diff --git a/src/Participant.cs b/src/Participant.cs
index 6944992..5cb2527 100644
--- a/src/Participant.cs
+++ b/src/Participant.cs
@@ -113,7 +113,7 @@ namespace RoboidControl {
              );
             //Thing thing = things.Find(aThing => Thing.IsThing(aThing, networkId, thingId));
             if (thing == null)
-                Console.WriteLine($"Could not find thing {this.networkId} [{networkId}/{thingId}]");
+                Console.WriteLine($"Unknown Thing {this.networkId} [{networkId}/{thingId}]");
             return thing;
         }
 
@@ -123,7 +123,7 @@ namespace RoboidControl {
         /// <param name="thing">The thing to add</param>
         /// <param name="checkId">If true, the thing.id is regenerated if it is zero
         public void Add(Thing thing, bool checkId = true) {
-            Console.WriteLine("Add Thing to participant");
+            // Console.WriteLine("Add Thing to participant");
             if (checkId && thing.id == 0) {
                 thing.id = (byte)(this.things.Count + 1);
                 this.things.Add(thing);
diff --git a/src/Participants/ParticipantUDP.cs b/src/Participants/ParticipantUDP.cs
index 297ffc4..7adb8a4 100644
--- a/src/Participants/ParticipantUDP.cs
+++ b/src/Participants/ParticipantUDP.cs
@@ -236,25 +236,25 @@ namespace RoboidControl {
                 // if (this.isIsolated)
                 //     continue;
 
-                if (currentTimeMS > this.nextSendUpdate) {
-                    for (int thingIx = 0; thingIx < owner.things.Count; thingIx++) {
-                        Thing thing = owner.things[thingIx];
-                        if (thing == null)
-                            continue;
+                // if (currentTimeMS > this.nextSendUpdate) {
+                //     for (int thingIx = 0; thingIx < owner.things.Count; thingIx++) {
+                //         Thing thing = owner.things[thingIx];
+                //         if (thing == null)
+                //             continue;
 
-                        foreach (Participant participant in Participant.participants) {
-                            if (participant == this || participant == owner)
-                                continue;
+                //         foreach (Participant participant in Participant.participants) {
+                //             if (participant == this || participant == owner)
+                //                 continue;
 
-                            Console.WriteLine($"[{thing.owner.networkId}/{thing.id}] Pose ---> {participant.networkId}");
-                            PoseMsg poseMsg = new(thing.owner.networkId, thing, true);
-                            participant.Send(poseMsg);
-                        }
-                    }
-                }
+                //             Console.WriteLine($"[{thing.owner.networkId}/{thing.id}] Pose ---> {participant.networkId}");
+                //             PoseMsg poseMsg = new(thing.owner.networkId, thing, true);
+                //             participant.Send(poseMsg);
+                //         }
+                //     }
+                // }
             }
-            if (currentTimeMS > this.nextSendUpdate)
-                this.nextSendUpdate = currentTimeMS + this.sendUpdateIntervalMS;
+            // if (currentTimeMS > this.nextSendUpdate)
+            //     this.nextSendUpdate = currentTimeMS + this.sendUpdateIntervalMS;
         }
 
         #endregion Update
@@ -490,7 +490,7 @@ namespace RoboidControl {
         }
 
         protected virtual Thing ProcessNewThing(Participant owner, ThingMsg msg, bool isRemote) {
-            Console.WriteLine("--- New Thing");
+            // Console.WriteLine("--- New Thing");
             Thing newThing = msg.thingType switch {
                 Thing.Type.TouchSensor => new TouchSensor(owner.root),
                 Thing.Type.DifferentialDrive => new DifferentialDrive(owner.root),
@@ -528,7 +528,7 @@ namespace RoboidControl {
         }
 
         protected virtual void Process(Participant sender, PoseMsg msg) {
-#if DEBUG2         
+#if DEBUG      
             Console.WriteLine($"{this.name}: Process PoseMsg [{msg.networkId}/{msg.thingId}] {msg.poseType}");
 #endif            
             Participant owner = Participant.GetParticipant(msg.networkId);
diff --git a/src/Participants/SiteServer.cs b/src/Participants/SiteServer.cs
index 55df31c..3cf016c 100644
--- a/src/Participants/SiteServer.cs
+++ b/src/Participants/SiteServer.cs
@@ -95,6 +95,38 @@ namespace RoboidControl {
             }
         }
 
+        protected override void UpdateOtherThings(ulong currentTimeMS) {
+            for (int ownerIx = 0; ownerIx < Participant.participants.Count; ownerIx++) {
+                Participant owner = Participant.participants[ownerIx];
+                if (owner == null || owner == this)
+                    continue;
+
+                owner.Update();
+
+                if (currentTimeMS < this.nextSendUpdate)
+                    continue;
+
+                // for (int thingIx = 0; thingIx < owner.things.Count; thingIx++) {
+                //     Thing thing = owner.things[thingIx];
+                foreach (Thing thing in owner.things) {
+                    if (thing == null)
+                        continue;
+
+                    foreach (Participant participant in Participant.participants) {
+                        if (participant == this || participant == owner)
+                            continue;
+
+                        PoseMsg poseMsg = new(thing.owner.networkId, thing);
+                        if (poseMsg.poseType != 0)
+                            Console.WriteLine($"[{thing.owner.networkId}/{thing.id}] Pose ---> {participant.networkId}");
+                        participant.Send(poseMsg);
+                    }
+                }
+            }
+            if (currentTimeMS > this.nextSendUpdate)
+                this.nextSendUpdate = currentTimeMS + this.sendUpdateIntervalMS;
+        }
+
         #endregion Update
 
         #region Receive
diff --git a/src/Thing.cs b/src/Thing.cs
index 34b3d93..0d5fd4d 100644
--- a/src/Thing.cs
+++ b/src/Thing.cs
@@ -341,7 +341,10 @@ namespace RoboidControl {
         public bool orientationUpdated = false;
 
         public void ReplaceOrientation(SwingTwist newOrientation) {
-            this._orientation = newOrientation;
+            if (newOrientation != this._orientation) {
+                this._orientation = newOrientation;
+                orientationUpdated = true;
+            }
         }
 
         private Spherical _linearVelocity = Spherical.zero;