diff --git a/urdf_compose/compose.py b/urdf_compose/compose.py
index 1f0c2c1..f5eb411 100644
--- a/urdf_compose/compose.py
+++ b/urdf_compose/compose.py
@@ -40,74 +40,12 @@ def general_urdf_append(
 """
 
 
-# A visualization tool for URDFTree would be super cool
-# class URDFTree:
-#     """
-#     Represents a web of URDFObjects that can be connected
-#     """
-
-#     def __init__(
-#         self,
-#         urdf: URDFObj,
-#         *children: tuple[GenURDFTree, URDFConn],
-#     ):
-#         self.urdf = urdf
-#         self.children = children
-
-#     def connect_safe(self) -> ComposedURDFObj | URDFComposeError:
-#         children_urdfs = list[tuple[URDFObj, URDFDefConn]]()
-#         for tree, conn in self.children:
-#             obj = tree if isinstance(tree, URDFObj) else tree.connect_safe()
-#             if not isinstance(obj, URDFObj):
-#                 return obj
-#             def_conn = resolve_conn(
-#                 self.urdf,
-#                 tree if isinstance(tree, URDFObj) else tree.urdf,
-#                 conn,
-#             )
-#             if isinstance(def_conn, URDFComposeError):
-#                 return def_conn
-#             children_urdfs.append((obj, def_conn))
-#         return general_urdf_append(self.urdf, children_urdfs, use_name_map=False)
-
-#     def connect(self, log_errored_urdf_dir: Path | None = None) -> ComposedURDFObj:
-#         result = self.connect_safe()
-#         if isinstance(result, URDFComposeError):
-#             if log_errored_urdf_dir is not None:
-#                 result.save_to(log_errored_urdf_dir)
-#             raise result
-#         return result
-
-#     def __iter__(self) -> Iterator[URDFObj]:
-#         yield self.urdf
-#         for child, _ in self.children:
-#             if isinstance(child, URDFObj):
-#                 yield child
-#             else:
-#                 for urdf in child:
-#                     yield urdf
-
-
 def fix_urdf_obj_child(
     c: URDFObjChild,
 ) -> tuple[URDFObjOrError, URDFConn]:
     return c if isinstance(c, tuple) else (c, URDFConn())
 
 
-# def branch(urdf: URDFObj, children: Iterable[TreeChild]) -> URDFTree:
-#     """
-#     Creates a URDFTree with urdf as the base, and where each value in children
-#       is directly connected to urdf
-
-#     Raises a runtime error if given two of the same urdfs.
-#     """
-#     children_trees_or_urdfs = [child[0] if isinstance(child, tuple) else child for child in children]
-#     children_urdfs = [tree_or_urdf for tree_or_urdf in children_trees_or_urdfs if isinstance(tree_or_urdf, URDFObj)]
-#     all_urdfs = [urdf] + children_urdfs'
-#     if len(all_urdfs) != len(set(all_urdfs)):
-#         raise RuntimeError("Attempted to create branch with two of the same URDFs. This is an illegal operation.")
-#     return URDFTree(urdf, *[fix_tree_child(c) for c in children])
-
 T = TypeVar("T")
 
 
diff --git a/urdf_compose/composed_urdf.py b/urdf_compose/composed_urdf.py
index 3cd8364..cd550e4 100644
--- a/urdf_compose/composed_urdf.py
+++ b/urdf_compose/composed_urdf.py
@@ -67,7 +67,7 @@ def construct(explicit_urdf: URDFObj) -> ComposedURDFNameMap:
             name_to_urdf_and_og_name=name_to_urdf_and_og_name,
         )
 
-    def incorporate(self, other_map: Self) -> None:
+    def _incorporate(self, other_map: Self) -> None:
         overlapping_names = set(self.name_to_urdf_and_og_name.keys()).intersection(
             other_map.name_to_urdf_and_og_name.keys()
         )
@@ -85,13 +85,13 @@ def incorporate(self, other_map: Self) -> None:
         self.name_map_lookup.update(other_map.name_map_lookup)
         self.name_to_urdf_and_og_name.update(other_map.name_to_urdf_and_og_name)
 
-    def rename(self, name: str, new_name: str) -> None:
+    def _rename(self, name: str, new_name: str) -> None:
         explicit_urdf, og_name = self.name_to_urdf_and_og_name[name]
         self.name_map_lookup[explicit_urdf][og_name] = new_name
         self.name_to_urdf_and_og_name[new_name] = (explicit_urdf, og_name)
         del self.name_to_urdf_and_og_name[name]
 
-    def remove(self, name: str) -> None:
+    def _remove(self, name: str) -> None:
         explicit_urdf, og_name = self.name_to_urdf_and_og_name[name]
         del self.name_to_urdf_and_og_name[name]
         name_map = self.name_map_lookup[explicit_urdf]
@@ -231,7 +231,7 @@ def rename_elements(self, name_map: dict[str, str]) -> None:
         name_dict = frozenset([NAME_KEY, "link"])
 
         for name, new_name in name_map.items():
-            self.name_map.rename(name, new_name)
+            self.name_map._rename(name, new_name)
 
         def rename_element(el: ET.Element) -> None:
             if has_name(el, name_dict) and (name := get_name(el, name_dict)) in name_map:
@@ -262,7 +262,7 @@ def remove_duplicate_materials(self, base_urdf: URDFObj) -> None:
                     self.getroot().remove(extend_el)
                     name = get_name(extend_el)
                     if name is not None:
-                        self.name_map.remove(name)
+                        self.name_map._remove(name)
 
     def copy(self) -> ComposedURDFObj:
         return ComposedURDFObj(copy.deepcopy(self.tree), self.name_map.copy())
@@ -270,7 +270,7 @@ def copy(self) -> ComposedURDFObj:
     def concatenate(self, obj: Self) -> None:
         obj_copy = obj.copy()
         obj_copy.outlaw_duplicates_with(self)
-        self.name_map.incorporate(obj_copy.name_map)
+        self.name_map._incorporate(obj_copy.name_map)
         for el in obj_copy.getroot():
             self.getroot().append(el)