diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5ae9310..171783f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,170 +1,169 @@
 PROJECT(libOncilla C CXX)
 
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 SET(LIBNAME "oncilla")
 
 SET(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE)
 SET(LIBONCILLA_CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
 SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # CMake module path and modules
 FIND_PACKAGE(RSC REQUIRED)
 SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${RSC_CMAKE_MODULE_PATH}")
 MESSAGE(STATUS "RSC version: ${RSC_VERSION}")
 
 INCLUDE(CheckIncludeFileCXX)
 INCLUDE(InstallFilesRecursive)
 INCLUDE(EnableCoverageReport)
 INCLUDE(EnableSlocCount)
 INCLUDE(GenerateDoxygen)
 INCLUDE(GenerateCppcheck)
 
 FIND_PACKAGE(PkgConfig REQUIRED)
 
 SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # --- user options ---
 OPTION(BUILD_TESTS "Decide whether unit-tests are built" ON)
 OPTION(BUILD_EXAMPLES "Decide whether the examples are built" ON)
 OPTION(BUILD_DOCS "Decide whether the docygen documentation is built" OFF)
 
 # Dependencies
 FIND_PACKAGE(Threads REQUIRED)
 MESSAGE(STATUS "Threading library: ${CMAKE_THREAD_LIBS_INIT}")
 
 set(OLD_CXX_FLAGS ${CMAKE_CXX_FLAGS})
 FIND_PACKAGE(NemoMath REQUIRED)
 MESSAGE(STATUS "NemoMath version: ${NemoMath_VERSION}")
 set(CMAKE_CXX_FLAGS ${OLD_CXX_FLAGS})
 
 FIND_PACKAGE(RCI REQUIRED)
 MESSAGE(STATUS "RCI version: ${RCI_VERSION}")
 
 # --- global definitions ---
 SET(LIBONCILLA_NAME "${LIBNAME}")
 SET(DRIVER_TEST_NAME "${PROJECT_NAME}Tests")
 SET(DTO_TEST_NAME "${DRIVER_TEST_NAME}DTO")
 SET(LIBONCILLA_VERSION_MAJOR 0)
 SET(LIBONCILLA_VERSION_MINOR 2)
 SET(LIBONCILLA_VERSION_PATCH 0)
 SET(LIBONCILLA_VERSION_STRING "${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}.${LIBONCILLA_VERSION_PATCH}")
 SET(LIBONCILLA_CMAKE_MODULE_PATH "share/cmake/Modules")
 
 SET(GTEST_DIR ${PROJECT_SOURCE_DIR}/3rdparty/gtest-1.5.0)
 SET(GTEST_INCLUDE_DIR ${GTEST_DIR}/include)
 SET(GMOCK_DIR ${PROJECT_SOURCE_DIR}/3rdparty/gmock-1.5.0)
 SET(GMOCK_INCLUDE_DIR ${GMOCK_DIR}/include)
 SET(GMOCK_LIBRARY_NAME "gmock")
 
 SET(OUTPUT_PATH ${PROJECT_BINARY_DIR}/build)
 SET(ARCHIVE_OUTPUT_PATH ${OUTPUT_PATH})
 SET(LIBRARY_OUTPUT_PATH ${OUTPUT_PATH})
 SET(EXECUTABLE_OUTPUT_PATH ${OUTPUT_PATH})
 
 # --- dependency handling ---
 IF(BUILD_DOCS)
     FIND_PACKAGE(Doxygen)
 ENDIF()
 
 # Includes
 INCLUDE_DIRECTORIES(BEFORE src ${PROJECT_BINARY_DIR}/src)
 message(STATUS ${RSC_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(SYSTEM ${RCI_INCLUDE_DIRS} ${RSC_INCLUDE_DIRS} ${NemoMath_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${LIBRARIES_INCLUDE_DIRS})
 #INCLUDE_DIRECTORIES(BEFORE SYSTEM ${PROTOBUF_INCLUDE_DIR} ${RST_INCLUDE_DIRS})
 
 LINK_DIRECTORIES(${RCI_LIBRARY_DIR}
                  ${LIBRARIES_LIBRARY_DIRS})
 
 ADD_DEFINITIONS(${NEMOMATH_DEFINITIONS})
 
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(cmake)
 
 IF(BUILD_TESTS)
     ADD_SUBDIRECTORY(test)
-    #ADD_SUBDIRECTORY(3rdparty)
 ENDIF()
 #IF(BUILD_EXAMPLES)
 #    ADD_SUBDIRECTORY(examples)
 #ENDIF()
 
 # --- cmake config file ---
 SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
 IF(CMAKE_LINK_LIBRARY_SUFFIX)
     SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
 ENDIF()
 
 # --- pkgconfig file ---
 CONFIGURE_FILE(lib${LIBONCILLA_NAME}.pc.in ${CMAKE_CURRENT_BINARY_DIR}/lib${LIBONCILLA_NAME}.pc @ONLY)
 INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/lib${LIBONCILLA_NAME}.pc DESTINATION lib/pkgconfig)
 
 # --- cmake config file ---
 SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
 IF(CMAKE_LINK_LIBRARY_SUFFIX)
     SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
 ENDIF()
 CONFIGURE_FILE(${CMAKE_PROJECT_NAME}Config.cmake.in ${CMAKE_PROJECT_NAME}Config.cmake @ONLY)
 INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_PROJECT_NAME}Config.cmake DESTINATION share/lib${LIBNAME})
 
 # --- documentation generation ---
 IF(BUILD_DOCS)
 IF(DOXYGEN_FOUND)
     SET(API_DIR "${CMAKE_BINARY_DIR}/doc")
     SET(SOURCE_DIR "${CMAKE_SOURCE_DIR}/src")
     SET(DOXYFILE "${CMAKE_BINARY_DIR}/Doxyfile")
     SET(WARNFILE "${CMAKE_BINARY_DIR}/doxygen-warn.log")
     
     CONFIGURE_FILE(Doxyfile.in ${DOXYFILE})
     
     ADD_CUSTOM_COMMAND(OUTPUT ${API_DIR}
                        DEPENDS ${DOXYFILE}
                        COMMAND ${DOXYGEN_EXECUTABLE}
                        ARGS ${DOXYFILE}
                        WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
     ADD_CUSTOM_TARGET(doc DEPENDS ${API_DIR})
     
     INSTALL(CODE "execute_process(COMMAND ${CMAKE_BUILD_TOOL} doc)")
     INSTALL(DIRECTORY ${API_DIR} DESTINATION share/lib${LIBNAME})
 ENDIF()
 ENDIF(BUILD_DOCS)
 
 # --- coverage ---
 IF(BUILD_TESTS)
     ENABLE_COVERAGE_REPORT(TARGETS ${LIBONCILLA_NAME} TESTS ${DTO_TEST_NAME} ${INTEGRATED_TEST_NAME} FILTER "*3rdparty*" "*test/*")
 ENDIF(BUILD_TESTS)
 
 # --- sloccount ---
 ENABLE_SLOCCOUNT(FOLDERS src test examples)
 
 # --- cppcheck ---
 GENERATE_CPPCHECK(SOURCES src test examples
     "${CMAKE_CURRENT_BINARY_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}/test" "${CMAKE_CURRENT_BINARY_DIR}/examples"
     ENABLE_IDS style)
 
 # --- package ---
 INCLUDE(CheckLSBTypes)
 
 SET(CPACK_PACKAGE_VERSION_MAJOR ${LIBONCILLA_VERSION_MAJOR})
 SET(CPACK_PACKAGE_VERSION_MINOR ${LIBONCILLA_VERSION_MINOR})
 SET(CPACK_PACKAGE_VERSION_PATCH ${LIBONCILLA_VERSION_PATCH})
 SET(CPACK_PACKAGE_VERSION "${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
 SET(CPACK_PACKAGE_FILE_NAME ${CMAKE_PROJECT_NAME}-${CPACK_PACKAGE_VERSION}_${LSB_CODENAME}_${LSB_PROCESSOR_ARCH})
 
 SET(CPACK_GENERATOR "TGZ")
 SET(CPACK_PACKAGE_VENDOR "CoR-Lab Bielefeld University")
 
 IF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
     SET(CPACK_GENERATOR "${CPACK_GENERATOR};DEB")
     SET(CPACK_DEBIAN_PACKAGE_NAME "amarsi-liboncilla")
     SET(CPACK_DEBIAN_PACKAGE_VERSION ${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}.${LIBONCILLA_VERSION_PATCH})
     SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Arne Nordmann (anordman@cor-lab.uni-bielefeld.de)")
     SET(CPACK_DEBIAN_PACKAGE_DESCRIPTION "AMARSi RCI representations of the AMARSi quadruped robot 'Oncilla'.")
     SET(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
     SET(CPACK_DEBIAN_PACKAGE_SECTION "devel")
     SET(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
     SET(CPACK_DEBIAN_PACKAGE_DEPENDS "amarsi-rci-all")
     SET(CPACK_DEBIAN_PACKAGE_SUGGESTS "cmake, cmake-data, doxygen, lcov, cppcheck, sloccount")
 ENDIF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
 
 INCLUDE(CPack)
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 7c7598a..2a46fe5 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,41 +1,20 @@
-#INCLUDE_DIRECTORIES(BEFORE ${PROJECT_BINARY_DIR}/src)
-
 set(SOURCES_LIST )
 foreach(file ${SOURCES})
   set(SOURCES_LIST "${SOURCES_LIST} ${file}")
 endforeach(file)
 
-#LINK_DIRECTORIES(${PROJECT_BINARY_DIR}/src/${LIBNAME} ${CMAKE_INSTALL_PREFIX}/lib ${CMAKE_INSTALL_PREFIX})
-
-SET(EXAMPLE1 "OncillaKneeOscillator")
-ADD_EXECUTABLE(${EXAMPLE1} oscillator.cpp)
 SET(EXAMPLE2 "OncillaWalkOneLeg")
 ADD_EXECUTABLE(${EXAMPLE2} walkOneLeg.cpp)
-SET(EXAMPLE3 "OncillaWalkFourLegs")
-ADD_EXECUTABLE(${EXAMPLE3} walkFourLegs.cpp)
-SET(EXAMPLE4 "OncillaAnglesPlot")
-ADD_EXECUTABLE(${EXAMPLE4} anglesplot.cpp)
-SET(EXAMPLE5 "OncillaPlotCollectedAngles")
-ADD_EXECUTABLE(${EXAMPLE5} anglesstatusallplot.cpp)
-SET(EXAMPLE6 "OncillaWalkFourLegs2")
-ADD_EXECUTABLE(${EXAMPLE6} walkFourLegs2.cpp)
-
-include_directories(${WEBOTS_INCLUDE_CPP_DIR} ${PROJECT_SOURCE_DIR}/src)
 
-target_link_libraries(${EXAMPLE1} ${LIBNAME})
 target_link_libraries(${EXAMPLE2} ${LIBNAME})
-target_link_libraries(${EXAMPLE3} ${LIBNAME})
-target_link_libraries(${EXAMPLE4} ${LIBNAME})
-target_link_libraries(${EXAMPLE5} ${LIBNAME})
-target_link_libraries(${EXAMPLE6} ${LIBNAME})
 
 if(MY_LINK_FLAGS)
   set(LINK_PROPERTIES LINK_FLAGS ${MY_LINK_FLAGS})
 elseif(MY_LINK_FLAGS)
   set(LINK_PROPERTIES )
 endif(MY_LINK_FLAGS)
 
 INSTALL(TARGETS ${EXAMPLE1} ${EXAMPLE2} ${EXAMPLE3} ${EXAMPLE4} ${EXAMPLE5} ${EXAMPLE6}
         RUNTIME DESTINATION bin
         LIBRARY DESTINATION lib
         ARCHIVE DESTINATION lib)
diff --git a/examples/anglesplot.cpp b/examples/anglesplot.cpp
deleted file mode 100644
index 729d0f5..0000000
--- a/examples/anglesplot.cpp
+++ /dev/null
@@ -1,139 +0,0 @@
-#include <iostream>
-#include <fstream>
-
-#include <stdlib.h>
-#include <math.h>
-#include <ctime>
-
-#include <rsc/logging/LoggerFactory.h>
-
-#include <boost/thread/recursive_mutex.hpp>
-#include <boost/thread/condition.hpp>
-#include <boost/timer.hpp>
-#include <boost/date_time/posix_time/posix_time.hpp>
-#include <boost/program_options.hpp>
-
-#include <rsb/Informer.h>
-#include <rsb/Handler.h>
-#include <rsb/Factory.h>
-
-#include <rsb/converter/Repository.h>
-#include <rsb/converter/ProtocolBufferConverter.h>
-
-#include <rci/dto/JointAngles.h>
-#include <rci/dto/converter/JointAnglesConverter.h>
-
-using namespace std;
-using namespace boost;
-namespace po = boost::program_options;
-
-using namespace rsc;
-using namespace rsc::logging;
-
-using namespace rsb;
-using namespace rsb::converter;
-using namespace rst::converter::rci;
-
-using namespace cca;
-using namespace cca::rci;
-using namespace cca::rci::driver;
-
-static std::string lfhipscope = "/oncilla/status/nodes/angles/lfhip/";
-static std::string rfhipscope = "/oncilla/status/nodes/angles/rfhip/";
-static std::string lhhipscope = "/oncilla/status/nodes/angles/lhhip/";
-static std::string rhhipscope = "/oncilla/status/nodes/angles/rhhip/";
-
-static std::string lfkneescope = "/oncilla/status/nodes/angles/lfknee/";
-static std::string rfkneescope = "/oncilla/status/nodes/angles/rfknee/";
-static std::string lhkneescope = "/oncilla/status/nodes/angles/lhknee/";
-static std::string rhkneescope = "/oncilla/status/nodes/angles/rhknee/";
-
-static JointAnglesPtr lfhip = JointAngles::fromValue(0.0);
-static JointAnglesPtr rfhip = JointAngles::fromValue(0.0);
-static JointAnglesPtr lhhip = JointAngles::fromValue(0.0);
-static JointAnglesPtr rhhip = JointAngles::fromValue(0.0);
-
-static JointAnglesPtr lfknee = JointAngles::fromValue(0.0);
-static JointAnglesPtr rfknee = JointAngles::fromValue(0.0);
-static JointAnglesPtr lhknee = JointAngles::fromValue(0.0);
-static JointAnglesPtr rhknee = JointAngles::fromValue(0.0);
-
-static unsigned int ecount = 0;
-
-void inputCallback(EventPtr event) {
-	//    ++ecount;
-	//    if (ecount > 20) {
-
-	JointAnglesPtr input = boost::static_pointer_cast<JointAngles>(
-			event->getData());
-	std::string eventstr = event->getScopePtr()->toString();
-	if (eventstr.compare(lfhipscope) == 0) {
-		lfhip = input;
-	} else if (eventstr.compare(rfhipscope) == 0) {
-		rfhip = input;
-	} else if (eventstr.compare(lhhipscope) == 0) {
-		lhhip = input;
-	} else if (eventstr.compare(rhhipscope) == 0) {
-		rhhip = input;
-	} else if (eventstr.compare(lfkneescope) == 0) {
-		lfknee = input;
-	} else if (eventstr.compare(rfkneescope) == 0) {
-		rfknee = input;
-	} else if (eventstr.compare(lhkneescope) == 0) {
-		lhknee = input;
-	} else if (eventstr.compare(rhkneescope) == 0) {
-		rhknee = input;
-	}
-
-	std::cout << "Angles<";
-	std::cout.precision(3);
-	std::cout << lfhip->asDouble(0) << ", ";
-	std::cout << rfhip->asDouble(0) << ", ";
-	std::cout << lhhip->asDouble(0) << ", ";
-	std::cout << rhhip->asDouble(0) << "><";
-	std::cout << lfknee->asDouble(0) << ", ";
-	std::cout << rfknee->asDouble(0) << ", ";
-	std::cout << lhknee->asDouble(0) << ", ";
-	std::cout << rhknee->asDouble(0) << ">";
-	std::cout << std::endl;
-
-	//        ecount = 0;
-	//    }
-}
-
-int main() {
-
-	/**
-	 * Register converters for Joint Angles
-	 */
-	boost::shared_ptr<JointAnglesConverter> converter(
-			new JointAnglesConverter());
-	stringConverterRepository()->registerConverter(converter);
-
-	// Participant configuration
-	rsb::ParticipantConfig config =
-			Factory::getInstance().getDefaultParticipantConfig();
-	ParticipantConfig::Transport inprocess = config.getTransport("inprocess");
-	inprocess.setEnabled(false);
-	config.addTransport(inprocess);
-	ParticipantConfig::Transport spread = config.getTransport("spread");
-	spread.setEnabled(true);
-	config.addTransport(spread);
-
-    LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
-
-	/**
-	 * Listening to JointAngles
-	 */
-	ListenerPtr listener = Factory::getInstance().createListener(Scope(
-			"/oncilla/status/nodes/angles"), config);
-	listener->addHandler(HandlerPtr(new EventFunctionHandler(bind(
-			&inputCallback, _1))));
-
-	std::cout << "Now listening to joint angles ..." << std::endl;
-	while (true) {
-		sleep(1);
-	}
-
-	return EXIT_SUCCESS;
-}
diff --git a/examples/anglesstatusallplot.cpp b/examples/anglesstatusallplot.cpp
deleted file mode 100644
index 57b71bf..0000000
--- a/examples/anglesstatusallplot.cpp
+++ /dev/null
@@ -1,90 +0,0 @@
-#include <iostream>
-#include <fstream>
-
-#include <stdlib.h>
-#include <math.h>
-#include <ctime>
-
-#include <rsc/logging/LoggerFactory.h>
-
-#include <boost/thread/recursive_mutex.hpp>
-#include <boost/thread/condition.hpp>
-#include <boost/timer.hpp>
-#include <boost/date_time/posix_time/posix_time.hpp>
-#include <boost/program_options.hpp>
-
-#include <rsb/Informer.h>
-#include <rsb/Handler.h>
-#include <rsb/Factory.h>
-
-#include <rsb/converter/Repository.h>
-#include <rsb/converter/ProtocolBufferConverter.h>
-
-#include <cca/Beat.h>
-
-#include <rci/nodes/SimpleOscillator.h>
-#include <rci/dto/JointAngles.h>
-#include <rci/dto/converter/JointAnglesConverter.h>
-
-using namespace std;
-using namespace boost;
-namespace po = boost::program_options;
-
-using namespace rsc;
-using namespace rsc::logging;
-
-using namespace rsb;
-using namespace rsb::converter;
-using namespace rst::converter::rci;
-
-using namespace cca;
-using namespace cca::rci;
-using namespace cca::rci::driver;
-
-nemo::RealVector angles(nemo::dim(8), 0.0);
-static JointAnglesPtr angls = JointAnglesPtr(new JointAngles(angles));
-
-void inputCallback(EventPtr event) {
-
-    JointAnglesPtr input = boost::static_pointer_cast<JointAngles>(
-            event->getData());
-
-    std::cout << *input << std::endl;
-}
-
-int main() {
-
-    /**
-     * Register converters for Joint Angles
-     */
-    boost::shared_ptr<JointAnglesConverter> converter(
-            new JointAnglesConverter());
-    stringConverterRepository()->registerConverter(converter);
-
-    LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
-
-    // Participant configuration
-    rsb::ParticipantConfig config =
-            Factory::getInstance().getDefaultParticipantConfig();
-    ParticipantConfig::Transport inprocess = config.getTransport("inprocess");
-    inprocess.setEnabled(false);
-    config.addTransport(inprocess);
-    ParticipantConfig::Transport spread = config.getTransport("spread");
-    spread.setEnabled(true);
-    config.addTransport(spread);
-
-    /**
-     * Listening to JointAngles
-     */
-    ListenerPtr listener = Factory::getInstance().createListener(
-            Scope("/oncilla/status/nodes/angles/all"), config);
-    listener->addHandler(
-            HandlerPtr(new EventFunctionHandler(bind(&inputCallback, _1))));
-
-    std::cout << "Now listening to joint angles ..." << std::endl;
-    while (true) {
-        sleep(1);
-    }
-
-    return EXIT_SUCCESS;
-}
diff --git a/examples/oscillator.cpp b/examples/oscillator.cpp
deleted file mode 100644
index 2415e79..0000000
--- a/examples/oscillator.cpp
+++ /dev/null
@@ -1,113 +0,0 @@
-#include <iostream>
-#include <fstream>
-
-#include <stdlib.h>
-#include <math.h>
-#include <ctime>
-
-#include <rsc/logging/LoggerFactory.h>
-
-#include <boost/thread/recursive_mutex.hpp>
-#include <boost/thread/condition.hpp>
-#include <boost/timer.hpp>
-#include <boost/date_time/posix_time/posix_time.hpp>
-#include <boost/program_options.hpp>
-
-#include <rsb/Informer.h>
-#include <rsb/Handler.h>
-#include <rsb/Factory.h>
-
-#include <rsb/converter/Repository.h>
-#include <rsb/converter/ProtocolBufferConverter.h>
-
-#include <cca/Beat.h>
-
-#include <rci/nodes/SimpleOscillator.h>
-#include <rci/dto/JointAngles.h>
-#include <rci/dto/converter/JointAnglesConverter.h>
-
-using namespace std;
-using namespace boost;
-namespace po = boost::program_options;
-
-using namespace rsc;
-using namespace rsc::logging;
-
-using namespace rsb;
-using namespace rsb::converter;
-using namespace rst::converter::rci;
-
-using namespace cca;
-using namespace cca::rci;
-using namespace cca::rci::driver;
-
-int main(int ac, char **av) {
-    double amplitude = 1.0;
-    double offset = 0.0;
-    unsigned int frequency = 1;
-
-    LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
-
-    // Declare the supported options.
-    po::options_description desc("Allowed options");
-    desc.add_options()("help", "Produce help message")("frequency",
-            po::value<int>(), "Frequency of oscillation in Hertz")("amplitude",
-            po::value<double>(), "Amplitude of the sine")("offset",
-            po::value<double>(), "Offset to the output value");
-    po::variables_map vm;
-    po::store(po::parse_command_line(ac, av, desc), vm);
-    po::notify(vm);
-    if (vm.count("help")) {
-        cout << desc << "\n";
-        return 1;
-    }
-    if (vm.count("frequency")) {
-        frequency = vm["frequency"].as<int> ();
-    }
-    cout << "Frequency set to " << frequency << " Hertz.\n";
-    if (vm.count("amplitude")) {
-        amplitude = vm["amplitude"].as<double> ();
-    }
-    cout << "Amplitude set to " << amplitude << ".\n";
-    if (vm.count("offset")) {
-        offset = vm["offset"].as<double> ();
-    }
-    cout << "Offset set to " << offset << ".\n";
-
-    /**
-     * Register converters for Joint Angles
-     */
-    boost::shared_ptr<JointAnglesConverter> converter(
-            new JointAnglesConverter());
-    stringConverterRepository()->registerConverter(converter);
-
-    // Participant configuration
-    rsb::ParticipantConfig config =
-            Factory::getInstance().getDefaultParticipantConfig();
-    ParticipantConfig::Transport inprocess = config.getTransport("inprocess");
-    inprocess.setEnabled(false);
-    config.addTransport(inprocess);
-    ParticipantConfig::Transport spread = config.getTransport("spread");
-    spread.setEnabled(true);
-    config.addTransport(spread);
-
-    /**
-     * Setup the main beat
-     */
-    GlobalBeatPtr heartbeat;
-    heartbeat = GlobalBeat::create(50);
-
-    CCANodePtr oscillator = SimpleOscillator<JointAngles>::create(
-            "Knee Oscillator", frequency, amplitude, offset);
-    oscillator->configureOutputPort(0,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lhknee"));
-
-    heartbeat->registerReceiver(oscillator);
-
-    std::cout << "Oscillating between " << (offset - amplitude) << " and "
-            << (offset + amplitude) << " with " << frequency << " Hertz ..."
-            << std::endl;
-    heartbeat->run();
-
-    return EXIT_SUCCESS;
-}
diff --git a/examples/walkFourLegs.cpp b/examples/walkFourLegs.cpp
deleted file mode 100644
index 195fcc2..0000000
--- a/examples/walkFourLegs.cpp
+++ /dev/null
@@ -1,149 +0,0 @@
-#include <iostream>
-#include <fstream>
-
-#include <stdlib.h>
-#include <math.h>
-#include <ctime>
-
-#include <rsc/logging/LoggerFactory.h>
-
-#include <boost/thread/recursive_mutex.hpp>
-#include <boost/thread/condition.hpp>
-#include <boost/timer.hpp>
-#include <boost/date_time/posix_time/posix_time.hpp>
-#include <boost/program_options.hpp>
-
-#include <rsb/Informer.h>
-#include <rsb/Handler.h>
-#include <rsb/Factory.h>
-
-#include <rsb/converter/Repository.h>
-#include <rsb/converter/ProtocolBufferConverter.h>
-
-#include <cca/Beat.h>
-#include <cca/nodes/Junction.h>
-#include <cca/processing/RestlessProcessing.h>
-
-#include <rci/nodes/SimpleOscillator.h>
-#include <rci/dto/JointAngles.h>
-#include <rci/dto/converter/JointAnglesConverter.h>
-
-using namespace std;
-using namespace boost;
-using namespace boost::program_options;
-
-using namespace rsc;
-using namespace rsc::logging;
-
-using namespace rsb;
-using namespace rsb::converter;
-using namespace rst::converter::rci;
-
-using namespace cca;
-using namespace cca::rci;
-using namespace cca::rci::driver;
-
-/**
- * This example needs AMARSi controller "cca"
- */
-int main(int ac, char **av) {
-    double cycletime = 50;
-    double amplitude = 0.5;
-    double offset = 0.0;
-    double frequency = 1;
-
-    LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
-
-    /**
-     * Command line handling
-     */
-    options_description desc("Allowed options");
-    desc.add_options()("help", "Produce help message")("frequency",
-            value<double> (), "Frequency of oscillation in Hertz")("amplitude",
-            value<double> (), "Amplitude of the sine")("offset",
-            value<double> (), "Offset to the output value");
-    variables_map vm;
-    store(parse_command_line(ac, av, desc), vm);
-    notify(vm);
-    if (vm.count("help")) {
-        cout << desc << "\n";
-        return 1;
-    }
-    if (vm.count("frequency")) {
-        frequency = vm["frequency"].as<double> ();
-    }
-    cout << "Frequency set to " << frequency << " Hertz.\n";
-    if (vm.count("amplitude")) {
-        amplitude = vm["amplitude"].as<double> ();
-    }
-    cout << "Amplitude set to " << amplitude << ".\n";
-    if (vm.count("offset")) {
-        offset = vm["offset"].as<double> ();
-    }
-    cout << "Offset set to " << offset << ".\n";
-
-    /**
-     * Register converters for Joint Angles
-     */
-    boost::shared_ptr<JointAnglesConverter> converter(
-            new JointAnglesConverter());
-    stringConverterRepository()->registerConverter(converter);
-
-    /**
-     * Setup the two oscillators
-     */
-    CCANodePtr oscillator1 = SimpleOscillator<JointAngles>::create(
-            "Oscillator 1", 2 * frequency, amplitude, offset);
-    oscillator1->configureOutputPort(0,
-            PortConfiguration::LOCAL("/oscillate/1"));
-
-    CCANodePtr oscillator2 = SimpleOscillator<JointAngles>::create(
-            "Oscillator 2", frequency, amplitude, offset, 0.5);
-    oscillator2->configureOutputPort(0,
-            PortConfiguration::LOCAL("/oscillate/2"));
-
-    /**
-     * Set up two junctions
-     */
-    CCANodePtr junction1 = Junction<JointAngles>::create(4);
-    junction1->setProcessingStrategy(RestlessProcessing::create());
-    CCANodePtr junction2 = Junction<JointAngles>::create(4);
-    junction2->setProcessingStrategy(RestlessProcessing::create());
-
-    /**
-     * Connect oscillators to junction
-     */
-    junction1->configureInputPort(0, PortConfiguration::LOCAL("/oscillate/1"));
-    junction1->configureOutputPort(0,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lfhip"));
-    junction1->configureOutputPort(1,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lhhip"));
-    junction1->configureOutputPort(2,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lfknee"));
-    junction1->configureOutputPort(3,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lhknee"));
-
-    junction2->configureInputPort(0, PortConfiguration::LOCAL("/oscillate/2"));
-    junction2->configureOutputPort(0,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/rfhip"));
-    junction2->configureOutputPort(1,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/rhhip"));
-    junction2->configureOutputPort(2,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/rfknee"));
-    junction2->configureOutputPort(3,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/rhknee"));
-
-    /**
-     * Setup and run main beat
-     */
-    GlobalBeatPtr heartbeat;
-    heartbeat = GlobalBeat::create(cycletime);
-    heartbeat->registerReceiver(oscillator1);
-    heartbeat->registerReceiver(oscillator2);
-    std::cout << std::endl << "Two oscillators oscillating between " << (offset
-            - amplitude) << " and " << (offset + amplitude) << " with "
-            << frequency << " Hertz ..." << std::endl;
-    heartbeat->run();
-
-    return EXIT_SUCCESS;
-}
diff --git a/examples/walkFourLegs2.cpp b/examples/walkFourLegs2.cpp
deleted file mode 100644
index c927286..0000000
--- a/examples/walkFourLegs2.cpp
+++ /dev/null
@@ -1,178 +0,0 @@
-#include <iostream>
-#include <fstream>
-
-#include <stdlib.h>
-#include <math.h>
-#include <ctime>
-
-#include <rsc/logging/LoggerFactory.h>
-
-#include <boost/thread/recursive_mutex.hpp>
-#include <boost/thread/condition.hpp>
-#include <boost/timer.hpp>
-#include <boost/date_time/posix_time/posix_time.hpp>
-#include <boost/program_options.hpp>
-
-#include <rsb/Informer.h>
-#include <rsb/Handler.h>
-#include <rsb/Factory.h>
-
-#include <rsb/converter/Repository.h>
-#include <rsb/converter/ProtocolBufferConverter.h>
-
-#include <cca/Beat.h>
-#include <cca/nodes/Junction.h>
-#include <cca/nodes/Collector.h>
-#include <cca/processing/RestlessProcessing.h>
-#include <cca/processing/ModerateProcessing.h>
-
-#include <rci/nodes/SimpleOscillator.h>
-#include <rci/dto/JointAngles.h>
-#include <rci/dto/converter/JointAnglesConverter.h>
-
-using namespace std;
-using namespace boost;
-using namespace boost::program_options;
-
-using namespace rsc;
-using namespace rsc::logging;
-
-using namespace rsb;
-using namespace rsb::converter;
-using namespace rst::converter::rci;
-
-using namespace cca;
-using namespace cca::rci;
-using namespace cca::rci::driver;
-
-/**
- * This example needs AMARSi controller "cca2"
- */
-int main(int ac, char **av) {
-    double cycletime = 10;
-    double amplitude = 0.5;
-    double offset = 0.0;
-    double frequency = 1;
-
-    LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
-
-    /**
-     * Command line handling
-     */
-    options_description desc("Allowed options");
-    desc.add_options()("help", "Produce help message")("frequency",
-            value<double> (), "Frequency of oscillation in Hertz")("amplitude",
-            value<double> (), "Amplitude of the sine")("offset",
-            value<double> (), "Offset to the output value");
-    variables_map vm;
-    store(parse_command_line(ac, av, desc), vm);
-    notify(vm);
-    if (vm.count("help")) {
-        cout << desc << "\n";
-        return 1;
-    }
-    if (vm.count("frequency")) {
-        frequency = vm["frequency"].as<double> ();
-    }
-    cout << "Frequency set to " << frequency << " Hertz.\n";
-    if (vm.count("amplitude")) {
-        amplitude = vm["amplitude"].as<double> ();
-    }
-    cout << "Amplitude set to " << amplitude << ".\n";
-    if (vm.count("offset")) {
-        offset = vm["offset"].as<double> ();
-    }
-    cout << "Offset set to " << offset << ".\n";
-
-    /**
-     * Setup main beat
-     */
-    GlobalBeatPtr heartbeat;
-    heartbeat = GlobalBeat::create(cycletime);
-
-    /**
-     * Setup the two oscillators
-     */
-    CCANodePtr oscillator1 = SimpleOscillator<JointAngles>::create(
-            "Oscillator 1", 2 * frequency, amplitude, offset);
-    oscillator1->configureOutputPort(0,
-            PortConfiguration::LOCAL("/oscillate/1"));
-    oscillator1->setProcessingStrategy(TimedProcessing::create(1));
-    heartbeat->registerReceiver(oscillator1);
-
-    CCANodePtr oscillator2 = SimpleOscillator<JointAngles>::create(
-            "Oscillator 2", frequency, amplitude, offset, 0.5);
-    oscillator2->configureOutputPort(0,
-            PortConfiguration::LOCAL("/oscillate/2"));
-    oscillator2->setProcessingStrategy(TimedProcessing::create(1));
-    heartbeat->registerReceiver(oscillator2);
-
-    /**
-     * Set up two junctions
-     */
-    CCANodePtr junction1 = Junction<JointAngles>::create(4);
-    junction1->setProcessingStrategy(RestlessProcessing::create());
-    CCANodePtr junction2 = Junction<JointAngles>::create(4);
-    junction2->setProcessingStrategy(RestlessProcessing::create());
-
-    /**
-     * Register converters for Joint Angles
-     */
-    boost::shared_ptr<JointAnglesConverter> converter(
-            new JointAnglesConverter());
-    stringConverterRepository()->registerConverter(converter);
-
-    /**
-     * Connect oscillators to junction
-     */
-    junction1->configureInputPort(0, PortConfiguration::LOCAL("/oscillate/1"));
-    junction1->configureOutputPort(0,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lfhip"));
-    junction1->configureOutputPort(1,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lhhip"));
-    junction1->configureOutputPort(2,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rfknee"));
-    junction1->configureOutputPort(3,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rhknee"));
-
-    junction2->configureInputPort(0, PortConfiguration::LOCAL("/oscillate/2"));
-    junction2->configureOutputPort(0,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rfhip"));
-    junction2->configureOutputPort(1,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rhhip"));
-    junction2->configureOutputPort(2,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lfknee"));
-    junction2->configureOutputPort(3,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lhknee"));
-
-    /**
-     * Collect all joint angles to send them at once
-     */
-    CCANodePtr collector = Collector<JointAngles>::create(8);
-    collector->setProcessingStrategy(ModerateProcessing::create());
-    collector->configureInputPort(0,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lfhip"));
-    collector->configureInputPort(1,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rfhip"));
-    collector->configureInputPort(2,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lhhip"));
-    collector->configureInputPort(3,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rhhip"));
-    collector->configureInputPort(4,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lfknee"));
-    collector->configureInputPort(5,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rfknee"));
-    collector->configureInputPort(6,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/lhknee"));
-    collector->configureInputPort(7,
-            PortConfiguration::LOCAL("/oncilla/command/nodes/angles/rhknee"));
-    collector->configureOutputPort(0,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/all"));
-
-    std::cout << std::endl << "Two oscillators oscillating between " << (offset
-            - amplitude) << " and " << (offset + amplitude) << " with "
-            << frequency << " Hertz ..." << std::endl;
-    heartbeat->run();
-
-    return EXIT_SUCCESS;
-}
diff --git a/examples/walkOneLeg.cpp b/examples/walkOneLeg.cpp
index ce09d1f..c515e4f 100644
--- a/examples/walkOneLeg.cpp
+++ b/examples/walkOneLeg.cpp
@@ -1,107 +1,63 @@
 #include <iostream>
 #include <fstream>
 
 #include <stdlib.h>
 #include <math.h>
 #include <ctime>
 
-#include <rsc/logging/LoggerFactory.h>
-
 #include <boost/thread/recursive_mutex.hpp>
 #include <boost/thread/condition.hpp>
 #include <boost/timer.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <boost/program_options.hpp>
 
-#include <rsb/Informer.h>
-#include <rsb/Handler.h>
-#include <rsb/Factory.h>
-
-#include <rsb/converter/Repository.h>
-#include <rsb/converter/ProtocolBufferConverter.h>
-
-#include <cca/Beat.h>
-
-#include <rci/nodes/SimpleOscillator.h>
-#include <rci/dto/JointAngles.h>
-#include <rci/dto/converter/JointAnglesConverter.h>
+#include "Oncilla.h"
+#include "OncillaSynchronizer.h"
 
 using namespace std;
 using namespace boost;
 using namespace boost::program_options;
 
-using namespace rsc;
-using namespace rsc::logging;
-
-using namespace rsb;
-using namespace rsb::converter;
-using namespace rst::converter::rci;
-
-using namespace cca;
-using namespace cca::rci;
-using namespace cca::rci::driver;
+using namespace rci;
+using namespace rci::oncilla;
 
 int main(int ac, char **av) {
     unsigned int cycleTimeMs = 50;
     double amplitude = 1.0;
     double offset = 0.0;
     double frequency = 1;
 
-    LoggerFactory::getInstance().reconfigure(Logger::LEVEL_ERROR);
-
     /**
      * Handle command line options
      */
     options_description desc("Allowed options");
     desc.add_options()("help", "Produce help message")("frequency",
             value<double> (), "Frequency of oscillation in Hertz")("amplitude",
             value<double> (), "Amplitude of the sine")("offset",
             value<double> (), "Offset to the output value");
     variables_map vm;
     store(parse_command_line(ac, av, desc), vm);
     notify(vm);
     if (vm.count("help")) {
         cout << desc << "\n";
         return 1;
     }
     if (vm.count("frequency")) {
         frequency = vm["frequency"].as<double> ();
     }
     cout << "Frequency set to " << frequency << " Hertz.\n";
     if (vm.count("amplitude")) {
         amplitude = vm["amplitude"].as<double> ();
     }
     cout << "Amplitude set to " << amplitude << ".\n";
     if (vm.count("offset")) {
         offset = vm["offset"].as<double> ();
     }
     cout << "Offset set to " << offset << ".\n";
 
-    /**
-     * Register converters for Joint Angles
-     */
-    boost::shared_ptr<JointAnglesConverter> converter(
-            new JointAnglesConverter());
-    stringConverterRepository()->registerConverter(converter);
-
-    /**
-     * Create Oscillator Node
-     */
-    CCANodePtr oscillator = SimpleOscillator<JointAngles>::create(
-            "Knee Oscillator", frequency, amplitude, offset);
-    oscillator->configureOutputPort(0,
-            PortConfiguration::REMOTE("/oncilla/command/nodes/angles/lhknee"));
-
-    /**
-     * Setup and run the main beat
-     */
-    GlobalBeatPtr heartbeat;
-    heartbeat = GlobalBeat::create(cycleTimeMs);
-    heartbeat->registerReceiver(oscillator);
-    std::cout << "Oscillating between " << (offset - amplitude) << " and "
-            << (offset + amplitude) << " with " << frequency << " Hertz ..."
-            << std::endl;
-    heartbeat->run();
+    OncillaSynchronizerPtr s =
+            OncillaSynchronizerPtr(new OncillaSynchronizer());
+    Oncilla o;
 
     return EXIT_SUCCESS;
 }
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 45ae094..e28aa78 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,34 +1,35 @@
 # Configure config header
 CONFIGURE_FILE("config.h.in" "${PROJECT_NAME}Config.h")
                       
 SET(ONCILLAHEADERS
             OncillaTrunk.h
             OncillaL01.h
             OncillaL2.h
             OncillaL3.h
             OncillaL4.h
             Oncilla.h
             OncillaSynchronizer.h)
             
 SET(ONCILLASOURCES
             OncillaTrunk.cpp
             OncillaL01.cpp
             OncillaL2.cpp
             OncillaL3.cpp
             OncillaL4.cpp
+            Oncilla.cpp
             OncillaSynchronizer.cpp)
 
 ADD_LIBRARY(${LIBONCILLA_NAME} SHARED ${ONCILLASOURCES})
 TARGET_LINK_LIBRARIES(${LIBONCILLA_NAME}
                       ${RSC_LIBRARIES}
                       ${RCI_LIBRARIES}
                       ${LIBRARIES_LIBRARIES})
 SET_TARGET_PROPERTIES(${LIBONCILLA_NAME}
                       PROPERTIES
                       VERSION ${LIBONCILLA_VERSION_STRING})
 
 INSTALL(TARGETS ${LIBONCILLA_NAME}
         RUNTIME DESTINATION bin
         LIBRARY DESTINATION lib
         ARCHIVE DESTINATION lib)
 INSTALL_FILES_RECURSIVE(include/lib${LIBNAME} ONCILLAHEADERS)
diff --git a/src/Oncilla.cpp b/src/Oncilla.cpp
index df9c757..84829df 100644
--- a/src/Oncilla.cpp
+++ b/src/Oncilla.cpp
@@ -1,25 +1,87 @@
 /*
  * Oncilla.cpp
  *
- *  Created on: 15 dŽc. 2011
- *      Author: Alexandre Tuleu
+ *  Created on: 15 dec. 2011
+ *      Author: Alexandre Tuleu, Arne Nordmann
  */
-
 #include "Oncilla.h"
 
-namespace cca {
 namespace rci {
-namespace driver {
-
-Oncilla::Oncilla() {
-	// TODO Auto-generated constructor stub
+namespace oncilla {
 
+Oncilla::Oncilla() :
+    synchronizer(), d_l0s(), d_l1s(), d_l2s(), d_l3s(), d_l4s(), d_trunk() {
 }
 
 Oncilla::~Oncilla() {
-	// TODO Auto-generated destructor stub
+    // TODO Auto-generated destructor stub
+}
+
+void Oncilla::init() {
+    d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 LEFT FORE")));
+    d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 RIGHT FORE")));
+    d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 LEFT HIND")));
+    d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 RIGHT HIND")));
+
+    d_l1s.push_back(
+            OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 LEFT FORE")));
+    d_l1s.push_back(
+            OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 RIGHT FORE")));
+    d_l1s.push_back(
+            OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 LEFT HIND")));
+    d_l1s.push_back(
+            OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 RIGHT HIND")));
+
+    d_l2s.push_back(
+            OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 LEFT FORE")));
+    d_l2s.push_back(
+            OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 RIGHT FORE")));
+    d_l2s.push_back(
+            OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 LEFT HIND")));
+    d_l2s.push_back(
+            OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 RIGHT HIND")));
+
+    d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 LEFT FORE")));
+    d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 RIGHT FORE")));
+    d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 LEFT HIND")));
+    d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 RIGHT HIND")));
+
+    d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 LEFT FORE")));
+    d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 RIGHT FORE")));
+    d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 LEFT HIND")));
+    d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 RIGHT HIND")));
+
+    d_trunk = OncillaTrunkPtr(new OncillaTrunk("Oncilla Trunk"));
+
+}
+
+OncillaL0Ptr Oncilla::getL0(Leg l) const {
+    return this->d_l0s[l];
+}
+
+OncillaL1Ptr Oncilla::getL1(Leg l) const {
+    return this->d_l1s[l];
+}
+
+OncillaL2Ptr Oncilla::getL2(Leg l) const {
+    return this->d_l2s[l];
+}
+
+OncillaL3Ptr Oncilla::getL3(Leg l) const {
+    return this->d_l3s[l];
+}
+
+OncillaL4Ptr Oncilla::getL4(Leg l) const {
+    return this->d_l4s[l];
 }
 
-} /* namespace driver */
-} /* namespace rci */
-} /* namespace cca */
+OncillaTrunkPtr Oncilla::getTrunk() const {
+    return this->d_trunk;
+}
+
+void Oncilla::setSynchronizer(OncillaSynchronizerPtr sync) {
+    this->synchronizer = sync;
+}
+
+}
+}
diff --git a/src/Oncilla.h b/src/Oncilla.h
index ee7b284..1330ad4 100644
--- a/src/Oncilla.h
+++ b/src/Oncilla.h
@@ -1,66 +1,67 @@
 /*
  * Oncilla.h
  *
- *  Created on: 15 d�c. 2011
- *      Author: Alexandre Tuleu
+ *  Created on: 15 dec. 2011
+ *      Author: Alexandre Tuleu, Arne Nordmann
  */
+#pragma once
 
-#ifndef LIBONCILLA_ONCILLA_H_
-#define LIBONCILLA_ONCILLA_H_
-
+#include "OncillaTrunk.h"
 #include "OncillaL01.h"
 #include "OncillaL2.h"
 #include "OncillaL3.h"
 #include "OncillaL4.h"
-#include "OncillaTrunk.h"
 
 /*
  *
  */
 /*
  *
  */
-namespace cca {
 namespace rci {
-namespace driver {
+namespace oncilla {
+
+class OncillaSynchronizer;
+typedef boost::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;
 
 class Oncilla;
 typedef boost::shared_ptr<Oncilla> OncillaPtr;
 
 class Oncilla {
 public:
     enum Leg {
         LEFT_FORE = 0,
         RIGHT_FORE = 1,
         LEFT_HIND = 2,
         RIGHT_HIND = 3,
         NUM_LEGS = 4
     };
 
     Oncilla();
     virtual ~Oncilla();
 
-    OncillaL0Ptr getL0(Leg l);
-    OncillaL1Ptr getL1(Leg l);
-    OncillaL2Ptr getL2(Leg l);
-    OncillaL3Ptr getL3(Leg l);
-    OncillaL4Ptr getL4(Leg l);
+    OncillaL0Ptr getL0(Leg l) const;
+    OncillaL1Ptr getL1(Leg l) const;
+    OncillaL2Ptr getL2(Leg l) const;
+    OncillaL3Ptr getL3(Leg l) const;
+    OncillaL4Ptr getL4(Leg l) const;
+    OncillaTrunkPtr getTrunk() const;
 
-    OncillaTrunkPtr getTrunk();
+    void setSynchronizer(OncillaSynchronizerPtr synchronizer);
 
 private:
     void init();
 
+    OncillaSynchronizerPtr synchronizer;
+
     std::vector<OncillaL0Ptr> d_l0s;
     std::vector<OncillaL1Ptr> d_l1s;
     std::vector<OncillaL2Ptr> d_l2s;
     std::vector<OncillaL3Ptr> d_l3s;
     std::vector<OncillaL4Ptr> d_l4s;
 
-    OncillaPtr d_trunk;
+    OncillaTrunkPtr d_trunk;
 };
 
 }
 }
-}
-#endif /* LIBONCILLA_ONCILLA_H_ */
diff --git a/src/OncillaL01.cpp b/src/OncillaL01.cpp
index 0671797..4b1c2db 100644
--- a/src/OncillaL01.cpp
+++ b/src/OncillaL01.cpp
@@ -1,97 +1,95 @@
 #include "OncillaL01.h"
 
 using namespace std;
 
 namespace rci {
 namespace oncilla {
 
-OncillaL1::OncillaL1(const std::string & name) :
-		ResourceNode(name), Controlled(), Sensing(), PositionControlled(),
-		PositionSensing(), TorqueControlled(), ImpedanceControlled() {
-	this->_dimension = 2; // Two encoder values - should always be the same
+OncillaL0::OncillaL0(const std::string &name) :
+    ResourceNode(name), Controlled(), PositionControlled() {
 }
 
-bool OncillaL1::isConverged() const {
-	throw std::runtime_error("Not yet implemented.");
-	return false;
+bool OncillaL0::isConverged() const {
+    return false;
 }
 
-bool OncillaL1::setJointPosition(JointAnglesPtr position) {
-	// Successfull
-	this->_lastCommandedPosition = position;
-	return true;
+bool OncillaL0::setJointPosition(JointAnglesPtr position) {
+    // Successfull
+    this->_lastCommandedPosition = position;
+    return true;
 }
 
-JointAnglesPtr OncillaL1::getJointPosition() const {
-	return this->_latestJointPosition;
+JointAnglesPtr OncillaL0::getLastPositionCommand() const {
+    // TODO: The second part f this condition shouldn`t be necessary
+    if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
+        //std::cout << this->_lastCommandedPosition->print();
+        return this->_lastCommandedPosition;
+    }
+    return JointAnglesPtr();
 }
 
-bool OncillaL1::setJointVelocity(JointVelocitiesPtr vel) {
-	throw std::runtime_error("Not yet implemented.");
+OncillaL0::~OncillaL0() {
 }
 
-bool OncillaL1::setJointTorque(JointTorquesPtr torque) {
-	throw std::runtime_error("Not yet implemented.");
+std::string OncillaL0::print() const {
+    ostringstream outstream(ostringstream::out);
+    outstream.precision(3); // Precision when printing double values
+    outstream << "<Oncilla Hip>" << endl;
+    return outstream.str();
 }
 
-bool OncillaL1::setJointImpedance(JointImpedancePtr imped) {
-	throw std::runtime_error("Not yet implemented.");
+OncillaL1::OncillaL1(OncillaSynchronizer &s, const std::string &name) :
+    ResourceNode(name), Controlled(), Sensing(), PositionControlled(),
+            PositionSensing(), TorqueControlled(), ImpedanceControlled() {
+    this->_dimension = 2; // Two encoder values - should always be the same
 }
 
-JointAnglesPtr OncillaL1::getLastPositionCommand() const {
-	// TODO: The second part f this condition shouldn`t be necessary
-	if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
-		//std::cout << this->_lastCommandedPosition->print();
-		return this->_lastCommandedPosition;
-	}
-	// No command set yet. Returning current joint values instead
-	return this->_latestJointPosition;
+bool OncillaL1::isConverged() const {
+    throw std::runtime_error("Not yet implemented.");
+    return false;
 }
 
-OncillaL1::~OncillaL1() {
+bool OncillaL1::setJointPosition(JointAnglesPtr position) {
+    // Successfull
+    this->_lastCommandedPosition = position;
+    return true;
 }
 
-std::string OncillaL1::print() const {
-	ostringstream outstream(ostringstream::out);
-	outstream.precision(3); // Precision when printing double values
-	outstream << "<Oncilla Hip>" << endl;
-	return outstream.str();
+JointAnglesPtr OncillaL1::getJointPosition() const {
+    return this->_latestJointPosition;
 }
 
-/** Oncilla Hip Transverse **/
-
-OncillaL0::OncillaL0(std::string name) :
-			ResourceNode(name), Controlled(), PositionControlled() {
+bool OncillaL1::setJointVelocity(JointVelocitiesPtr vel) {
+    throw std::runtime_error("Not yet implemented.");
 }
 
-bool OncillaL0::isConverged() const {
-	return false;
+bool OncillaL1::setJointTorque(JointTorquesPtr torque) {
+    throw std::runtime_error("Not yet implemented.");
 }
 
-bool OncillaL0::setJointPosition(JointAnglesPtr position) {
-	// Successfull
-	this->_lastCommandedPosition = position;
-	return true;
+bool OncillaL1::setJointImpedance(JointImpedancePtr imped) {
+    throw std::runtime_error("Not yet implemented.");
 }
 
-JointAnglesPtr OncillaL0::getLastPositionCommand() const {
-	// TODO: The second part f this condition shouldn`t be necessary
-	if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
-		//std::cout << this->_lastCommandedPosition->print();
-		return this->_lastCommandedPosition;
-	}
-	return JointAnglesPtr();
+JointAnglesPtr OncillaL1::getLastPositionCommand() const {
+    // TODO: The second part f this condition shouldn`t be necessary
+    if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
+        //std::cout << this->_lastCommandedPosition->print();
+        return this->_lastCommandedPosition;
+    }
+    // No command set yet. Returning current joint values instead
+    return this->_latestJointPosition;
 }
 
-OncillaL0::~OncillaL0() {
+OncillaL1::~OncillaL1() {
 }
 
-std::string OncillaL0::print() const {
-	ostringstream outstream(ostringstream::out);
-	outstream.precision(3); // Precision when printing double values
-	outstream << "<Oncilla Hip>" << endl;
-	return outstream.str();
+std::string OncillaL1::print() const {
+    ostringstream outstream(ostringstream::out);
+    outstream.precision(3); // Precision when printing double values
+    outstream << "<Oncilla Hip>" << endl;
+    return outstream.str();
 }
 
 }
 }
diff --git a/src/OncillaL01.h b/src/OncillaL01.h
index c3f373d..6497610 100644
--- a/src/OncillaL01.h
+++ b/src/OncillaL01.h
@@ -1,144 +1,146 @@
 #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>
 
 #include <rci/dto/JointAngles.h>
 
 namespace rci {
 namespace oncilla {
 
+class OncillaSynchronizer;
+
 class OncillaL1;
 typedef boost::shared_ptr<OncillaL1> OncillaL1Ptr;
 
 /**
  * Node class, representing the hip node of the quadruped robot.
  *
  * @todo In case of simulation, this node can also sense the power consumption.
  */
 class OncillaL1: public rci::ResourceNode,
         public rci::Controlled,
         public rci::Sensing,
         public rci::PositionControlled,
         public rci::PositionSensing, // Two encoder values
         public rci::VelocityControlled,
         public rci::TorqueControlled,
         public rci::ImpedanceControlled {
 
 public:
 
     /**
      * Special constructor to also link to webots
      */
-    OncillaL1(const std::string & name = "Oncilla Hip");
+    OncillaL1(OncillaSynchronizer &s,
+            const std::string &name = "Oncilla Hip");
 
     virtual ~OncillaL1();
 
     /**
      * 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);
 
     /**
      * Returns current joint position.
      * @return Current joint position
      */
     virtual JointAnglesPtr getJointPosition() const;
 
-
     /**
      * Commanding a joint velocity.
      * @param position Position command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     virtual bool setJointVelocity(rci::JointVelocitiesPtr vel);
 
     /**
      * Returns current joint torque.
      * @return Current joint torque
      */
     virtual bool setJointTorque(JointTorquesPtr torque);
 
     /**
      * Returns current joint torque.
      * @return Current joint torque
      */
     virtual bool setJointImpedance(JointImpedancePtr imped);
 
     /**
      * 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;
 };
 
 class OncillaL0;
 typedef boost::shared_ptr<OncillaL0> OncillaL0Ptr;
 
 /**
  * Node class, representing the hip node of the quadruped robot.
  * @todo In case of simulation, this node can also sense the power consumption.
  */
 class OncillaL0: public rci::ResourceNode,
         public rci::Controlled,
         public rci::PositionControlled {
 
 public:
 
     /**
      * Special constructor to also link to webots
      */
-    OncillaL0(std::string name = "Oncilla Hip");
+    OncillaL0(const std::string &name = "Oncilla Hip");
 
     virtual ~OncillaL0();
 
     /**
      * 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);
 
     /**
      * 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;
 };
 
 }
 }
diff --git a/src/OncillaL2.cpp b/src/OncillaL2.cpp
index 0537670..07c6f8d 100644
--- a/src/OncillaL2.cpp
+++ b/src/OncillaL2.cpp
@@ -1,66 +1,66 @@
 #include "OncillaL2.h"
 
 using namespace std;
 using namespace boost;
 
 namespace rci {
 namespace oncilla {
 
-OncillaL2::OncillaL2(const std::string & name) :
+OncillaL2::OncillaL2(OncillaSynchronizer &s, const std::string &name) :
     ResourceNode(name), Controlled(), Sensing(), PositionControlled(),
             PositionSensing(), VelocityControlled(), TorqueControlled(),
             ImpedanceControlled() {
     // Two encoder values - difference is due to passive compliance
     this->_dimension = 2;
 }
 
 bool OncillaL2::isConverged() const {
     return false;
 }
 
 bool OncillaL2::setJointPosition(JointAnglesPtr position) {
     // Successfull
     //    std::cerr << "[OncillaKnee] " << position << std::endl;
     this->_lastCommandedPosition = position;
     return true;
 }
 
 JointAnglesPtr OncillaL2::getJointPosition() const {
     return this->_latestJointPosition;
 }
 
 OncillaL2::~OncillaL2() {
 }
 
 std::string OncillaL2::print() const {
     ostringstream outstream(ostringstream::out);
     outstream.precision(3); // Precision when printing double values
     outstream << "<Oncilla Knee>" << endl;
     return outstream.str();
 }
 
 bool OncillaL2::setJointTorque(JointTorquesPtr torques) {
     throw std::runtime_error("Not yet implemented.");
 }
 
 bool OncillaL2::setJointImpedance(JointImpedancePtr imped) {
     throw std::runtime_error("Not yet implemented.");
 }
 
 bool OncillaL2::setJointVelocity(JointVelocitiesPtr vel) {
     throw std::runtime_error("Not yet implemented.");
 }
 
 JointAnglesPtr OncillaL2::getLastPositionCommand() const {
     // TODO: The second part f this condition shouldn`t be necessary
     if (!this->_lastCommandedPosition || !this->_lastCommandedPosition.get()) {
         // No command set yet. Returning current joint values instead
         // FIXME: Instead of return current position set command to current position
         return this->_latestJointPosition;
     }
 
     return this->_lastCommandedPosition;
 }
 
 }
 }
diff --git a/src/OncillaL2.h b/src/OncillaL2.h
index 2c3869f..ce38d86 100644
--- a/src/OncillaL2.h
+++ b/src/OncillaL2.h
@@ -1,95 +1,98 @@
 #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>
 
 #include <rci/dto/JointAngles.h>
 
 namespace rci {
 namespace oncilla {
 
+class OncillaSynchronizer;
+
 class OncillaL2;
 typedef boost::shared_ptr<OncillaL2> OncillaL2Ptr;
 
 /**
  * Node class, representing the knee node of the quadruped robot.
  * @todo In case of simulation, this node can also sense the power consumption.
  */
 class OncillaL2: public rci::ResourceNode,
         public rci::Controlled,
         public rci::Sensing,
         public rci::PositionControlled,
         public rci::PositionSensing,
         public rci::VelocityControlled,
         public rci::TorqueControlled,
         public rci::ImpedanceControlled {
 
 public:
 
-    OncillaL2(const std::string & name = "Oncilla Knee");
+    OncillaL2(OncillaSynchronizer &s,
+            const std::string &name = "Oncilla Knee");
     virtual ~OncillaL2();
 
     /**
      * 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);
 
     /**
      * Returns current joint position.
      * @return Current joint position
      */
     virtual JointAnglesPtr getJointPosition() const;
 
     /**
      * Commanding a joint velocity.
      * @param position Velocity command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     bool setJointVelocity(JointVelocitiesPtr vel);
 
     /**
      * Commanding a joint velocity.
      * @param position Velocity command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     bool setJointImpedance(JointImpedancePtr imped);
 
     /**
      * Commanding a joint torque.
      * @param position Torque command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     virtual bool setJointTorque(rci::JointTorquesPtr torques);
 
     /**
      * 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;
 };
 
 }
 }
diff --git a/src/OncillaSynchronizer.h b/src/OncillaSynchronizer.h
index 1ef87b4..8a7e23b 100644
--- a/src/OncillaSynchronizer.h
+++ b/src/OncillaSynchronizer.h
@@ -1,85 +1,86 @@
 #pragma once
 
 #include <vector>
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
 #include <rci/Synchronizer.h>
 
+#include "Oncilla.h"
 #include "OncillaTrunk.h"
 #include "OncillaL01.h"
 #include "OncillaL2.h"
 #include "OncillaL3.h"
 #include "OncillaL4.h"
 
 namespace rci {
 namespace oncilla {
 
 class OncillaSynchronizer;
 typedef boost::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;
 
 /**
  * OncillaSynchronizer
  * Different OncillaSynchronizers may be for example:
  * * Update with a given frequency
  * ** Send data every time
  * ** Send only if new data
  * * Update only if new data (event-based)
  * * Triggered from robot side (e.g. FRI)
  */
 class OncillaSynchronizer : public Synchronizer {
 public:
     OncillaSynchronizer(const std::string &name);
     virtual ~OncillaSynchronizer();
 
     /**
      * Registers a trunk node.
      */
-    virtual void registerTrunkNode(unsigned int index, OncillaTrunkPtr node) = 0;
+    virtual void registerTrunkNode(Oncilla::Leg index, OncillaTrunkPtr node) = 0;
 
     /**
      * Registers an L0 node.
      */
-    virtual void registerL0Node(unsigned int index, OncillaL0Ptr node) = 0;
+    virtual void registerL0Node(Oncilla::Leg index, OncillaL0Ptr node) = 0;
 
     /**
      * Registers an L1 node.
      */
-    virtual void registerL1Node(unsigned int index, OncillaL1Ptr node) = 0;
+    virtual void registerL1Node(Oncilla::Leg index, OncillaL1Ptr node) = 0;
 
     /**
      * Registers an L2 node.
      */
-    virtual void registerL2Node(unsigned int index, OncillaL2Ptr node) = 0;
+    virtual void registerL2Node(Oncilla::Leg index, OncillaL2Ptr node) = 0;
 
     /**
      * Registers an L3 node.
      */
-    virtual void registerL3Node(unsigned int index, OncillaL3Ptr node) = 0;
+    virtual void registerL3Node(Oncilla::Leg index, OncillaL3Ptr node) = 0;
 
     /**
      * Registers an L4 node.
      */
-    virtual void registerL4Node(unsigned int index, OncillaL4Ptr node) = 0;
+    virtual void registerL4Node(Oncilla::Leg index, OncillaL4Ptr node) = 0;
 
     /**
      *
      */
     friend std::ostream
     & operator<<(std::ostream& os, const OncillaSynchronizer& val);
 
 protected:
 
     /**
      * Only true for the first time
      */
     bool _onlyReceive;
 
     /**
      *
      */
     std::string name;
 };
 
 }
 }