diff --git a/Assets/ControlLibrary/ControlLibrary.cs b/Assets/ControlLibrary/ControlLibrary.cs
index 749e36e..84b3c4d 100644
--- a/Assets/ControlLibrary/ControlLibrary.cs
+++ b/Assets/ControlLibrary/ControlLibrary.cs
@@ -17,7 +17,7 @@ public class ControlLibrary : MonoBehaviour
     public static extern int send_angle_control(int module_id, int angle);
 
     [DllImport("libc_control")]
-    private static extern IntPtr get_configuration(out int module_id); // the data this points to will be invalidated when called again
+    private static extern IntPtr get_configuration(out int module_id, int leader_id); // the data this points to will be invalidated when called again
 
     [DllImport("libc_control")]
     public static extern int send_string_control(int module_id, string s);
@@ -41,11 +41,27 @@ public class ControlLibrary : MonoBehaviour
     [DllImport("libc_control")]
     public static extern void control_sentry_shutdown();
 
+    [DllImport("libc_control")]
+    private static extern IntPtr get_leaders(out int length);
 
-    public static Frontend.RobotConfiguration getRobotConfiguration() // this is not thread safe
+    public static int[] getRobotLeaders() {
+        int length;
+        IntPtr ptr = get_leaders(out length);
+
+        byte[] bytes = new byte[length];
+        Marshal.Copy(ptr, bytes, 0, length);
+
+        int[] ints = new int[length];
+        for (int i = 0; i < length; i++) {
+            ints[i] = bytes[i];
+        }
+        return ints;
+    }
+
+    public static Frontend.RobotConfiguration getRobotConfiguration(int leader_id) // this is not thread safe
     {
         int size;
-        IntPtr ptr = get_configuration(out size);
+        IntPtr ptr = get_configuration(out size, leader_id);
 
         byte[] buffer = new byte[size];
         Marshal.Copy(ptr, buffer, 0, size);
diff --git a/Assets/ControlLibrary/libc_control.dylib b/Assets/ControlLibrary/libc_control.dylib
index 7cc3aa7..0037e2d 100755
Binary files a/Assets/ControlLibrary/libc_control.dylib and b/Assets/ControlLibrary/libc_control.dylib differ
diff --git a/Assets/Module/TopologyBuilder.cs b/Assets/Module/TopologyBuilder.cs
index fce2892..fa13008 100644
--- a/Assets/Module/TopologyBuilder.cs
+++ b/Assets/Module/TopologyBuilder.cs
@@ -62,7 +62,7 @@ public class TopologyBuilder : MonoBehaviour
         }
         else
         {
-            RobotConfiguration config = ControlLibrary.getRobotConfiguration();
+            RobotConfiguration config = ControlLibrary.getRobotConfiguration(100); // todo: change to actual leader id
             int moduleCount = config.ModulesLength;
             for (int i = 0; i < moduleCount; i++)
             {
@@ -73,7 +73,7 @@ public class TopologyBuilder : MonoBehaviour
                     Debug.Log("Adding module " + module.Id);
                     ModuleType moduleType = Enum.Parse<ModuleType>(module.ModuleType.ToString());
                     float degree = module.ConfigurationAsMotorState().Angle;
-                    if (moduleType == ModuleType.SERVO_1 || moduleType == moduleType.SERVO_2)
+                    if (moduleType == ModuleType.SERVO_1 || moduleType == ModuleType.SERVO_2)
                     {
                         degree = 90;
                     }
@@ -93,7 +93,8 @@ public class TopologyBuilder : MonoBehaviour
                 if (n_connection != null)
                 {
                     var connection = n_connection.Value;
-                    Debug.Log("orientation: " + connection.Orientation);
+                    if (connection.FromSocket == 0) { continue; }
+                    Debug.Log("Connection: from (socket): " + connection.FromModuleId + " (" + connection.FromSocket + ")" + " to " + connection.ToModuleId + " ("+ connection.ToSocket + ")" + " orientation: " + connection.Orientation);
                     graph.Connections.Add(new Connection
                     {
                         FromModuleId = connection.FromModuleId,