diff --git a/Sensor.cpp b/Sensor.cpp
index daa996d..ff61c27 100644
--- a/Sensor.cpp
+++ b/Sensor.cpp
@@ -14,20 +14,27 @@ void Sensor::SetParent(Thing *parent) {
   }
 }
 
-void Sensor::ConnectTo(Thing *thing) {
-  this->name = thing->name;
-  this->id = thing->id;
+void Sensor::ConnectTo(Thing *oldThing) {
+  this->name = oldThing->name;
+  this->id = oldThing->id;
 
-  Thing *thingParent = thing->GetParent();
-  thingParent->RemoveChild(thing);
-  thingParent->AddChild(this);
-  this->children = thing->GetChildren();
-  this->position = thing->position;
-  this->orientation = thing->orientation;
+  Thing *oldParent = oldThing->GetParent();
+
+  oldParent->RemoveChild(oldThing);
+  oldParent->AddChild(this);
+
+  for (int childIx = 0; childIx < oldThing->childCount; childIx++) {
+    Thing *child = oldThing->GetChild(childIx);
+    this->AddChild(child);
+  }
+
+  this->position = oldThing->position;
+  this->orientation = oldThing->orientation;
   // delete (thing); // can we do this?
 }
 
 void Sensor::ConnectTo(Thing *rootThing, const char *thingName) {
   Thing *thing = rootThing->FindChild(thingName);
-  this->ConnectTo(thing);
+  if (thing != nullptr)
+    this->ConnectTo(thing);
 }
diff --git a/Thing.cpp b/Thing.cpp
index 8e2bd64..a673f41 100644
--- a/Thing.cpp
+++ b/Thing.cpp
@@ -65,12 +65,13 @@ void Thing::AddChild(Thing *child) {
   this->childCount++;
 }
 
-Thing *Passer::RoboidControl::Thing::RemoveChild(Thing *child) {
-  Thing **newChildren = new Thing *[this->childCount - 1];
+Thing *Thing::RemoveChild(Thing *child) {
+  int newChildCount = this->childCount - 1;
+  Thing **newChildren = new Thing *[newChildCount];
   unsigned char newChildIx = 0;
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
     if (this->children[childIx] != child) {
-      if (newChildIx == this->childCount - 1) { // We did not find the child
+      if (newChildIx == newChildCount) { // We did not find the child
         // stop copying and return nothing
         delete[] newChildren;
         return nullptr;
@@ -83,7 +84,7 @@ Thing *Passer::RoboidControl::Thing::RemoveChild(Thing *child) {
 
   delete[] this->children;
   this->children = newChildren;
-  this->childCount--;
+  this->childCount = newChildCount;
 
   return child;
 }
diff --git a/Thing.h b/Thing.h
index dea7cd9..39641c6 100644
--- a/Thing.h
+++ b/Thing.h
@@ -117,6 +117,7 @@ protected:
   static const unsigned int SensorType = 0x4000;
   /// @brief Bitmap for Roboid type
   static const unsigned int RoboidType = 0x2000;
+  static const unsigned char CustomType = 0x80;
 
   /// @brief Basic Thing types
   enum class Type {