It’s easy to undo or delete a part. To undo an action, click the undo arrow just above the teeth. Your last action will be undone and you can continue to undo until the canvas is blank. You can always redo by clicking the redo arrow.
To delete a part, grab a blue handle related to that part and simply drag it off of the canvas. You will the see the blue handle convert into a trashcan icon and the part will easily delete. It's very simple and intuitive. You may also click on the part in the parts selection queue below the Rx canvas and click “delete’” next to the part.
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