diff --git a/Unity/Thing.cs b/Unity/Thing.cs
index 7804c3b..676a335 100644
--- a/Unity/Thing.cs
+++ b/Unity/Thing.cs
@@ -35,6 +35,7 @@ namespace RoboidControl.Unity {
             }
             siteServer.site.Add(thing);
             core.OnPoseChanged += PoseChanged;
+            core.OnHierarchyChanged += ParentChanged;
         }
 
         public static Thing Create(RoboidControl.Thing core) {
@@ -59,6 +60,7 @@ namespace RoboidControl.Unity {
                 this.transform.localRotation = core.orientation.ToQuaternion();
 
             core.OnPoseChanged += this.PoseChanged;
+            core.OnHierarchyChanged += ParentChanged;
         }
 
         /// <summary>
@@ -72,18 +74,11 @@ namespace RoboidControl.Unity {
                 Vector3 direction = Quaternion.AngleAxis(core.linearVelocity.direction.horizontal, Vector3.up) * Vector3.forward;
                 this.transform.Translate(core.linearVelocity.distance * Time.deltaTime * direction, Space.Self);
             }
-            // else if (core.positionUpdated)
-            //     this.transform.localPosition = core.position.ToVector3();
 
             if (core.angularVelocity != null && core.angularVelocity.distance != 0) {
-                // Vector3 angularVelocity = core.angularVelocity.ToVector3();
-                // Debug.Log(angularVelocity);
                 Vector3 axis = core.angularVelocity.direction.ToVector3();
                 this.transform.localRotation *= Quaternion.AngleAxis(core.angularVelocity.distance * Time.deltaTime, axis);
-                //this.transform.localRotation *= Quaternion.Euler(angularVelocity * Time.deltaTime);
             }
-            // else if (core.orientationUpdated)
-            //     this.transform.localRotation = core.orientation.ToQuaternion();
 
             if (!string.IsNullOrEmpty(core.modelUrl) && this.modelUrl == null) {
                 string extension = core.modelUrl.Substring(core.modelUrl.LastIndexOf("."));
@@ -98,7 +93,14 @@ namespace RoboidControl.Unity {
                     this.gameObject.name = core.name;
                 core.nameChanged = false;
             }
-
+            if (core.hierarchyChanged) {
+                Debug.Log("Parent changed");
+                if (core.parent == null)
+                    this.transform.SetParent(null, true);
+                else
+                    this.transform.SetParent(core.parent.component.transform, true);
+            core.hierarchyChanged = false;
+            }
         }
 
         private void PoseChanged() {
@@ -109,6 +111,14 @@ namespace RoboidControl.Unity {
                 this.transform.localRotation = core.orientation.ToQuaternion();
         }
 
+        private void ParentChanged() {
+            
+            // if (core.parent == null)
+            //     this.transform.SetParent(null, true);
+            // else
+            //     this.transform.SetParent(core.parent.component.transform, true);
+        }
+
         private IEnumerator LoadJPG() {
             UnityWebRequest request = UnityWebRequestTexture.GetTexture(core.modelUrl);
             yield return request.SendWebRequest();
diff --git a/src/ParticipantUDP.cs b/src/ParticipantUDP.cs
index 2f261b9..e6aeb5d 100644
--- a/src/ParticipantUDP.cs
+++ b/src/ParticipantUDP.cs
@@ -94,27 +94,6 @@ namespace RoboidControl {
 
         #region Update
 
-        protected void ReceiveUDP(IAsyncResult result) {
-            // UnityEngine.Debug.Log("received");
-            if (this.udpClient == null) // || this.endPoint == null)
-                return;
-
-            byte[] data = this.udpClient.EndReceive(result, ref endPoint);
-            // This does not yet take multi-packet messages into account!
-            if (endPoint == null)
-                return;
-
-            // We can receive our own publish (broadcast) packages. How do we recognize them????
-            // It is hard to determine our source port
-            string ipAddress = endPoint.Address.ToString();
-            Participant remoteParticipant = GetParticipant(ipAddress, endPoint.Port);
-            remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port);
-
-            ReceiveData(data, remoteParticipant);
-
-            udpClient.BeginReceive(new AsyncCallback(callbackResult => ReceiveUDP(callbackResult)), null);
-        }
-
         protected ulong nextPublishMe = 0;
         public override void Update(ulong currentTimeMS = 0) {
             if (currentTimeMS == 0) {
@@ -139,6 +118,11 @@ namespace RoboidControl {
                 Thing thing = this.things[ix];
                 if (thing == null || thing.parent != null)
                     continue;
+                
+                if (thing.hierarchyChanged && !(this.isIsolated || this.networkId == 0)) {
+                    ThingMsg thingMsg = new(this.networkId, thing);
+                    this.Send(this.remoteSite, thingMsg);
+                }
 
                 thing.Update(currentTimeMS, true);
                 if (this.isIsolated || this.networkId == 0)
@@ -172,10 +156,6 @@ namespace RoboidControl {
 
         }
 
-        public virtual void Publish() {
-            this.Publish(new ParticipantMsg(this.networkId));
-        }
-
         #endregion Update
 
         #region Send
@@ -199,6 +179,10 @@ namespace RoboidControl {
             return true;
         }
 
+        public virtual void Publish() {
+            this.Publish(new ParticipantMsg(this.networkId));
+        }
+
         public void PublishThingInfo(Thing thing) {
             // Console.WriteLine("Publish thing info");
             this.Publish(new ThingMsg(this.networkId, thing));
@@ -239,6 +223,27 @@ namespace RoboidControl {
 
         #region Receive
 
+        protected void ReceiveUDP(IAsyncResult result) {
+            // UnityEngine.Debug.Log("received");
+            if (this.udpClient == null) // || this.endPoint == null)
+                return;
+
+            byte[] data = this.udpClient.EndReceive(result, ref endPoint);
+            // This does not yet take multi-packet messages into account!
+            if (endPoint == null)
+                return;
+
+            // We can receive our own publish (broadcast) packages. How do we recognize them????
+            // It is hard to determine our source port
+            string ipAddress = endPoint.Address.ToString();
+            Participant remoteParticipant = GetParticipant(ipAddress, endPoint.Port);
+            remoteParticipant ??= AddParticipant(ipAddress, endPoint.Port);
+
+            ReceiveData(data, remoteParticipant);
+
+            udpClient.BeginReceive(new AsyncCallback(callbackResult => ReceiveUDP(callbackResult)), null);
+        }
+
         public void ReceiveData(byte[] data, Participant sender) {
             byte msgId = data[0];
             if (msgId == 0xFF) {
diff --git a/src/SiteServer.cs b/src/SiteServer.cs
index 51abbfb..6a7c905 100644
--- a/src/SiteServer.cs
+++ b/src/SiteServer.cs
@@ -81,7 +81,11 @@ namespace RoboidControl {
                 if (parentThing == null)
                     Console.WriteLine($"Could not find parent [{msg.networkId}/{msg.parentId}]");
                 else
-                    thing.parent = parentThing;
+                    thing.parent = parentThing;                    
+            }
+            else {
+                Console.Write($"Dropped {thing.id}");
+                thing.parent = null;
             }
         }
     }
diff --git a/src/Thing.cs b/src/Thing.cs
index 4c75727..856277d 100644
--- a/src/Thing.cs
+++ b/src/Thing.cs
@@ -145,14 +145,15 @@ namespace RoboidControl {
                 }
                 else {
                     value.AddChild(this);
-                    OnParentChanged?.Invoke();
                 }
+                OnHierarchyChanged?.Invoke();
+                this.hierarchyChanged = true;
             }
         }
         /// <summary>
         /// Event which is triggered when the parent changes
         /// </summary>
-        public event ChangeHandler OnParentChanged = delegate { };
+        public event ChangeHandler OnHierarchyChanged = delegate { };
 
         /// <summary>
         /// Add a child Thing to this Thing
@@ -219,6 +220,11 @@ namespace RoboidControl {
             return null;
         }
 
+        /// <summary>
+        /// Indicator that the hierarchy of the thing has changed
+        /// </summary>
+        public bool hierarchyChanged = true;
+
         /// <summary>
         /// The children of this thing
         /// </summary>
@@ -368,7 +374,8 @@ namespace RoboidControl {
             this.positionUpdated = false;
             this.orientationUpdated = false;
             this.linearVelocityUpdated = false;
-            this.angularVelocityUpdated = false;            
+            this.angularVelocityUpdated = false;
+            //this.hierarchyChanged = false;
 
             // should recurse over children...
             if (recursively) {