diff --git a/src/liboncilla/nodes/L0.cpp b/src/liboncilla/nodes/L0.cpp
index 5a4924a..8e98a35 100644
--- a/src/liboncilla/nodes/L0.cpp
+++ b/src/liboncilla/nodes/L0.cpp
@@ -1,54 +1,63 @@
 #include "L0.h"
 
+#include <liboncilla/exceptions/NotImplementedError.h>
+
 using namespace std;
 
 namespace rci {
 namespace oncilla {
 
 L0::L0(const std::string &name)
 	: ResourceNode(name)
 	, Controlled()
-	, PositionControlled() {
+	, PositionControlled()
+	, Sensing()
+	, ForceSensing(){
 	// \todo add default value as a setting
 	_controlMode = modeJointPositionControl;
 	_lastCommandedPosition = JointAngles::create(1,0.0);
 }
 
 bool L0::isConverged() const {
 	return false;
 }
 
 void L0::unsafeSetCommand(double value){
 	this->_lastCommandedPosition->setValue(value);
 }
 
 double L0::unsafeGetCommand() const{
 	return this->_lastCommandedPosition->asDouble(0,false);
 }
 
 bool L0::setJointPosition(JointAnglesPtr position) {
 	// Successfull
 	this->_lastCommandedPosition = position;
 	return true;
 }
 
 JointAnglesPtr L0::getLastPositionCommand() const {
 	if (this->_lastCommandedPosition) {
 		return this->_lastCommandedPosition;
 	}
 
 	throw runtime_error("No position command received yet.");
 }
 
 L0::~L0() {
 }
 
 std::string L0::print() const {
 	ostringstream outstream(ostringstream::out);
 	outstream.precision(3); // Precision when printing double values
 	outstream << "<Oncilla 'Scapula'>" << endl;
 	return outstream.str();
 }
 
+
+ForcesPtr L0::getForces() const{
+	throw NotImplementedError("L0","getForces");
+}
+
 }
 }
diff --git a/src/liboncilla/nodes/L0.h b/src/liboncilla/nodes/L0.h
index 11e6925..d4ebd48 100644
--- a/src/liboncilla/nodes/L0.h
+++ b/src/liboncilla/nodes/L0.h
@@ -1,66 +1,74 @@
 #pragma once
 
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
 #include <rci/ResourceNode.h>
 #include <rci/Controlled.h>
 #include <rci/Sensing.h>
 
 #include <rci/dto/JointAngles.h>
 
 
 namespace rci {
 namespace oncilla {
 
 
 /**
  * Node class, representing the hip node of the quadruped robot.
  * @todo In case of simulation, this node can also sense the power consumption.
  */
 class L0: public rci::ResourceNode,
           public rci::Controlled,
-          public rci::PositionControlled {
+          public rci::PositionControlled,
+          public rci::Sensing,
+          public rci::ForceSensing{
 
 public:
 	typedef boost::shared_ptr<L0>  Ptr;
 	/**
 	 * Special constructor to also link to webots
 	 */
 	L0(const std::string &name = "Oncilla Hip");
 
 	virtual ~L0();
 
 	/**
 	 * Returns, if controller is converged.
 	 * @return True, if controller is converged after last command.
 	 */
 	bool isConverged() const;
 
 	/**
 	 * Commanding a joint position.
 	 * @param position Position command
 	 * @return Return, if successfull. (e.g. not exceeding joint limits)
 	 * @todo Check for correct control mode
 	 */
 	bool setJointPosition(JointAnglesPtr position);
 
 	void unsafeSetCommand(double value);
 
 	double unsafeGetCommand() const;
 
+
+	ForcesPtr getForces() const;
+
+	void unsafeUpdateForce(double x, double y,double torque);
+
+
 	/**
 	 * Returns latest position command. Note, that this is the latest valid
 	 * commanded position. If the position command exceeds limits and is
 	 * therefore rejected, it ..
 	 */
 	virtual JointAnglesPtr getLastPositionCommand() const;
 
 	/**
 	 * Print
 	 */
 	std::string print() const;
 };
 
 }
 }