js b/libraries/utilities.js
index c83fc6c01..367af92e6 100644
--- a/libraries/utilities.js
+++ b/libraries/utilities.js
@@ -116,8 +116,8 @@ exports.createFolder = function (folderVar, objectsPath, debug) {
             }
         });
     }
-/**
-    if (!fs.existsSync(firstFrame)) {
+    /**
+     if (!fs.existsSync(firstFrame)) {
         fs.mkdirSync(firstFrame, '0766', function (err) {
             if (err) {
                 console.error(err);
@@ -134,7 +134,7 @@ exports.createFolder = function (folderVar, objectsPath, debug) {
         }
         //  writeObjectToFile(tempFolderName);
     }
-**/
+     **/
 };
 
 
@@ -703,6 +703,7 @@ exports.actionSender = function (action, timeToLive, beatport) {
 function doesObjectExist(objects, objectKey) {
     return objects.hasOwnProperty(objectKey);
 }
+
 exports.doesObjectExist = doesObjectExist;
 
 function getObject(objects, objectKey) {
@@ -711,6 +712,7 @@ function getObject(objects, objectKey) {
     }
     return null;
 }
+
 exports.getObject = getObject;
 
 function doesFrameExist(objects, objectKey, frameKey) {
@@ -722,6 +724,7 @@ function doesFrameExist(objects, objectKey, frameKey) {
     }
     return false;
 }
+
 exports.doesFrameExist = doesFrameExist;
 
 function getFrame(objects, objectKey, frameKey) {
@@ -733,6 +736,7 @@ function getFrame(objects, objectKey, frameKey) {
     }
     return null;
 }
+
 exports.getFrame = getFrame;
 
 function doesNodeExist(objects, objectKey, frameKey, nodeKey) {
@@ -744,6 +748,7 @@ function doesNodeExist(objects, objectKey, frameKey, nodeKey) {
     }
     return false;
 }
+
 exports.doesNodeExist = doesNodeExist;
 
 function getNode(objects, objectKey, frameKey, nodeKey) {
@@ -755,6 +760,7 @@ function getNode(objects, objectKey, frameKey, nodeKey) {
     }
     return null;
 }
+
 exports.getNode = getNode;
 
 /**
@@ -769,6 +775,7 @@ function getObjectAsync(objects, objectKey, callback) {
     var object = objects[objectKey];
     callback(null, object);
 }
+
 exports.getObjectAsync = getObjectAsync;
 
 /**
@@ -790,6 +797,7 @@ function getFrameAsync(objects, objectKey, frameKey, callback) {
         callback(null, object, frame);
     });
 }
+
 exports.getFrameAsync = getFrameAsync;
 
 /**
@@ -812,6 +820,7 @@ function getNodeAsync(objects, objectKey, frameKey, nodeKey, callback) {
         callback(null, object, frame, node);
     });
 }
+
 exports.getNodeAsync = getNodeAsync;
 
 /**
@@ -841,6 +850,7 @@ function getFrameOrNode(objects, objectKey, frameKey, nodeKey, callback) {
         callback(null, object, frame, node);
     });
 }
+
 exports.getFrameOrNode = getFrameOrNode;
 
 function forEachObject(objects, callback) {
@@ -849,24 +859,41 @@ function forEachObject(objects, callback) {
         callback(objects[objectKey], objectKey);
     }
 }
+
 exports.forEachObject = forEachObject;
 
 function forEachFrameInObject(object, callback) {
+    if (!object) return;
     for (var frameKey in object.frames) {
         if (!object.frames.hasOwnProperty(frameKey)) continue;
         callback(object.frames[frameKey], frameKey);
     }
 }
+
 exports.forEachFrameInObject = forEachFrameInObject;
 
 function forEachNodeInFrame(frame, callback) {
+    if (!frame) return;
     for (var nodeKey in frame.nodes) {
         if (!frame.nodes.hasOwnProperty(nodeKey)) continue;
         callback(frame.nodes[nodeKey], nodeKey);
     }
 }
+
 exports.forEachNodeInFrame = forEachNodeInFrame;
 
+
+function forEachLinkInFrame(frame, callback) {
+    if (!frame) return;
+    for (var nodeKey in frame.links) {
+        if (!frame.links.hasOwnProperty(nodeKey)) continue;
+        callback(frame.links[nodeKey], nodeKey);
+    }
+}
+
+exports.forEachLinkInFrame = forEachLinkInFrame;
+
+
 /**
  * Helper function to return the absolute path to the directory that should contain all
  * video files for the provided object name. (makes dir if necessary)
@@ -888,17 +915,20 @@ function getVideoDir(objectsPath, identityFolderName, isMobile, objectName) {
 
     return videoDir;
 }
+
 exports.getVideoDir = getVideoDir;
 
 // Ensures id is alphanumeric or -_
 function isValidId(id) {
     return id.match(/^[A-Za-z0-9_-]+$/);
 }
+
 exports.isValidId = isValidId;
 
 function goesUpDirectory(path) {
     return path.match(/\.\./);
 }
+
 exports.goesUpDirectory = goesUpDirectory;
 
 function deepCopy(item) {
@@ -922,7 +952,7 @@ function deepCopy(item) {
 
 exports.deepCopy = deepCopy;
 
-exports.httpGet = function(url) {
+exports.httpGet = function (url) {
     return new Promise((resolve, reject) => {
         request(url, (error, response, body) => {
             if (error) reject(error);
diff --git a/models/PathPoint.js b/models/PathPoint.js
index 192fcca8b..d399fb2bd 100644
--- a/models/PathPoint.js
+++ b/models/PathPoint.js
@@ -1,3 +1,5 @@
+const Point = require('./Point.js');
+
 /**
  * @constructor
  */
diff --git a/server.js b/server.js
index 7335b69a4..1f9f954ae 100644
--- a/server.js
+++ b/server.js
@@ -618,7 +618,7 @@ var hardwareAPICallbacks = {
 // set all the initial states for the Hardware Interfaces in order to run with the Server.
 hardwareAPI.setup(objects, objectLookup, knownObjects, socketArray, globalVariables, __dirname, objectsPath, nodeTypeModules, blockModules, services, version, protocol, serverPort, hardwareAPICallbacks, sceneGraph, worldGraph);
 
-nodeUtilities.setup(objects, knownObjects, socketArray, globalVariables, hardwareAPI, objectsPath, linkController);
+nodeUtilities.setup(objects, sceneGraph, knownObjects, socketArray, globalVariables, hardwareAPI, objectsPath, linkController);
 
 console.log('Done');
 
@@ -1088,7 +1088,7 @@ function objectBeatSender(PORT, thisId, thisIp, oneTimeOnly) {
 
     var HOST = '255.255.255.255';
 
-    console.log('creating beat for object: ' + thisId);
+    //console.log('creating beat for object: ' + thisId);
     objects[thisId].version = version;
     objects[thisId].protocol = protocol;
     objects[thisId].port = serverPort;
@@ -1100,7 +1100,7 @@ function objectBeatSender(PORT, thisId, thisIp, oneTimeOnly) {
     }
 
     // Objects
-    console.log('with version number: ' + thisVersionNumber);
+    //  console.log('with version number: ' + thisVersionNumber);
     var zone = '';
     if (objects[thisId].zone) zone = objects[thisId].zone;
 
@@ -1247,7 +1247,7 @@ function objectBeatServer() {
         }
         // check if action 'ping'
         if (msgContent.action === 'ping') {
-            console.log(msgContent.action);
+            //console.log(msgContent.action);
             for (let key in objects) {
                 objectBeatSender(beatPort, key, objects[key].ip, true);
             }
@@ -1278,7 +1278,9 @@ function objectBeatServer() {
 async function getKnownSceneGraph(ip, port) {
     // 1. check if we already have an up-to-date sceneGraph from this server
     let needsThisGraph = true;
-    if (!needsThisGraph) { return; } // TODO: implement placeholder
+    if (!needsThisGraph) {
+        return;
+    } // TODO: implement placeholder
 
     // 2. if not, make an HTTP GET request to the other server's /spatial/sceneGraph endpoint to get it
     const url = 'http://' + ip + ':' + (port || 8080) + '/spatial/sceneGraph';
@@ -1874,11 +1876,11 @@ function objectWebServer() {
         // webFrontend realtime messaging
         webServer.post('/webUI/spatial/locator', function (req, res) {
             console.log({
-                spatial: {locator: JSON.parse(req.body.locator), ip: services.ip },
+                spatial: {locator: JSON.parse(req.body.locator), ip: services.ip},
                 lastEditor: null
             });
             utilities.actionSender({
-                spatial: {locator: JSON.parse(req.body.locator), ip: services.ip },
+                spatial: {locator: JSON.parse(req.body.locator), ip: services.ip},
                 lastEditor: null
             });
             res.status(200).send('ok');
@@ -3743,9 +3745,9 @@ var engine = {
                             if (this.internalObjectDestination.blocks) {
                                 this.internalObjectDestination = this.internalObjectDestination.blocks[this.blockKey];
 
-                               /* for (let key in thisNode.processedData) {
-                                    this.internalObjectDestination.data[0][key] = thisNode.processedData[key];
-                                }*/
+                                /* for (let key in thisNode.processedData) {
+                                     this.internalObjectDestination.data[0][key] = thisNode.processedData[key];
+                                 }*/
                                 this.internalObjectDestination.data[0] = utilities.deepCopy(thisNode.processedData);
 
                                 this.nextLogic = getNode(this.link.objectB, this.link.frameB, this.link.nodeB);
@@ -3865,9 +3867,9 @@ var engine = {
 
     computeProcessedBlockData: function (thisNode, thisLink, index, internalObjectDestination) {
         // save data in local destination object;
-       /* for (let key1 in thisNode.processedData[index]) {
-            internalObjectDestination.data[key1] = thisNode.processedData[index][key1];
-        }*/
+        /* for (let key1 in thisNode.processedData[index]) {
+             internalObjectDestination.data[key1] = thisNode.processedData[index][key1];
+         }*/
         internalObjectDestination.data = utilities.deepCopy(thisNode.processedData[index]);
 
         // trigger hardware API to push data to the objects