diff --git a/CMakeLists.txt b/CMakeLists.txt
index caca5cf..ca357b0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,7 +48,6 @@ add_library(RoboidControl STATIC
     "Motor.cpp"
     "DifferentialDrive.cpp"
     "DistanceSensor.cpp"
-    "Placement.cpp"
     "Sensor.cpp"
     "Switch.cpp"
     "Thing.cpp"
diff --git a/test/BB2B_Test.cc b/test/BB2B_Test.cc
index 5cb642f..9ebbe7f 100644
--- a/test/BB2B_Test.cc
+++ b/test/BB2B_Test.cc
@@ -1,4 +1,4 @@
-#if GTEST
+// #if GTEST
 #include <gtest/gtest.h>
 
 #include "DifferentialDrive.h"
@@ -10,15 +10,15 @@ TEST(BB2B, Basics) {
   Motor *motorRight = new Motor();
 
   DistanceSensor *sensorLeft = new DistanceSensor();
+  sensorLeft->position.angle = -30;
   DistanceSensor *sensorRight = new DistanceSensor();
+  sensorRight->position.angle = 30;
+
+  Sensor *sensors[] = {sensorLeft, sensorRight};
 
-  Placement sensors[] = {Placement(sensorLeft, -30),
-                         Placement(sensorRight, 30)};
   Perception *perception = new Perception(sensors, 2);
 
-  DifferentialDrive *propulsion =
-      new DifferentialDrive(Placement(motorLeft, Vector3(-1, 0, 0)),
-                            Placement(motorRight, Vector3(1, 0, 0)));
+  DifferentialDrive *propulsion = new DifferentialDrive(motorLeft, motorRight);
 
   Roboid *roboid = new Roboid(perception, propulsion);
 
@@ -36,4 +36,4 @@ TEST(BB2B, Basics) {
 
   // cannot chek verlocity in this branch?
 }
-#endif
+// #endif