diff --git a/src/controller.cpp b/src/controller.cpp
index 7ba4790..b7db53c 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -34,7 +34,7 @@ bool Controller::initialize() {
         oac_->SetTimeout(3.0f);
         oac_->Init();
         
-        msc_ = std::make_unique<unitree::robot::go2::MotionSwitcherClient>();
+        msc_ = std::make_unique<unitree::robot::b2::MotionSwitcherClient>();
         msc_->SetTimeout(10.0f);
         msc_->Init();