diff --git a/cpp/revolve/gazebo/brain/NeuralNetwork.cpp b/cpp/revolve/gazebo/brain/NeuralNetwork.cpp
index 745e0ec150..8a17908817 100644
--- a/cpp/revolve/gazebo/brain/NeuralNetwork.cpp
+++ b/cpp/revolve/gazebo/brain/NeuralNetwork.cpp
@@ -17,18 +17,17 @@
 *
 */
 
-#include "NeuralNetwork.h"
-#include "../motors/Motor.h"
-#include "../sensors/Sensor.h"
-
-#include <iostream>
 #include <algorithm>
-#include <stdexcept>
+#include <cmath>
 #include <cstdlib>
-#include <map>
-#include <string>
+#include <iostream>
 #include <sstream>
-#include <cmath>
+#include <stdexcept>
+
+#include "../motors/Motor.h"
+#include "../sensors/Sensor.h"
+
+#include "NeuralNetwork.h"
 
 namespace gz = gazebo;
 
@@ -55,7 +54,7 @@ NeuralNetwork::NeuralNetwork(std::string modelName,
 
   // Listen to network modification requests
   alterSub_ = node_->Subscribe("~/"+modelName+"/modify_neural_network",
-                 &NeuralNetwork::modify, this);
+                               &NeuralNetwork::modify, this);
 
   // Initialize weights, input and states to zero by default
   memset(inputWeights_, 0, sizeof(inputWeights_));
diff --git a/cpp/revolve/gazebo/sensors/VirtualSensor.h b/cpp/revolve/gazebo/sensors/VirtualSensor.h
index d7804b1f26..7425c105cb 100644
--- a/cpp/revolve/gazebo/sensors/VirtualSensor.h
+++ b/cpp/revolve/gazebo/sensors/VirtualSensor.h
@@ -34,7 +34,10 @@ namespace gazebo {
 
 class VirtualSensor {
   public:
-  VirtualSensor(::gazebo::physics::ModelPtr model, std::string partId, std::string sensorId, unsigned int inputs);
+  VirtualSensor(::gazebo::physics::ModelPtr model,
+                std::string partId,
+                std::string sensorId,
+                unsigned int inputs);
   virtual ~VirtualSensor();
 
   /**
diff --git a/revolve/angle/generate.py b/revolve/angle/generate.py
index 6b5820c77d..ab863179b5 100644
--- a/revolve/angle/generate.py
+++ b/revolve/angle/generate.py
@@ -5,7 +5,7 @@
 generated. The interface of this body is then fed to the neural net
 generator resulting in a neural network.
 """
-from ..generate import BodyGenerator
+from ..generate import NeuralNetworkGenerator, BodyGenerator
 from .representation import Tree
 
 
diff --git a/revolve/angle/representation.py b/revolve/angle/representation.py
index 9122c9e951..7c081b5054 100644
--- a/revolve/angle/representation.py
+++ b/revolve/angle/representation.py
@@ -1,5 +1,5 @@
 import copy
-from ..spec.msgs import Robot, BodyPart, NeuralNetwork, Body
+from ..spec.msgs import Robot, BodyPart, Neuron, NeuralNetwork, Body
 from ..spec import BodyImplementation