diff --git a/LinearAlgebra/test/DirectionTest.cs b/LinearAlgebra/test/DirectionTest.cs
index e31af4c..3cebe1a 100644
--- a/LinearAlgebra/test/DirectionTest.cs
+++ b/LinearAlgebra/test/DirectionTest.cs
@@ -1,3 +1,4 @@
+#if !UNITY_5_6_OR_NEWER
 using NUnit.Framework;
 
 namespace LinearAlgebra.Test {
@@ -14,4 +15,5 @@ namespace LinearAlgebra.Test {
             Assert.True(r);
         }
     };
-}
\ No newline at end of file
+}
+#endif
\ No newline at end of file
diff --git a/Unity/RelativeEncoder.cs b/Unity/RelativeEncoder.cs
index 521878c..475a85c 100644
--- a/Unity/RelativeEncoder.cs
+++ b/Unity/RelativeEncoder.cs
@@ -56,7 +56,7 @@ namespace RoboidControl.Unity {
 
             // Normalize angles to range [-180..180)
             // Note: it is not possible to track rotation speeds higher than 180 degrees per frame because of representation limitations of Quaternions
-            float deltaAngle = Angle.Normalize(deltaRotation.eulerAngles.x);
+            float deltaAngle = Angle.Degrees(deltaRotation.eulerAngles.x).inDegrees;
             this.rotationSpeed = deltaAngle / Time.deltaTime;
         }
 
diff --git a/Unity/Thing.cs b/Unity/Thing.cs
index 43476eb..8947915 100644
--- a/Unity/Thing.cs
+++ b/Unity/Thing.cs
@@ -190,19 +190,19 @@ namespace RoboidControl.Unity {
                     SkinnedMeshRenderer[] meshRenderers = parentTransform.GetComponentsInChildren<SkinnedMeshRenderer>();
 
 #if pHUMANOID4
-                if (parentThing.objectType == 7) {
-                    HumanoidControl hc = parentThing.gameObject.GetComponent<HumanoidControl>();
-                    if (hc == null)
-                        hc = parentThing.gameObject.AddComponent<HumanoidControl>();
+                // if (parentThing.objectType == 7) {
+                //     HumanoidControl hc = parentThing.gameObject.GetComponent<HumanoidControl>();
+                //     if (hc == null)
+                //         hc = parentThing.gameObject.AddComponent<HumanoidControl>();
 
-                    foreach (SkinnedMeshRenderer meshRenderer in meshRenderers) {
-                        if (meshRenderer.rootBone != null) {
-                            Debug.Log("Found a skinned mesh with bones");
-                            hc.RetrieveBonesFrom(meshRenderer.rootBone);
-                            break;
-                        }
-                    }
-                }
+                //     foreach (SkinnedMeshRenderer meshRenderer in meshRenderers) {
+                //         if (meshRenderer.rootBone != null) {
+                //             Debug.Log("Found a skinned mesh with bones");
+                //             hc.RetrieveBonesFrom(meshRenderer.rootBone);
+                //             break;
+                //         }
+                //     }
+                // }
 #endif
                     parentTransform.localScale = Vector3.one;
                     if (meshRenderers.Length > 0) {
diff --git a/Unity/Wheel.cs b/Unity/Wheel.cs
index 53b7820..41d427f 100644
--- a/Unity/Wheel.cs
+++ b/Unity/Wheel.cs
@@ -38,7 +38,7 @@ namespace RoboidControl.Unity {
                 GameObject gameObj = Instantiate(prefab);
                 Wheel component = gameObj.GetComponent<Wheel>();
                 if (component != null)
-                    component.core = new RoboidControl.Thing(RoboidControl.Thing.Type.UncontrolledMotor, false);
+                    component.core = new RoboidControl.Thing(RoboidControl.Thing.Type.UncontrolledMotor);
                 return component;
             }
             else {
@@ -49,7 +49,8 @@ namespace RoboidControl.Unity {
                 SiteServer participant = FindAnyObjectByType<SiteServer>();
                 RoboidControl.Thing core = participant.coreParticipant.Get(thingId);
                 if (core == null)
-                    core = new(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId, false);
+                    //core = new(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId, false);
+                    core = RoboidControl.Thing.CreateRemote(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId);
                 else {
                     ;
                 }
diff --git a/src/Participant.cs b/src/Participant.cs
index a936b87..74c3773 100644
--- a/src/Participant.cs
+++ b/src/Participant.cs
@@ -3,7 +3,6 @@ using System.Collections.Generic;
 using System.Collections.Concurrent;
 using System.Net;
 using System.Net.Sockets;
-using System.Reflection.Metadata;
 
 namespace RoboidControl {
 
diff --git a/src/Thing.cs b/src/Thing.cs
index b9f9b29..72a54b1 100644
--- a/src/Thing.cs
+++ b/src/Thing.cs
@@ -2,7 +2,6 @@ using System;
 using System.Collections.Generic;
 using System.Collections.Concurrent;
 using LinearAlgebra;
-using Microsoft.VisualStudio.TestPlatform.ObjectModel.DataCollection;
 
 namespace RoboidControl {
 
diff --git a/src/Things/RelativeEncoder.cs b/src/Things/RelativeEncoder.cs
index d3bc8b7..aee9d7c 100644
--- a/src/Things/RelativeEncoder.cs
+++ b/src/Things/RelativeEncoder.cs
@@ -1,6 +1,4 @@
 
-using NUnit.Framework;
-
 namespace RoboidControl {
 
     /// @brief An Incremental Encoder measures the rotations of an axle using a rotary