diff --git a/src/liboncilla/OncillaTrunk.cpp b/src/liboncilla/OncillaTrunk.cpp
index b6368d7..15bfb41 100644
--- a/src/liboncilla/OncillaTrunk.cpp
+++ b/src/liboncilla/OncillaTrunk.cpp
@@ -1,39 +1,37 @@
 #include "OncillaTrunk.h"
 
 #include "liboncilla/exceptions/NotImplementedError.h"
 
 using namespace std;
 
 namespace rci {
 namespace oncilla {
 
 OncillaTrunk::OncillaTrunk(const std::string & name)
 	: ResourceNode(name)
-	, Sensing()
-	, PoseSensing() {
+	, Sensing() {
 }
 
-PosePtr OncillaTrunk::getAbsolutePose() const {
-	throw NotImplementedError("OncillaTrunk","getAbsolutePose");
+OncillaTrunk::~OncillaTrunk() {
 }
 
-PosePtr OncillaTrunk::getDisplacement() const {
-	throw NotImplementedError("OncillaTrunk","getDisplacement");
-}
 
-PosePtr OncillaTrunk::getAcceleration() const {
-	throw NotImplementedError("OncillaTrunk","getAcceleration");
+TranslationalAccelerationPtr OncillaTrunk::getTranslationalAcceleration() const{
+	throw NotImplementedError("OncillaTrunk","getTranslationalAcceleration");
 }
 
-OncillaTrunk::~OncillaTrunk() {
+OrientationPtr OncillaTrunk::getOrientation() const{
+	throw NotImplementedError("OncillaTrunk","Orientation");
 }
 
+
+
 std::string OncillaTrunk::print() const {
 	ostringstream outstream(ostringstream::out);
 	outstream.precision(3); // Precision when printing double values
 	outstream << "<Oncilla Trunk>" << endl;
 	return outstream.str();
 }
 
 }
 }
diff --git a/src/liboncilla/OncillaTrunk.h b/src/liboncilla/OncillaTrunk.h
index f5e89a4..9a54fa8 100644
--- a/src/liboncilla/OncillaTrunk.h
+++ b/src/liboncilla/OncillaTrunk.h
@@ -1,58 +1,45 @@
 #pragma once
 
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
 #include <rci/ResourceNode.h>
 #include <rci/Controlled.h>
 #include <rci/Configurable.h>
 #include <rci/Sensing.h>
 
 namespace rci {
 namespace oncilla {
 
 class OncillaTrunk;
 typedef boost::shared_ptr<OncillaTrunk> OncillaTrunkPtr;
 
 /**
  * Node class, representing the quadruped trunk, including pose sensing.
  *
  * @todo Expose translational accelerations and rotational velocities
  */
-class OncillaTrunk: public rci::ResourceNode, public Sensing, public PoseSensing {
+class OncillaTrunk: public rci::ResourceNode, public Sensing,
+                    public TranslationalAccelerationSensing,
+                    public OrientationSensing {
 
 public:
 
     OncillaTrunk(const std::string & name = "Oncilla Trunk");
     virtual ~OncillaTrunk();
 
-    /**
-     * Returns current pose.
-     *
-     * @return Current pose
-     */
-    virtual PosePtr getAbsolutePose() const;
 
-    /**
-     * Returns current displacement.
-     *
-     * @return Current pose
-     */
-    virtual PosePtr getDisplacement() const;
+	virtual TranslationalAccelerationPtr getTranslationalAcceleration() const;
+
+	virtual OrientationPtr getOrientation() const;
 
-    /**
-     * Returns current translational and rotational acceleration.
-     *
-     * @return Current pose
-     */
-    virtual PosePtr getAcceleration() const;
 
     /**
      * Print
      */
     std::string print() const;
 
 };
 
 }
 }