diff --git a/scs2-bullet-simulation/build.gradle.kts b/scs2-bullet-simulation/build.gradle.kts
index 8746d430..a630b684 100644
--- a/scs2-bullet-simulation/build.gradle.kts
+++ b/scs2-bullet-simulation/build.gradle.kts
@@ -17,10 +17,10 @@ mainDependencies {
    api("us.ihmc:scs2-definition:source")
    api("us.ihmc:scs2-shared-memory:source")
    api("us.ihmc:scs2-session:source")
-   api("us.ihmc:euclid-frame-shape:0.21.0")
+   api("us.ihmc:euclid-frame-shape:0.22.2")
    api("us.ihmc:ihmc-messager:0.2.0")
-   api("us.ihmc:ihmc-yovariables:0.12.2")
-   api("us.ihmc:mecano-yovariables:17-0.18.1")
+   api("us.ihmc:ihmc-yovariables:0.13.3")
+   api("us.ihmc:mecano-yovariables:17-0.19.0")
 
    apiBytedecoNatives("javacpp")
    apiBytedecoNatives("bullet", "3.25-")
diff --git a/scs2-definition/build.gradle.kts b/scs2-definition/build.gradle.kts
index 96c163fe..545552ba 100644
--- a/scs2-definition/build.gradle.kts
+++ b/scs2-definition/build.gradle.kts
@@ -11,12 +11,12 @@ ihmc {
 }
 
 mainDependencies {
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-shape:0.21.0")
-   api("us.ihmc:euclid-frame:0.21.0")
-   api("us.ihmc:ihmc-commons:0.32.0")
-   api("us.ihmc:ihmc-yovariables:0.12.2")
-   api("us.ihmc:mecano:17-0.18.1")
+   api("us.ihmc:euclid:0.22.2")
+   api("us.ihmc:euclid-shape:0.22.2")
+   api("us.ihmc:euclid-frame:0.22.2")
+   api("us.ihmc:ihmc-commons:0.34.0")
+   api("us.ihmc:ihmc-yovariables:0.13.3")
+   api("us.ihmc:mecano:17-0.19.0")
 }
 
 testDependencies {
diff --git a/scs2-definition/src/main/java/us/ihmc/scs2/definition/SCS2DefinitionTools.java b/scs2-definition/src/main/java/us/ihmc/scs2/definition/SCS2DefinitionTools.java
new file mode 100644
index 00000000..c24ba116
--- /dev/null
+++ b/scs2-definition/src/main/java/us/ihmc/scs2/definition/SCS2DefinitionTools.java
@@ -0,0 +1,52 @@
+package us.ihmc.scs2.definition;
+
+import us.ihmc.scs2.definition.collision.CollisionShapeDefinition;
+import us.ihmc.scs2.definition.robot.CrossFourBarJointDefinition;
+import us.ihmc.scs2.definition.robot.JointDefinition;
+import us.ihmc.scs2.definition.robot.RigidBodyDefinition;
+import us.ihmc.scs2.definition.robot.RobotDefinition;
+import us.ihmc.scs2.definition.visual.MaterialDefinition;
+import us.ihmc.scs2.definition.visual.VisualDefinition;
+
+import java.util.List;
+import java.util.function.Consumer;
+
+public class SCS2DefinitionTools
+{
+   public static void forEachRigidBodyDefinitionIncludingFourBars(RigidBodyDefinition start, Consumer<RigidBodyDefinition> rigidBodyConsumer)
+   {
+      RobotDefinition.forEachRigidBodyDefinition(start, body ->
+      {
+         rigidBodyConsumer.accept(body);
+         for (JointDefinition childrenJoint : body.getChildrenJoints())
+         {
+            if (childrenJoint instanceof CrossFourBarJointDefinition fourBarJointDefinition)
+            {
+               rigidBodyConsumer.accept(fourBarJointDefinition.getBodyBC());
+               rigidBodyConsumer.accept(fourBarJointDefinition.getBodyDA());
+            }
+         }
+      });
+   }
+
+   public static void addCollisionVisualsToRobot(RobotDefinition robotDefinition, MaterialDefinition material)
+   {
+      robotDefinition.forEachRigidBodyDefinition(rigidBody -> addCollisionVisualsToRigidBodyDefinition(rigidBody, material));
+   }
+
+   public static void addCollisionVisualsToRigidBodyDefinition(RigidBodyDefinition rigidBodyDefinition, MaterialDefinition material)
+   {
+      if (rigidBodyDefinition == null)
+         return;
+      List<CollisionShapeDefinition> collisionShapeDefinitions = rigidBodyDefinition.getCollisionShapeDefinitions();
+      if (collisionShapeDefinitions == null)
+         return;
+
+      for (CollisionShapeDefinition collisionShapeDefinition : collisionShapeDefinitions)
+      {
+         rigidBodyDefinition.addVisualDefinition(new VisualDefinition(collisionShapeDefinition.getOriginPose(),
+                                                                      collisionShapeDefinition.getGeometryDefinition(),
+                                                                      material));
+      }
+   }
+}
diff --git a/scs2-definition/src/main/java/us/ihmc/scs2/definition/yoGraphic/SCS2YoGraphicHolder.java b/scs2-definition/src/main/java/us/ihmc/scs2/definition/yoGraphic/SCS2YoGraphicHolder.java
new file mode 100644
index 00000000..b75c6426
--- /dev/null
+++ b/scs2-definition/src/main/java/us/ihmc/scs2/definition/yoGraphic/SCS2YoGraphicHolder.java
@@ -0,0 +1,125 @@
+package us.ihmc.scs2.definition.yoGraphic;
+
+import us.ihmc.yoVariables.registry.YoRegistry;
+import us.ihmc.yoVariables.variable.YoVariable;
+import us.ihmc.scs2.definition.SCS2DefinitionTools;
+
+/**
+ * This interface was initially created to bind classes that can create SCS2 yoGraphics, such that:
+ * <ul>
+ * <li>they're easy to retrieve for refactoring purposes.
+ * <li>Javadoc added here can spread around the codebase easily.
+ * </ul>
+ * <p>
+ * SCS2 yoGraphic framework differs from SCS1 yoGraphic framework in a few aspects:
+ * <ul>
+ * <li>2D vs 3D:
+ * <ul>
+ * <li>SCS1 uses {@link us.ihmc.graphicsDescription.yoGraphics.YoGraphic} for 3D graphics and {@link us.ihmc.graphicsDescription.plotting.artifact.Artifact} for 2D graphics. In this
+ * documentation, we abuse the term "yoGraphic" to refer to both the 2D and 3D types when referring
+ * to SCS1.
+ * <li>SCS2 base class {@link YoGraphicDefinition} is extended into 2 branches:
+ * {@link YoGraphic3DDefinition} for 3D graphics and {@link YoGraphic2DDefinition} for 2D graphics.
+ * </ul>
+ * <li>Listing and grouping:
+ * <ul>
+ * <li>SCS1 uses {@link us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry} to do both listing and grouping of yoGraphics.
+ * {@link us.ihmc.graphicsDescription.yoGraphics.YoGraphicsList} to represent a list of {@link us.ihmc.graphicsDescription.yoGraphics.YoGraphic} and {@link us.ihmc.graphicsDescription.yoGraphics.plotting.ArtifactList} for
+ * {@link us.ihmc.graphicsDescription.plotting.artifact.Artifact}. The grouping per say is done by attributing a name to a list or specifying a
+ * {@code listName} when registering a yoGraphic to the {@link us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry}.
+ * <li>SCS2 yoGraphic list is {@link YoGraphicListDefinition}. It is meant for convenience, because
+ * it implements {@link YoGraphicDefinition}, it can be passed around the same way a yoGraphic would
+ * be. For grouping, {@link YoGraphicGroupDefinition} should be used. You can think of it as a
+ * {@link YoRegistry} for yoGraphics, it has children (both regular graphics and other groups) and
+ * can be added to a parent group. A tree hierarchy of yoGraphics and groups can be created and will
+ * be reflected in the SCS2 GUI, see the menu <i>YoGraphic > YoGraphic properties...</i> all the
+ * yoGraphics will be under the group <i>root:SessionVisualizer</i>.
+ * </ul>
+ * <li>Internal data:
+ * <ul>
+ * <li>SCS1 yoGraphics are internally backed by {@link YoVariable} which makes them harder to
+ * serialize (so difficult to save to file and send over network) and also thread sensitive
+ * (yoVariables should not be shared across threads).
+ * <li>SCS2 yoGraphics are only descriptions telling SCS2 what type of graphic should be created and
+ * what data (yoVariables or constants for instance) the graphic uses to notably change over time.
+ * For instance, the radius of a capsule (see {@link YoGraphicCapsule3DDefinition}) is not a
+ * yoVariable but a {@code String}. The {@code String} can be used to represent a {@code double}
+ * (constant value), or a yoVariable by setting it to either {@link YoVariable#getFullNameString()}
+ * or {@link YoVariable#getName()} (note that the former is preferable to account for non-uniqueness
+ * of yoVariable names), SCS2 then parses the field accordingly. This makes
+ * {@link YoGraphicDefinition} easier to serialize, save to file, and makes them thread-safe as no
+ * state is actually held.
+ * </ul>
+ * <li>Graphic handling:
+ * <ul>
+ * <li>SCS1 yoGraphics are queried regularly by the simulation thread to update their state such
+ * that the actual graphic can be updated. This is a non-trivial operation as yoGraphics often are
+ * created by a controller that runs on a different thread than the simulation thread, and they
+ * carry a state that is used by both the controller and simulation. To make things worse,
+ * {@link us.ihmc.graphicsDescription.plotting.artifact.Artifact} also implement the rendering.
+ * <li>Because SCS2 yoGraphics do not actually carry any state, there is no such issue. This comes
+ * as the cost of making it way harder if not to say impossible to hack things around from the user
+ * side (outside SCS2 codebase). This often prevents implementing a workaround to a missing feature.
+ * </ul>
+ * <li>YoGraphics propagation to the GUI:
+ * <ul>
+ * <li>With SCS1 yoGraphics the typical workflow is: create a new registry
+ * {@link us.ihmc.graphicsDescription.yoGraphics.YoGraphicsListRegistry} in the main class where SCS is created, pass it down to the
+ * controller and any module running with the controller such that they can all create and register
+ * their {@link us.ihmc.graphicsDescription.yoGraphics.YoGraphic}/{@link us.ihmc.graphicsDescription.plotting.artifact.Artifact} to the registry, finally register the registry to SCS1
+ * or a {@code YoVariableServer}. In the case where a multithread controller is used, then 1
+ * registry per thread must be created and it should not be shared through threads.
+ * <li>With SCS2 yoGraphics the intended workflow is: each class needing yoGraphics to be visualized
+ * should declare a getter that creates and returns {@code YoGraphicDefinition}s, the calling class
+ * then collects these yoGraphics and the yoGraphics of other classes it manages, and so on such
+ * that the yoGraphics can bubble all the way up to where the simulation is created. The intent
+ * behind that bubble up approach vs bubble down used for SCS1, is to reduce the number of
+ * constructor arguments and let classes higher in the hierarchy decide which yoGraphic to
+ * visualize.
+ * </ul>
+ * <li>Separation layer between yoGraphics and GUI rendering:
+ * <ul>
+ * <li>In SCS1, the yoGraphics are quite tightly connected to the rendered objects, so much that for
+ * {@link us.ihmc.graphicsDescription.plotting.artifact.Artifact}s the rendering actually happens inside the artifact class. This allows, when
+ * running simulation locally, for a certain scope of changes done on the yoGraphic to be reflected
+ * in the GUI even if the change is not reflected through the change in value of any yoVariable.
+ * <li>In SCS2, the yoGraphics are only used at the initialization phase of the session as templates
+ * to create the graphical objects. Consequently, any changes done to a yoGraphic at runtime will
+ * <b>not</b> be reflected in the GUI.
+ * </ul>
+ * </ul>
+ * </p>
+ *
+ * @author Sylvain Bertrand
+ */
+public interface SCS2YoGraphicHolder
+{
+   /**
+    * The intended implementation for this method is:
+    * <ul>
+    * <li>to create and return the yoGraphics to be visualized,
+    * <li>to collect and return the yoGraphics from the classes managed by the class.
+    * </ul>
+    * <p>
+    * Useful notes:
+    * <ul>
+    * <li>Use {@link YoGraphicGroupDefinition} to gather multiple yoGraphics and other groups into a
+    * single {@link YoGraphicDefinition}. The group will appear as a named registry in the SCS GUI.
+    * Including the name of the class in the group being created helps locating yoGraphics in the code.
+    * <li>Use {@link YoGraphicListDefinition} if you do not want to create a group but still need to
+    * gather multiple yoGraphics into a single {@link YoGraphicDefinition}.
+    * <li>Some helper classes:
+    * <ul>
+    * <li>{@link YoGraphicDefinitionFactory}: gather convenience methods to create
+    * {@link YoGraphicDefinition}s and other types needed to create yoGraphic.
+    * <li>{@link us.ihmc.graphicsDescription.conversion.YoGraphicConversionTools}: for conversion tools between SCS1 and SCS2.
+    * <li>{@link SCS2DefinitionTools}: for implementing that method that should have been
+    * implemented somewhere in {@code scs2-definition}.
+    * </ul>
+    * </ul>
+    * </p>
+    *
+    * @return the yoGraphics to be visualized in the SCS GUI.
+    */
+   YoGraphicDefinition getSCS2YoGraphics();
+}
diff --git a/scs2-session-visualizer-jfx/build.gradle.kts b/scs2-session-visualizer-jfx/build.gradle.kts
index 88cbd6c2..e47ed48c 100644
--- a/scs2-session-visualizer-jfx/build.gradle.kts
+++ b/scs2-session-visualizer-jfx/build.gradle.kts
@@ -27,9 +27,9 @@ mainDependencies {
    api(ihmc.javaFXModule("fxml", javaFXVersion))
    api(ihmc.javaFXModule("swing", javaFXVersion))
 
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-shape:0.21.0")
-   api("us.ihmc:euclid-frame:0.21.0")
+   api("us.ihmc:euclid:0.22.2")
+   api("us.ihmc:euclid-shape:0.22.2")
+   api("us.ihmc:euclid-frame:0.22.2")
    api("us.ihmc:ihmc-graphics-description:0.25.1")
    api("us.ihmc:ihmc-video-codecs:2.1.6")
    api("us.ihmc:ihmc-javafx-extensions:17-0.2.1")
@@ -218,4 +218,4 @@ fun addVSyncLinuxHackForJavaFXApp(sourceFolder: String, javafxappname: String)
 
    launchScriptFile.delete()
    launchScriptFile.writeText(originalScript)
-}
\ No newline at end of file
+}
diff --git a/scs2-shared-memory/build.gradle.kts b/scs2-shared-memory/build.gradle.kts
index 3da76831..07bbe49d 100644
--- a/scs2-shared-memory/build.gradle.kts
+++ b/scs2-shared-memory/build.gradle.kts
@@ -12,9 +12,9 @@ ihmc {
 
 mainDependencies {
    api("us.ihmc:scs2-definition:source")
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-frame:0.21.0")
-   api("us.ihmc:ihmc-yovariables:0.12.2")
+   api("us.ihmc:euclid:0.22.2")
+   api("us.ihmc:euclid-frame:0.22.2")
+   api("us.ihmc:ihmc-yovariables:0.13.3")
    api("us.hebi.matlab.mat:mfl-core:0.5.7")
 }
 
diff --git a/scs2-simulation/build.gradle.kts b/scs2-simulation/build.gradle.kts
index 72f61fbb..905bd784 100644
--- a/scs2-simulation/build.gradle.kts
+++ b/scs2-simulation/build.gradle.kts
@@ -14,9 +14,9 @@ mainDependencies {
    api("us.ihmc:scs2-definition:source")
    api("us.ihmc:scs2-shared-memory:source")
    api("us.ihmc:scs2-session:source")
-   api("us.ihmc:euclid-frame-shape:0.21.0")
+   api("us.ihmc:euclid-frame-shape:0.22.2")
    api("us.ihmc:ihmc-messager:0.2.0")
-   api("us.ihmc:mecano-yovariables:17-0.18.1")
+   api("us.ihmc:mecano-yovariables:17-0.19.0")
 }
 
 testDependencies {
diff --git a/scs2-symbolic/build.gradle.kts b/scs2-symbolic/build.gradle.kts
index a6823339..48bf49e8 100644
--- a/scs2-symbolic/build.gradle.kts
+++ b/scs2-symbolic/build.gradle.kts
@@ -14,9 +14,9 @@ mainDependencies {
    api("us.ihmc:scs2-definition:source")
    api("us.ihmc:scs2-shared-memory:source")
 
-   api("us.ihmc:euclid:0.21.0")
-   api("us.ihmc:euclid-frame:0.21.0")
-   api("us.ihmc:ihmc-yovariables:0.12.2")
+   api("us.ihmc:euclid:0.22.2")
+   api("us.ihmc:euclid-frame:0.22.2")
+   api("us.ihmc:ihmc-yovariables:0.13.3")
 }
 
 testDependencies {