diff --git a/src/liboncilla/Oncilla.cpp b/src/liboncilla/Oncilla.cpp
index 35be883..d5832f3 100644
--- a/src/liboncilla/Oncilla.cpp
+++ b/src/liboncilla/Oncilla.cpp
@@ -1,100 +1,106 @@
 /*
  * Oncilla.cpp
  *
  *  Created on: 15 dec. 2011
  *      Author: Alexandre Tuleu, Arne Nordmann
  */
 #include "Oncilla.h"
 #include <liboncilla/utils/BackendLoader.h>
 
 namespace rci {
 namespace oncilla {
 
 ::rci::oncilla::Synchronizer::Ptr Oncilla::s_synchronizer;
 
 
 
 
 
 std::string Oncilla::nameOfLeg(Leg l){
 	static const char * legNames[NUM_LEGS + 1] = {
 	"Left Fore", //LEFT_FORE
 	"Right Fore", //RIGHT_FORE
 	"Left Hind", //LEFT_HIND
 	"Right Hind", //RIGHT_HIND
 	"Undefined"
 	};
 	//oncly consider index in range [0 NUM_LEGS], defaulting to NUM_LEGS if out of bound.
 	int index((l < 0 ) ? NUM_LEGS : (l > NUM_LEGS ? NUM_LEGS : l));
 	return legNames[index];
 }
 
 
 
 Oncilla::Oncilla(){
 	if(!s_synchronizer){
 		if(!d_backend){
 			BackendLoader bl;
 			//we have to keep alive the pointer or dlclose() will be called once
 			//We free him. Or we could add BackendLoader as a member of Oncilla
 			// I prefer only to have the Object creator interface.
 			d_backend = bl.SuitableBackend();
 		}
 		s_synchronizer = d_backend->CreateSynchronizer();
 		init();
 	}
 }
 
 Oncilla::~Oncilla() {
 }
 
 
 
 void Oncilla::init() {
 	d_L0s.reserve(4);
 	d_L1s.reserve(4);
 	d_L2s.reserve(4);
 	d_L3s.reserve(4);
 
 	LIBONCILLA_FOREACH_LEG(l){
 		d_L0s.push_back(d_backend->CreateL0(l,Oncilla::nameOfLeg(l) + " Oncilla L0"));
 		d_L1s.push_back(d_backend->CreateL1(l,Oncilla::nameOfLeg(l) + " Oncilla L1"));
 		d_L2s.push_back(d_backend->CreateL2(l,Oncilla::nameOfLeg(l) + " Oncilla L2"));
 		d_L3s.push_back(d_backend->CreateL3(l,Oncilla::nameOfLeg(l) + " Oncilla L3"));
 	}
 
 	d_trunk = d_backend->CreateTrunk();
 
+	d_supervisor = Supervisor::Ptr(new Supervisor(*d_backend));
+
 }
 
 const L0::Ptr & Oncilla::getL0(Leg l) const {
 	return this->d_L0s[l];
 }
 
 const L1::Ptr & Oncilla::getL1(Leg l) const {
 	return this->d_L1s[l];
 }
 
 const L2::Ptr & Oncilla::getL2(Leg l) const {
 	return this->d_L2s[l];
 }
 
 const L3::Ptr & Oncilla::getL3(Leg l) const {
 	return this->d_L3s[l];
 }
 
 
 const Trunk::Ptr & Oncilla::getTrunk() const {
 	return this->d_trunk;
 }
 
 const rci::oncilla::Synchronizer::Ptr & Oncilla::getSynchronizer() const {
 	if(!s_synchronizer){
 		throw std::logic_error("Internal error : synchronizer seems unitialized"
 			", but it should never happen. Please report this bug.");
 	}
 	return this->s_synchronizer;
 }
 
+const rci::oncilla::Supervisor::Ptr & Oncilla::getSupervisor() const {
+	return d_supervisor;
+}
+
 }
 }
diff --git a/src/liboncilla/Oncilla.h b/src/liboncilla/Oncilla.h
index cfc8b01..77f14a2 100644
--- a/src/liboncilla/Oncilla.h
+++ b/src/liboncilla/Oncilla.h
@@ -1,62 +1,63 @@
 /*
  * Oncilla.h
  *
  *  Created on: 15 dec. 2011
  *      Author: Alexandre Tuleu, Arne Nordmann
  */
 #pragma once
 
 #include <vector>
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
 #include "common.h"
 #include "Supervisor.h"
 #include <liboncilla/utils/OncillaBackend.h>
 #include <liboncilla/Synchronizer.h>
 #include <liboncilla/nodes/Nodes.h>
 
 namespace rci {
 namespace oncilla {
 
 class BackendLoader;
 
 
 class Oncilla {
 public:
 	typedef boost::shared_ptr<Oncilla>  Ptr;
 	static std::string nameOfLeg(Leg l);
 
 	Oncilla();
 	virtual ~Oncilla();
 
 	const L0::Ptr & getL0(Leg l) const;
 	const L1::Ptr & getL1(Leg l) const;
 	const L2::Ptr & getL2(Leg l) const;
 	const L3::Ptr & getL3(Leg l) const;
 	const Trunk::Ptr & getTrunk() const;
 
 	const rci::oncilla::Synchronizer::Ptr  & getSynchronizer() const;
 
 	const rci::oncilla::Supervisor::Ptr & getSupervisor() const;
 
 private:
 	typedef std::vector<std::string> LegNames;
 
 	void init();
 
 	static rci::oncilla::Synchronizer::Ptr s_synchronizer;
 
 	std::vector<L0::Ptr> d_L0s;
 	std::vector<L1::Ptr> d_L1s;
 	std::vector<L2::Ptr> d_L2s;
 	std::vector<L3::Ptr> d_L3s;
 
 	Trunk::Ptr d_trunk;
 
 	OncillaBackend::Ptr d_backend;
+	Supervisor::Ptr d_supervisor;
 
 };
 
 }
 }