diff --git a/RoboidControl/Thing.py b/RoboidControl/Thing.py
index 1ab8204..f345674 100644
--- a/RoboidControl/Thing.py
+++ b/RoboidControl/Thing.py
@@ -21,7 +21,9 @@ class Thing:
         ControlledMotor = 0x06
         UncontrolledMotor = 0x07
         Servo = 0x08
+        RelativeEncoder = 0x19
         # Other
+        Root = 0x10
         Roboid = 0x09
         Humanoid = 0x0A
         ExternalSensor = 0x0B
@@ -35,21 +37,19 @@ class Thing:
 
 # region Init
 
-    def __init__(self, owner: Optional['Participant'] = None, parent: Optional['Thing'] = None, thing_type: int = Type.Undetermined, thing_id: int = 0) -> None:
+    def __init__(self, owner: Optional['Participant'] = None, parent: Optional['Thing'] = None) -> None:
         """! Create a new thing 
         @param owner The owning participant
         @param parent The parent thing (will override owner if set)
-        @param thing_type The type of thing (can use \ref RoboidControl::Thing::Thing::Type "Thing.Type")
-        @param thingId The ID of the thing, leave out or set to zero to generate an ID
         """
         ## The participant owning this thing
         self.owner: Optional['Participant'] = None
         ## The ID of the thing
-        self.id: int = thing_id
+        self.id: int = 0
         ## The type of the thing
         #
         ## This can be either a \ref RoboidControl::Thing::Thing::Type "Thing.Type" or a byte value for custom types.
-        self.type: int = thing_type
+        self.type: int = Thing.Type.Undetermined
 
         ## The parent of this thing
         self.parent: Optional[Thing] = None