diff --git a/src/liboncilla-webots/WebotsL3Adapter.cpp b/src/liboncilla-webots/WebotsL3Adapter.cpp
index 27cd788..d9b99f1 100644
--- a/src/liboncilla-webots/WebotsL3Adapter.cpp
+++ b/src/liboncilla-webots/WebotsL3Adapter.cpp
@@ -1,33 +1,39 @@
 /**
  * \file WebotsL3Adapter.cpp
  *
  *  \date Jan 27, 2012
  *  \author Alexandre Tuleu
  */
 
 #include "WebotsL3Adapter.h"
 
 using namespace rci::oncilla;
 
 WebotsL3Adapter::WebotsL3Adapter(OncillaL3Ptr node, webots::Servo * servo)
 	: d_node(node)
 	, d_servo(*servo){
 	if(!servo){
 		throw std::logic_error("Unvalid webots::Servo handle.");
 	}
 
 }
 
 WebotsL3Adapter::~WebotsL3Adapter(){
 }
 
 void WebotsL3Adapter::SendCommand(){/*Nothing to do*/}
 
 void WebotsL3Adapter::Step(double ts){/*Nothing ot do*/}
 
 void WebotsL3Adapter::ReadSensors(){
-	///\todo implement !
-	//throw std::runtime_error("ReadSensor of WebotsL3Adpater is not implemented yet");
+	d_node->unsafeUpdatePosition(d_servo.getPosition());
 }
 
 
+void WebotsL3Adapter::Activate(){
+	d_servo.enablePosition(1);
+}
+
+void WebotsL3Adapter::DeActivate(){
+	d_servo.disablePosition();
+}
diff --git a/src/liboncilla-webots/WebotsL3Adapter.h b/src/liboncilla-webots/WebotsL3Adapter.h
index 083d8b4..4ebae7e 100644
--- a/src/liboncilla-webots/WebotsL3Adapter.h
+++ b/src/liboncilla-webots/WebotsL3Adapter.h
@@ -1,36 +1,39 @@
 /**
  * \file WebotsL3Adapter.h
  *
  *  \date Jan 27, 2012
  *  \author Alexandre Tuleu
  */
 
 #ifndef LIBONCILLA_WEBOTS_WEBOTSL3ADAPTER_H_
 #define LIBONCILLA_WEBOTS_WEBOTSL3ADAPTER_H_
 
 #include <liboncilla/OncillaL3.h>
 #include "WebotsNodeAdapter.h"
 #include "webots/Servo.hpp"
 
 
 
 /**
+ * Implementation of OncillaL3 joint.
  *
+ * Right now just read data from the P1/P2 - L3 joint. Some transformation
+ * should be done in the future once the hardware will be better defined.
  */
 class WebotsL3Adapter : public WebotsNodeAdapter{
 public:
 	WebotsL3Adapter(rci::oncilla::OncillaL3Ptr node, webots::Servo * servo);
 	virtual ~WebotsL3Adapter();
 
 	void SendCommand();
 	void Step(double ts);
 	void ReadSensors();
-	void Activate(){};
-	void DeActivate(){};
+	void Activate();
+	void DeActivate();
 
 private:
 	rci::oncilla::OncillaL3Ptr d_node;
 	webots::Servo & d_servo;
 };
 
 #endif // LIBONCILLA_WEBOTS_WEBOTSL3ADAPTER_H_